ME 456 - Fall 2001 - H10
Name ________________________
1) Compute the transformation Jacobian shown below for the PUMA 560 on pages 8891 of the Craig textbook using the D-H table given below. Attach hardcopy of your code
and a printout of your results.
0
6
T    J  
COL
i
1
i-1 (deg)
0
ai-1 (mm)
0
di (mm)
0
i (deg)
1 = 0
2
-90
0
0
2 = 0
3
0
a2 = 431.8
d3 = 149.1
3 = 0
4
-90
a3 = 20.3
d4 = 433.1
4 = 0
5
90
0
0
5 = 0
6
-90
0
0
6 = 0
2) What are the translation velocity and angular velocity of the end-effector (coordinate
frame 6) at the posture described above when joint velocities are  1 = 0.8 rad/s,  2 = 0.6
rad/s,  3 = -0.3 rad/s,  4 = -0.8 rad/s,  5 = 0.9 rad/s,  6 = 0.7 rad/s ? Attach hardcopy of
your code and a printout of your results.
0
{VORI 6} = < ______, ______, ______ >T
0
{}= < _______, ______, ______ >T
3) Determine joint angles {} that will produce the new end-effector pose shown below.
Attach hardcopy of your code and a printout of your results.
0
0
6
 x  -0.0393 0.3806 0.9239 643.32  x 
 y   0.0907 -0.9194 0.3826 392.82  y 
  
  
 
 z   0.9951 0.0988 0.0016 18.23   z 

 1   0
0
0
1   1 
6
{}= < _________, _________, _________, _________, _________, ________>T
4) How many different sets of angles {} could satisfy part 3) above? Why?
_________