Advanced Topics on Computer Vision, Control and Robotics in Mechatronics by Osslan Osiris Vergara Villegas Manuel Nandayapa & Israel Soto

Author:Osslan Osiris Vergara Villegas, Manuel Nandayapa & Israel Soto
Language: eng
Format: epub
Publisher: Springer International Publishing, Cham

(8.36)

where is the angle from to , around the axis, so that β1 = 270°, β2 = 30°, and β3 = 150°.

Besides the centers of the six universal joints, denoted by , Fig. 8.4 also shows the midpoints of the segments , indicated by . The active joint variables are named (see Fig. 8.4a). Note that and are the distances from the point to points and , respectively, which are on the same side of the triangle.

The active joint variables can be grouped into the following vector of active joint coordinates:

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