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  • Matriz: Parametros Denavit Hartenberg

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    alejon8906
    11 views5 pages
    This document contains the Denavit-Hartenberg parameters and transformation matrix for a 5 degree-of-freedom robotic arm. It provides the joint angles, link offsets, and joint twist angles for 5 joints of the arm. The user is prompted to input the joint angle values. The document then shows the transformation matrix generated based on these parameters and joint angles.

    Original Description:

    hojlknl

    Original Title

    Cinematic A

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    This document contains the Denavit-Hartenberg parameters and transformation matrix for a 5 degree-of-freedom robotic arm. It provides the joint angles, link offsets, and joint twist angles for 5 joints of the arm. The user is prompted to input the joint angle values. The document then shows the transformation matrix generated based on these parameters and joint angles.

    Copyright:

    © All Rights Reserved
    Download as XLSX, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    11 views5 pages

    Matriz: Parametros Denavit Hartenberg

    Uploaded by

    alejon8906
    This document contains the Denavit-Hartenberg parameters and transformation matrix for a 5 degree-of-freedom robotic arm. It provides the joint angles, link offsets, and joint twist angles for 5 joints of the arm. The user is prompted to input the joint angle values. The document then shows the transformation matrix generated based on these parameters and joint angles.

    Copyright:

    © All Rights Reserved
    Download as XLSX, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    of 5

    Matriz

    1
    0
    0
    0

    0
    -1
    0
    0

    0
    0
    -1
    0

    -0.02215689
    0.99975451
    2.93
    1

    Parametros Denavit Hartenberg


    # articulacion
    1
    2
    3
    4
    5

    i
    180
    0
    0
    90
    0

    ai
    0
    142.2
    110
    0
    0

    Ingrese los Angulos


    1
    2
    3
    4
    5

    0
    0
    0
    0
    0

    i
    0
    0
    0
    0
    0

    di
    42.93
    0
    0
    0
    40

    Matriz
    Cos(1)*(Cos(2+3+4))*Cos(5))+(Sen(1)*(Sen(5))

    -Cos(1)*(Cos(2+3+4))*Sen(5))+(Sen(1)*(Cos(5))

    Sen(1)*(Cos(2+3+4))*Cos(5))-(Cos(1)*(Sen(5))

    -Sen(1)*(Cos(2+3+4))*Sen(5))-(Cos(1)*(Cos(5))

    Sen(2+3+4)*Cos(5)

    -Sen(2+3+4)*Cos(5)

    riz
    Cos(1)*Sen(2+3+4)

    Cos(1)*(l4*Sen(2+3+4)+l3*Cos(2+3)+l2*Cos(2))

    Sen(1)*Sen(2+3+4)

    Sen(1)*(l4*Sen(2+3+4)+l3*Cos(2+3)+l2*Cos(2))

    -Cos(2+3+4)

    l1-l4*Cos(2+3+4)+l3*Sen(2+3)+l2*Sen(2)

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