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  • DH Carteciano Cinemática Del Autómata

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    Carlos Armas
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    The document contains a table with the kinematic parameters of a robot arm across 4 time steps, including joint angles, joint displacements, and transformation matrices. The table is used to calculate the homogeneous transformation matrices T1, T2, T3, and T4 that describe the position and orientation of each joint throughout the robot arm's motion.

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    Cinemática

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    The document contains a table with the kinematic parameters of a robot arm across 4 time steps, including joint angles, joint displacements, and transformation matrices. The table is used to calculate the homogeneous transformation matrices T1, T2, T3, and T4 that describe the position and orientation of each joint throughout the robot arm's motion.

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    6 views1 page

    DH Carteciano Cinemática Del Autómata

    Uploaded by

    Carlos Armas
    The document contains a table with the kinematic parameters of a robot arm across 4 time steps, including joint angles, joint displacements, and transformation matrices. The table is used to calculate the homogeneous transformation matrices T1, T2, T3, and T4 that describe the position and orientation of each joint throughout the robot arm's motion.

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    of 1

    Cinemática del autómata.

    𝓲 𝜶𝓲−𝟏 𝓪𝓲−𝟏 𝓭𝓲 𝜽𝓲
    1 0 0 500 0
    2 90 0 1000 0
    3 0 1500 0 0
    4 0 200 0 0

    Empleando la tabla

    1 0 0 0
    0
    𝑇1 = [0 1 0 0 ]
    0 0 1 500
    0 0 0 1

    1 0 0 0
    1
    𝑇2 = [0 0 −1 −1000]
    0 1 0 0
    0 0 0 1

    1 0 0 1500
    2
    𝑇3 = [0 1 0 0 ]
    0 0 1 0
    0 0 0 1

    1 0 0 200
    3
    𝑇4 = [0 1 0 0 ]
    0 0 1 0
    0 0 0 1

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