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A single joint needs to move from 𝜃0 to 𝜃𝑓, starting and ending at rest, in time tf. The values of 𝜃0
and 𝜃𝑓are given, but we wish to calculate tf so that these constraints hold: |𝜃̇(𝑡)|<𝜃̇𝑚𝑎𝑥 and |𝜃̈(𝑡)|<𝜃̈𝑚𝑎𝑥
for all t, where 𝜃̇𝑚𝑎𝑥 and 𝜃̈𝑚𝑎𝑥 are given positive constants.

(a) Using a single cubic segment, obtain equations for the cubic’s coefficients ai in terms of 𝜃0, 𝜃𝑓
and tf.

(b) Using the velocity constraint, |𝜃̇(𝑡)|<𝜃̇𝑚𝑎𝑥|, derive a condition on tf in terms of 𝜃0, 𝜃𝑓and 𝜃̇𝑚𝑎𝑥.

(c) Using the acceleration constraint, |𝜃̈(𝑡)|<𝜃̈𝑚𝑎𝑥, derive a condition on tf in terms of 𝜃0, 𝜃𝑓and 𝜃̈𝑚𝑎𝑥.
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Consider the two-link cartesian manipulator of Figure 3.24. Derive the forward kinematic equations
using the DH-convention.

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We have to plan a cubic polynomial trajectory for the second joint.

The time required to rotate from 25o to 45o in 5 sec

The conditions are

 

The cubic polynomial for the joint angle is

The expression for the joint velocity is given by

We have four conditions given to find the value of a,b,c and d.

  ......(i)

 ....(ii)

From eq(i) and eq(ii)

The equation for joint angle is

The equation for joint velocity is

I found the equation for joint angle and joint rate. I hope it will help you!

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Anonymous answered this2,955 answers

The link here is actually revolute and prismatic so actually at second joint we have both torque and
force ..but 2nd joint is actually prismatic so the tork of first joint is to be calculated first and from that
we can get torque at second joint .

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Question
REDUCE THE BLOCK DIAGRAM SHOWEN IN FIGURE Q2 TO A SINGLE TRANSFER
FUNCTION BY USING BLOCK DIAGRAM REDUCTION METHOD

REDUCE THE BLOCK DIAGRAM SHOWEN IN FIGURE Q2 TO A SINGLE TRANSFER

FUNCTION BY USING SIGNAL FLOW GRAPH AND MASON'S RULE
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For a three degree of freedom RRP manipulator transformation matrices for the three links are given as