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Group #10
THE BOT
DH parameters
I Alpha(i-1) a(i-1) di Theta i
1 0 0 0 Theta 1
2 -90 0 D2 Theta 2
3 -90 L1 0 Theta 3
4 90 0 D1 Theta 4
5 -90 L2 0 Theta 5
6 90 L3 0 Theta 6
7 0 L4 0 0
Transformation Matrix
T01 =
[ cos(Th1), -sin(Th1), 0, 0]
[ sin(Th1), cos(Th1), 0, 0]
[ 0, 0, cos(alp0), 0]
[ 0, 0, 0, 1]
T12 =
[ cos(Th2), -sin(Th2), 0, 0]
[ -(4035888341267763*sin(Th2))/9007199254740992, -(4035888341267763*cos(Th2))/9007199254740992, 4026203041061939/4503599627370496,
(4026203041061939*d2)/4503599627370496]
[ -(4026203041061939*sin(Th2))/4503599627370496, -(4026203041061939*cos(Th2))/4503599627370496, -4035888341267763/9007199254740992, -
(4035888341267763*d2)/9007199254740992]
[ 0, 0, 0, 1]
T23 =
T34 =
[ 1, 0, 0, 0]
[ 0, -4035888341267763/9007199254740992, -4026203041061939/4503599627370496, -(4026203041061939*d1)/4503599627370496]
[ 0, 4026203041061939/4503599627370496, -4035888341267763/9007199254740992, -(4035888341267763*d1)/9007199254740992]
[ 0, 0, 0, 1]
T45 =
T56 =
T6H =
[ 1, 0, 0, L4]
[ 0, 1, 0, 0]
[ 0, 0, 1, 0]
[ 0, 0, 0, 1]
[ cos(Th1), -sin(Th1), 0, 0]
[ sin(Th1), cos(Th1), 0, 0]
[ 0, 0, cos(alp0), 0]
[ 0, 0, 0, 1]
[ cos(Th2), -sin(Th2), 0, 0]
[ -(4035888341267763*sin(Th2))/9007199254740992, -(4035888341267763*cos(Th2))/9007199254740992, 4026203041061939/4503599627370496,
(4026203041061939*d2)/4503599627370496]
[ -(4026203041061939*sin(Th2))/4503599627370496, -(4026203041061939*cos(Th2))/4503599627370496, -4035888341267763/9007199254740992, -
(4035888341267763*d2)/9007199254740992]
[ 0, 0, 0, 1]
[ 1, 0, 0, 0]
[ 0, -4035888341267763/9007199254740992, -4026203041061939/4503599627370496, -(4026203041061939*d1)/4503599627370496]
[ 0, 4026203041061939/4503599627370496, -4035888341267763/9007199254740992, -(4035888341267763*d1)/9007199254740992]
[ 0, 0, 0, 1]
[ 1, 0, 0, L4]
[ 0, 1, 0, 0]
[ 0, 0, 1, 0]
[ 0, 0, 0, 1]
-- -- sin(Th5) #1 4026203041061939
| | ---------------------------- + cos(Th5) #4
-- -- 4503599627370496
sin(Th5) #7 4035888341267763
+ ----------------------------,
9007199254740992
cos(Th5) #1 4026203041061939
---------------------------- - sin(Th5) #4
4503599627370496
cos(Th5) #7 4035888341267763
+ ----------------------------,
9007199254740992
53205128643735327611330698691122124802916450499668509554\
44580052312641189248623
sin(Th1
))/
29642774844752946028434172162224104410437116074403984394\
101141506025761187823616
13183003132099141278911421777824889970963823670951585237\
83371221
cos(Th1)
sin(Th2
))/
32910091146424120843099383651147010099654717312671597266\
97218048
53205128643735327611330698691122124802916450499668509554\
44580052312641189248623
cos(Th2)
sin(Th1
))/
29642774844752946028434172162224104410437116074403984394\
101141506025761187823616
4026203041061939 d2 sin(Th1)
, L1 #19 + L2 #12 - ----------------------------
4503599627370496
- sin(Th3) #19
\
4026203041061939 |/4503599627370496
/
/ / 16249305912998692073837066972457 sin(Th1)
- | d1 | -----------------------------------------
\ \ 40564819207303340847894502572032
\ --
4035888341267763 |/9007199254740992 + L3 #4 |,
/ --
-- sin(Th5) #2 4026203041061939
| - ----------------------------
-- 4503599627370496
sin(Th5) #8 4035888341267763
- ---------------------------- - cos(Th5) #5,
9007199254740992
cos(Th5) #8 4035888341267763
sin(Th5) #5 - ----------------------------
9007199254740992
cos(Th5) #2 4026203041061939
- ----------------------------,
4503599627370496
53205128643735327611330698691122124802916450499668509554\
44580052312641189248623
cos(Th1
))/
29642774844752946028434172162224104410437116074403984394\
101141506025761187823616
53205128643735327611330698691122124802916450499668509554\
44580052312641189248623
cos(Th1)
cos(Th2
))/
29642774844752946028434172162224104410437116074403984394\
101141506025761187823616
13183003132099141278911421777824889970963823670951585237\
83371221
sin(Th1)
sin(Th2
))/
32910091146424120843099383651147010099654717312671597266\
97218048
+ sin(Th3) #21
\
4026203041061939 |/4503599627370496
/
/ / 16249305912998692073837066972457 cos(Th1)
+ | d1 | -----------------------------------------
\ \ 40564819207303340847894502572032
\ --
4035888341267763 |/9007199254740992 |,
/ --
-- sin(Th5) #3 4026203041061939
| cos(Th5) #6 + ----------------------------
-- 4503599627370496
sin(Th5) #9 4035888341267763
- ----------------------------,
9007199254740992
cos(Th5) #3 4026203041061939
---------------------------- - sin(Th5) #6
4503599627370496
cos(Th5) #9 4035888341267763
- ----------------------------,
9007199254740992
53333117132678534558619263910602705986458852775533384911\
75062620083986357390191
cos(alp0
))/
59285549689505892056868344324448208820874232148807968788\
202283012051522375647232
+
53077447300786629361640884243186692920081644424884584122\
69187059026701291057519
cos(Th2)
cos(alp0
))/
14821387422376473014217086081112052205218558037201992197\
050570753012880593911808
/
, L3 #6 - | d1
\
/ 16288394703181055420774063024169 cos(alp0)
| ------------------------------------------
\ 81129638414606681695789005144064
\
4035888341267763 |/9007199254740992
/
4035888341267763 d2 cos(alp0)
- ----------------------------- + L2 #18
9007199254740992
/
- | d1
\
+ (16249305912998692073837066972457
cos(Th2) cos(Th3)
cos(alp0))/40564819207303340847894502572032
\
4026203041061939 |/4503599627370496
/
--
[0, 0, 0, 1] |
--
where
#1 ==
(
13183003132099141278911421777824889970963823670951585\
23783371221
sin(Th1
))/
32910091146424120843099383651147010099654717312671597\
26697218048
- (326644396905144914722166209697360308187274519767
cos(Th1)
sin(Th2
))/365375409332725729550921208179070754913983135744
13183003132099141278911421777824889970963823670951585\
23783371221
cos(Th2)
sin(Th1
))/
32910091146424120843099383651147010099654717312671597\
26697218048
#2 ==
13183003132099141278911421777824889970963823670951585\
23783371221
cos(Th1
))/
32910091146424120843099383651147010099654717312671597\
26697218048
13183003132099141278911421777824889970963823670951585\
23783371221
cos(Th1)
cos(Th2
))/
32910091146424120843099383651147010099654717312671597\
26697218048
+ (326644396905144914722166209697360308187274519767
sin(Th1)
sin(Th2
))/365375409332725729550921208179070754913983135744
#3 ==
(
13214715726234736936597392361863803708108859967897469\
69864607957
cos(alp0
))/
65820182292848241686198767302294020199309434625343194\
53394436096
13151366641653374714999790344639320153587466691165216\
07926848213
cos(Th2)
cos(alp0
))/
16455045573212060421549691825573505049827358656335798\
63348609024
#10 == (65423004882061081215650621571388430732944014123
sin(Th1
))/182687704666362864775460604089535377456991567872
+ (65423004882061081215650621571388430732944014123
cos(Th2)
sin(Th1
))/182687704666362864775460604089535377456991567872
- (65423004882061081215650621571388430732944014123
cos(Th3)
sin(Th1
))/182687704666362864775460604089535377456991567872
#11 == (65580384287964744588230398513542208987583003691
sin(Th1
))/365375409332725729550921208179070754913983135744
+ (65580384287964744588230398513542208987583003691
cos(Th2)
sin(Th1
))/365375409332725729550921208179070754913983135744
+ (65266003154295042533483952795954524799922879019
cos(Th3)
sin(Th1
))/91343852333181432387730302044767688728495783936
#13 == (65423004882061081215650621571388430732944014123
cos(Th1
))/182687704666362864775460604089535377456991567872
+ (65423004882061081215650621571388430732944014123
cos(Th1)
cos(Th2
))/182687704666362864775460604089535377456991567872
- (65423004882061081215650621571388430732944014123
cos(Th1)
cos(Th3
))/182687704666362864775460604089535377456991567872
#14 == (65580384287964744588230398513542208987583003691
cos(Th1
))/365375409332725729550921208179070754913983135744
+ (65580384287964744588230398513542208987583003691
cos(Th1)
cos(Th2
))/365375409332725729550921208179070754913983135744
+ (65266003154295042533483952795954524799922879019
cos(Th1)
cos(Th3
))/91343852333181432387730302044767688728495783936
cos(Th2)
cos(alp0
))/91343852333181432387730302044767688728495783936
- (65580384287964744588230398513542208987583003691
cos(alp0
))/365375409332725729550921208179070754913983135744
+ (65580384287964744588230398513542208987583003691
cos(Th3)
cos(alp0
))/365375409332725729550921208179070754913983135744
+ (65580384287964744588230398513542208987583003691
cos(Th2) cos(Th3)
cos(alp0
))/365375409332725729550921208179070754913983135744
+ (16249305912998692073837066972457
cos(alp0) sin(Th2)
sin(Th3))/40564819207303340847894502572032
#17 == (65738142280536006615684759097075593751169563947
cos(alp0
))/730750818665451459101842416358141509827966271488
- (65423004882061081215650621571388430732944014123
cos(Th2)
cos(alp0
))/182687704666362864775460604089535377456991567872
+ (65423004882061081215650621571388430732944014123
cos(Th3)
cos(alp0
))/182687704666362864775460604089535377456991567872
+ (65423004882061081215650621571388430732944014123
cos(Th2) cos(Th3)
cos(alp0
))/182687704666362864775460604089535377456991567872
+ (16210310927856405661316834439721
cos(alp0) sin(Th2)
sin(Th3))/20282409603651670423947251286016
#18 ==
+ (16249305912998692073837066972457
cos(Th2) cos(alp0)
sin(Th3))/40564819207303340847894502572032
#19 == cos(Th1)
#20 == cos(Th1)
- cos(Th2) sin(Th1)
+ sin(Th1) sin(Th2)
-- -- cos(Th5) #8 4026203041061939
| | #1, ----------------------------
-- -- 4503599627370496
cos(Th5) #7 4035888341267763
- sin(Th5) #6 + ----------------------------,
9007199254740992
53205128643735327611330698691122124802916450499668509554\
44580052312641189248623
sin(Th1
))/
29642774844752946028434172162224104410437116074403984394\
101141506025761187823616
(
13183003132099141278911421777824889970963823670951585237\
83371221
cos(Th1)
sin(Th2
))/
32910091146424120843099383651147010099654717312671597266\
97218048
53205128643735327611330698691122124802916450499668509554\
44580052312641189248623
cos(Th2)
sin(Th1
))/
29642774844752946028434172162224104410437116074403984394\
101141506025761187823616
4026203041061939 d2 sin(Th1)
, L4 #1 + L1 #23 + L2 #16 - ----------------------------
4503599627370496
- sin(Th3) #23
\
4026203041061939 |/4503599627370496
/
/ / 16249305912998692073837066972457 sin(Th1)
- | d1 | -----------------------------------------
\ \ 40564819207303340847894502572032
\ --
4035888341267763 |/9007199254740992 + L3 #6 |,
/ --
--
| - #5 - #4 - cos(Th5) #2, sin(Th5) #2
--
53205128643735327611330698691122124802916450499668509554\
44580052312641189248623
cos(Th1
))/
29642774844752946028434172162224104410437116074403984394\
101141506025761187823616
53205128643735327611330698691122124802916450499668509554\
44580052312641189248623
cos(Th1)
cos(Th2
))/
29642774844752946028434172162224104410437116074403984394\
101141506025761187823616
13183003132099141278911421777824889970963823670951585237\
83371221
sin(Th1)
sin(Th2
))/
32910091146424120843099383651147010099654717312671597266\
97218048
4026203041061939 d2 cos(Th1)
---------------------------- - L3 #2 - L4
4503599627370496
+ sin(Th3) #25
\
4026203041061939 |/4503599627370496
/
/ / 16249305912998692073837066972457 cos(Th1)
+ | d1 | -----------------------------------------
\ \ 40564819207303340847894502572032
\ --
4035888341267763 |/9007199254740992 |,
/ --
53333117132678534558619263910602705986458852775533384911\
75062620083986357390191
cos(alp0
))/
59285549689505892056868344324448208820874232148807968788\
202283012051522375647232
53077447300786629361640884243186692920081644424884584122\
69187059026701291057519
cos(Th2)
cos(alp0
))/
14821387422376473014217086081112052205218558037201992197\
050570753012880593911808
4035888341267763 d2 cos(alp0)
, L4 #3 - -----------------------------
9007199254740992
/ / 16288394703181055420774063024169 cos(alp0)
- | d1 | ------------------------------------------
\ \ 81129638414606681695789005144064
\
4035888341267763 |/9007199254740992 + L3 #9 + L2 #19
/
/
- | d1
\
+ (16249305912998692073837066972457
cos(Th2) cos(Th3)
cos(alp0))/40564819207303340847894502572032
\
4026203041061939 |/4503599627370496
/
--
[0, 0, 0, 1] |
--
where
sin(Th5) #8 4026203041061939
#1 == ---------------------------- + cos(Th5) #6
4503599627370496
sin(Th5) #7 4035888341267763
+ ----------------------------
9007199254740992
#8 ==
13183003132099141278911421777824889970963823670951585\
23783371221
sin(Th1
))/
32910091146424120843099383651147010099654717312671597\
26697218048
- (326644396905144914722166209697360308187274519767
cos(Th1)
sin(Th2
))/365375409332725729550921208179070754913983135744
13183003132099141278911421777824889970963823670951585\
23783371221
cos(Th2)
sin(Th1
))/
32910091146424120843099383651147010099654717312671597\
26697218048
#11 ==
13214715726234736936597392361863803708108859967897469\
69864607957
cos(alp0
))/
65820182292848241686198767302294020199309434625343194\
53394436096
13151366641653374714999790344639320153587466691165216\
07926848213
cos(Th2)
cos(alp0
))/
16455045573212060421549691825573505049827358656335798\
63348609024
#13 ==
13183003132099141278911421777824889970963823670951585\
23783371221
cos(Th1
))/
32910091146424120843099383651147010099654717312671597\
26697218048
13183003132099141278911421777824889970963823670951585\
23783371221
cos(Th1)
cos(Th2
))/
32910091146424120843099383651147010099654717312671597\
26697218048
+ (326644396905144914722166209697360308187274519767
sin(Th1)
sin(Th2
))/365375409332725729550921208179070754913983135744
#14 == (65423004882061081215650621571388430732944014123
sin(Th1
))/182687704666362864775460604089535377456991567872
cos(Th3) #24 16288394703181055420774063024169
- ---------------------------------------------
81129638414606681695789005144064
+ (65423004882061081215650621571388430732944014123
cos(Th2)
sin(Th1
))/182687704666362864775460604089535377456991567872
- (65423004882061081215650621571388430732944014123
cos(Th3)
sin(Th1
))/182687704666362864775460604089535377456991567872
#15 == (65580384287964744588230398513542208987583003691
sin(Th1
))/365375409332725729550921208179070754913983135744
+ (65580384287964744588230398513542208987583003691
cos(Th2)
sin(Th1
))/365375409332725729550921208179070754913983135744
+ (65266003154295042533483952795954524799922879019
cos(Th3)
sin(Th1
))/91343852333181432387730302044767688728495783936
#17 == (65266003154295042533483952795954524799922879019
cos(Th2)
cos(alp0
))/91343852333181432387730302044767688728495783936
- (65580384287964744588230398513542208987583003691
cos(alp0
))/365375409332725729550921208179070754913983135744
+ (65580384287964744588230398513542208987583003691
cos(Th3)
cos(alp0
))/365375409332725729550921208179070754913983135744
+ (65580384287964744588230398513542208987583003691
cos(Th2) cos(Th3)
cos(alp0
))/365375409332725729550921208179070754913983135744
+ (16249305912998692073837066972457
cos(alp0) sin(Th2)
sin(Th3))/40564819207303340847894502572032
#18 == (65738142280536006615684759097075593751169563947
cos(alp0
))/730750818665451459101842416358141509827966271488
- (65423004882061081215650621571388430732944014123
cos(Th2)
cos(alp0
))/182687704666362864775460604089535377456991567872
+ (65423004882061081215650621571388430732944014123
cos(Th3)
cos(alp0
))/182687704666362864775460604089535377456991567872
+ (65423004882061081215650621571388430732944014123
cos(Th2) cos(Th3)
cos(alp0
))/182687704666362864775460604089535377456991567872
+ (16210310927856405661316834439721
cos(alp0) sin(Th2)
sin(Th3))/20282409603651670423947251286016
#19 ==
+ (16249305912998692073837066972457
cos(Th2) cos(alp0)
sin(Th3))/40564819207303340847894502572032
#20 == (65423004882061081215650621571388430732944014123
cos(Th1
))/182687704666362864775460604089535377456991567872
+ (65423004882061081215650621571388430732944014123
cos(Th1)
cos(Th2
))/182687704666362864775460604089535377456991567872
- (65423004882061081215650621571388430732944014123
cos(Th1)
cos(Th3
))/182687704666362864775460604089535377456991567872
#21 == (65580384287964744588230398513542208987583003691
cos(Th1
))/365375409332725729550921208179070754913983135744
+ (65580384287964744588230398513542208987583003691
cos(Th1)
cos(Th2
))/365375409332725729550921208179070754913983135744
+ (65266003154295042533483952795954524799922879019
cos(Th1)
cos(Th3
))/91343852333181432387730302044767688728495783936
#23 == cos(Th1)
#24 == cos(Th1)
- cos(Th2) sin(Th1)
+ sin(Th1) sin(Th2)