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spherical robotic arm

In this assignment, you are going to provide the model for this second degree of freedom spherical robotic arm and we would like you to come up with the inverse kinematics equations. So, the model you see here may not be complete because I do not put the frame coordinate XYZ to hear you have to assign it by yourself. But given the a one, a two, three big banks they are all equals one. The end effector is on the right-hand side. The end if you refer to it you can assume it is over here is over here is Eddie Peters over here. So, now given any xyz with respect to a friend zero, then how can you calculate theta 1 and theta 2 that will be our goal for this assignment. So, basically, in this problem you need to turn in the following sets. First you need to use mathematical modeling to determine what space of this manipulator under all possible XYZ given the frame that you specify by yourself, then given that a one a two a three are all one, find all possible see that one and see that you so that you can determine the workspace the whole space that you allow the SSID to reach. And then part two, given a point is already within the workspace. So, these number will be something that you come up with and you need to base on those number these numbers must be very, and then you try to find the formula for theta one and see that so write this formula down. And also, please take a picture or B or scan it into a JPEG file or PDF file and send it to homework. Upload it as a homework. Part of the homework you can put Lowe's answer for the workspace and this picture and also the Python program together in a directory and give them two paths. We write a program to calculate these two angles for all given XYZ with respect to Fred 0.0 You can assign by yourself. So, you may use any system you like. So usually, I will see students using a system that is as you know why the Euro the euro or you can use x zero, y zero and g Actually, maybe this one prepared.

Answered Same DayNov 18, 2022

Figure 1

1. For given manipulator

Our homogene

So

p=

Which implies

x=

y=

Domain of workspace is

2.

Now from Figure 1

Now Hypotenuse

Using Cosine formula

Similarly

SOLUTION.PDF## Answer To This Question Is Available To Download

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