Problem solution

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)