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Ex3 6
Ex3 6
SCARA Manipulator
a) Lý thuyết:
Bảng DH:
H1_2=Link([0,0,a2,pi,0,0]);
H1_2.qlim=[-pi/2 pi/2];
H2_3 = Link([0,0,0,0,1,d]);
H2_3.qlim=[0 d3];
H3_4=Link([0,d4,0,0,0,0]);
H3_4.qlim=[-pi/2 pi/2];