Question

For the three-link planar manipulator of Example 4.6, compute the vector OC and derive the manipulator Jacobian matrix.

a) True
b) False

Answer 1

For the three-link planar manipulator of Example 4.6, we can compute the vector OC and derive the manipulator Jacobian matrix.

Step-by-step explanation:

a) True
For the three-link planar manipulator, the vector OC can be computed using trigonometry. Since the vector OC is the sum of vectors OA and AC, we can calculate its components by adding the corresponding components of OA and AC. The Jacobian matrix of the manipulator can be derived by differentiating the transformation equations with respect to the joint angles. This matrix relates the joint velocities to the end-effector velocities.