Question

Reference frames are assigned so that the z-axis coincides with the axis of one of these components in the Denavit-Hartenberg convention. In the Unified Robotics Description Format, (15[1])these components need to have a parent, child, and origin specified. The letters R, P, H, C, U, and S represent these components when classifying robots with labels like 3UPU or 6R. The two main types of these components are prismatic and revolute, which allow for linear and (15[1])rotational (*) motion respectively. (-5[2])The problem of inverse kinematics typically involves setting the angles at these things to achieve a desired position. Servo motors are often embedded into these components of a robotic arm that each provide a degree of freedom. For 10 points, give these robotic components that constrain the motion of the two links they’re connected to, which are named in analogy to body parts like the (10[1])shoulder and elbow. ■END■ (10[1])

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