Consider the three-link, RRR planar arm shown in Figure 3.32 (Page 115). a. Give

Question

Consider the three-link, RRR planar arm shown in Figure 3.32 (Page 115). a. Given a desired position of the end-effector (x,y), how many solutions are there to the inverse kinematics of this arm? b. If the orientation of the end-effector is also specified (alpha is the rotation of the last link with respect to the horizontal), how many solutions are there? Use the geometric approach to create the closed-form solutions for Theta1, Theta2, and Theta3. First sketch the robot and all parameters including positive direction of rotations angles, then show all your work for the solutions.

Explanation / Answer

what are the 3 links. dont have the picture. please repost with a figure. i will answer it thanx!!!!!!!

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