124


Example 5: A General Geometry 6-DOF Maninulator


 The previous examples were all about orthogonal manipulators. Here we examine a non-orthogonal manipulator with no special structure as described by the kinematic parameters of Table 9-7 and the Cartesian end-effector pose


 1

 1/2

-1/2

 1


(9.61)


Table 9-7. DH-parameters of

 Joint d 8E


0

0.2

0.3 0.5 0.4

0


a non-orthogonal manipulator. a a


1.0 1.2

0.75

1.0 0.68

0


 350 650

 700 270

 1200

.00


The two-dimensional Newton-Raphson method of Chapter 7 was programmed to find a solution set.

 With the initial estimate (el, 92) = (80, -40), the solution set


 (73.43, -32.01, -56.52', 145.42-, 114.03, -179.5')

..