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  • Ecq. Cinematica Directa

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    diego santos
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    This document defines the transformation matrices T1 through T5 that represent rotations and translations for a 5 link robot arm. It then calculates the total transformation matrix T by multiplying the individual transformation matrices together.

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    This document defines the transformation matrices T1 through T5 that represent rotations and translations for a 5 link robot arm. It then calculates the total transformation matrix T by multiplying the individual transformation matrices together.

    Copyright:

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

    Ecq. Cinematica Directa

    Uploaded by

    diego santos
    This document defines the transformation matrices T1 through T5 that represent rotations and translations for a 5 link robot arm. It then calculates the total transformation matrix T by multiplying the individual transformation matrices together.

    Copyright:

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

    syms L1 L2 L3 L4 c1 c2 c3 c4 S1 S2 S3 S4

    T1 = [c1 -S1 0 0;
    S1 c1 0 0;
    0 0 1 L1;
    0 0 0 1];

    T2 = [1 0 0 0;
    0 cosd(90) -sind(90) 0;
    0 sind(90) cosd(90) 0;
    0 0 0 1];

    T3 = [c2 -S2 0 L2*c2;


    S2 c2 0 L2*S2;
    0 0 1 0;
    0 0 0 1];

    T4 = [c3 -S3 0 L3*c3;


    S3 c3 0 L3*S3;
    0 0 1 0;
    0 0 0 1];

    T5 = [c4 -S4 0 L4*c4;


    S4 c4 0 L4*S4;
    0 0 1 0;
    0 0 0 1];

    T = T1*T2*T3*T4*T5

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