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)