Yo, Z1,


Outer Link


Sliding Tube


 Z2 X3, Xc

 Z3, Z,

 Base \ Z31 Zc
 Y1 Camera
 Frame



 Inner Link

 d Base


Figure 5.2. Kinematic frames as assigned to the links of the robot.


relationships between the successive coordinate frames. The joint variables and geometry

constants for the orange-picking robot are listed in Table 5.1. Based on these parameters, the

following A matrices were determined

 C, 0 -S, 0
 0A S1 0 C1 0
 0 -1 0 0
 0001
 0 0 0 1 (5-1)


 C2 0 S2 0
 12 S2 0 -C2 0
 A2
 0 1 0 0
 0 1001 and (5-2)
 0001
 ,and (5-2)