Transcript Past, Present & Future - Aberystwyth University

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Schematic of a Robot
Joint 1
Joint 2
q2
q1
Joint 3
yt
Tool Coordinate Frame
zt
Link 1
z11
zw
World (Base) Coordinate Frame
xw
(a)
(b)
(a) Revolute Joint and (b) Prismatic Joints
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