15
General coordinate frame assignments (Craig, Fig. 3.5)
General coordinate frame assignments
(Craig, Fig. 3.5)
Derivation of homogeneous transform
(Craig, Fig. 3.15)
Planar manipulator
(Craig, Fig. 3.6) (Craig, Fig. 3.7)
PUMA 560 Robot
PUMA 560 Robot
L
1
L
2
PUMA 560 Robot
L
1
L
2
PUMA 560 Robot
L
1
L
2
PUMA 560 Robot
L
1
L
2
PUMA 560 Robot
a
2
d
3
PUMA 560 Robot
a
2
d
3
(Craig, Fig. 3.19)
PUMA 560 Robot: Last three joints
L
4
L
3
PUMA 560 Robot: Last three joints
d
4
a
3
PUMA 560 Robot: Last three joints
d
4
a
3
PUMA 560 Robot: Last three joints
d
4
a
3
(Craig, Fig. 3.20)
