Question
Download Solution PDFAssume that the joint mechanisms at serial link manipulators are frictionless. The joint torque t required to bear an arbitrary end point force F is
This question was previously asked in
ESE Mechanical 2019: Official Paper
Answer (Detailed Solution Below)
Option 3 : JTF
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ST 1: UPSC ESE (IES) Civil - Building Materials
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Detailed Solution
Download Solution PDFConcept:
For an n degree of freedom, serial link robot having no friction at the joints, the joint torques t that are required to bear an arbitrary endpoint force F is
τ = JTF
Where,
JT= Transpose of a Jacobian matrix.
F = end-point force vector
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