b/ Set coordinate frames for the first four links (link 0, link 1, ….

, link 3):

c/ Determine three sets of D-H parameters corresponding to three joints in b.

i a i (mm) α i (degree) d i (mm) Ɵ i (degree)
1 l 1 = 500 90 d 1=1045 Ɵ1
2 l 2 = 1300 0 0 Ɵ2
3 l 3 = 1315 0 0 Ɵ3

d/ Formulate the forward kinematic problem.

Determine the homogeneous transformation matrixs follow the formula:

[ ]
cos Ɵi −sinƟi cos α i sinƟi sin α i ai cos Ɵi
i−1 sin Ɵi cos Ɵi cos α i −cos Ɵi sin α i a i sin Ɵi
iT =
0 sin α i cos α i di
0 0 0 1

Thus:

[ ]
cos Ɵ1 0 sin Ɵ 1 l 1 cos Ɵ1
0 sinƟ1 0 −cos Ɵ1 l 1 sinƟ1
1T =
0 1 0 d1
0 0 0 1
 [ ]
cos Ɵ2 −sin Ɵ2 0 l2 cos Ɵ2
1 sin Ɵ2 cos Ɵ2 0 l 2 sin Ɵ2
2T =
0 0 1 0
0 0 0 1

[ ]
cos Ɵ 3 −sin Ɵ 3 0 l 3 cos Ɵ 3
2 sin Ɵ 3 cos Ɵ 3 0 l 3 sin Ɵ3
3T =
0 0 1 0
0 0 0 1

So:

[ ]
2
cos Ɵ1 . cos(Ɵ2 +Ɵ3 ) −cos Ɵ1 . sin(Ɵ2 +Ɵ3) sin Ɵ1 x
0 0 1 0 z
3 T = T . T . T = sin Ɵ1 . cos(Ɵ2 +Ɵ3)
1 2 ¿ −cos Ɵ1 y 0 1¿
3 ¿

With:

Make a plot for a certain case:

A certain case is expressed through functions following time (t):

{
Ɵ 1=8 t
Ɵ 2=9 t
Ɵ 3=10 t

Graph on the matlab, we get the following result:

e/ Formulate the inverse kinematic problem. Then determine the three joint values according to
the coordinates of the end-point. Make a plot for a certain case

Ɵ1=arctan ⁡( yx )
( )
2 2
Ɵ2=arctan (
z−1045
y−500 )
−arccos
( z−1045 ) + ( y−500 ) +13002−1315 2
2.1300 . √ ( z −1045 ) + ( y−500 )
2 2

Ɵ3=−arccos ( ( z −1045 )2+ ( y−500 )2 −13002−13152

2.1300.1315 )

Make a plot for a certain case:

A certain case: The robot moves in a line from the point A (1800, 0, 0) to point B (1000, 500,
200)

Graph on the matlab, we get the following result:

 g/ Formulate the Jacobian matrix for this robot. Is there any singularity?
From the coordinates of the end-effector in three joint variables, we infer the velocity of the end-
effector in frame 0: 0v3

¿
Write another way:
0
V 3=¿

0
→ V 3=¿

[]
Ɵ̇ 1
. Ɵ̇ 2
Ɵ̇ 3

So, the Jacobian matrix has the form:

0
J =¿