Question Solved1 Answer 1. Consider a two-link planar robot, with positive orientations of 0, and 0, as shown in the figure below: P(x,y) h 02 a) Suppose , = 30° and , = 45°, 1= 5 in and l= 3 in. Sketch the orientation of the robot in the x-y plane, and determine the x-y coordinates of point P. (Ans: x=5.11 in and y=5.4 in) b) Suppose now that the same robot (i.e. 11 = 5 in and ly = 3 in) is located in the fourth quadrant and is oriented in the elbow up" position (i.e., with a positive value of 0,). If the tip of the robot is located at P(x,y) = (6,-4), determine the values of , and 0, using the Laws of Sines and Cosines. (Ans: thetal --53.130 and theta2-53.139)

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Transcribed Image Text: 1. Consider a two-link planar robot, with positive orientations of 0, and 0, as shown in the figure below: P(x,y) h 02 a) Suppose , = 30° and , = 45°, 1= 5 in and l= 3 in. Sketch the orientation of the robot in the x-y plane, and determine the x-y coordinates of point P. (Ans: x=5.11 in and y=5.4 in) b) Suppose now that the same robot (i.e. 11 = 5 in and ly = 3 in) is located in the fourth quadrant and is oriented in the elbow up" position (i.e., with a positive value of 0,). If the tip of the robot is located at P(x,y) = (6,-4), determine the values of , and 0, using the Laws of Sines and Cosines. (Ans: thetal --53.130 and theta2-53.139)
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Transcribed Image Text: 1. Consider a two-link planar robot, with positive orientations of 0, and 0, as shown in the figure below: P(x,y) h 02 a) Suppose , = 30° and , = 45°, 1= 5 in and l= 3 in. Sketch the orientation of the robot in the x-y plane, and determine the x-y coordinates of point P. (Ans: x=5.11 in and y=5.4 in) b) Suppose now that the same robot (i.e. 11 = 5 in and ly = 3 in) is located in the fourth quadrant and is oriented in the elbow up" position (i.e., with a positive value of 0,). If the tip of the robot is located at P(x,y) = (6,-4), determine the values of , and 0, using the Laws of Sines and Cosines. (Ans: thetal --53.130 and theta2-53.139)
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Given Q_(1)=30^(@) and Q_(2)=45^(@){:[l_(1)=5in" and "l_(2)=3" in "],[x=11 cos 30^(@)+12 cos 45^(@)],[=5cos 30^(@)+3cos 45^(@)],[=5xx(sqrt3)/(2)+5xx(1)/(sqrt2)=6.45in],[y=l_(1)sin 30^(@)+1_(2)sin 45^(@)],[=5xx(1)/(2)+3xx(1)/(sqrt2)=4.62in]:}(b) Now same robot is locuted in fowth quadtant and is oriented in ... See the full answer