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')
..