General coordinate frame assignments

(Craig, Fig. 3.5)

Derivation of homogeneous transform

(Craig, Fig. 3.15)

Planar manipulator

(Craig, Fig. 3.6) (Craig, Fig. 3.7)

PUMA 560 Robot

PUMA 560 Robot

L

1

L

2

PUMA 560 Robot

L

1

L

2

PUMA 560 Robot

L

1

L

2

PUMA 560 Robot

L

1

L

2

PUMA 560 Robot

a

2

d

3

PUMA 560 Robot

a

2

d

3

(Craig, Fig. 3.19)

PUMA 560 Robot: Last three joints

L

4

L

3

PUMA 560 Robot: Last three joints

d

4

a

3

PUMA 560 Robot: Last three joints

d

4

a

3

PUMA 560 Robot: Last three joints

d

4

a

3

(Craig, Fig. 3.20)