Problem solution
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Published:
Oct 3, 2022
Keywords:
Algoritmo deDenavit-Hartenberg paralaobtención delmodelo
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Abstract
When all degrees of freedom are considered, the matrix °Afj is often referred to as T. Thus, given a six robot
degrees of freedom, we have that the position and orientation of the final link will be given by the matrix T:
T=% =''ATCA2}('A3)('A4)r<'s)(%)
Although to discover the relationship that exists between two contiguous elements, it is possible to use any system of
reference linked to each element, the usual form used in robotics is the DenavltHartenberg representation.(4)
degrees of freedom, we have that the position and orientation of the final link will be given by the matrix T:
T=% =''ATCA2}('A3)('A4)r<'s)(%)
Although to discover the relationship that exists between two contiguous elements, it is possible to use any system of
reference linked to each element, the usual form used in robotics is the DenavltHartenberg representation.(4)
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How to Cite
VELASTEGUI RAMOS, D. (2022). Problem solution. Investigación Y Desarrollo, 1(2). https://doi.org/10.31243/id.v1.2010.1762
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