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, 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 rotational (-5[1])(*) motion respectively. The problem of inverse kinematics (10[1])typically involves setting the angles at these things to achieve a desired (10[1])position. (10[1])Servo motors are often embedded into these components of a robotic arm that each provide a degree of freedom. For 10 points, give these (10[1])robotic components that constrain the motion of the two links they’re connected to, which are named in analogy to body parts like the shoulder and elbow. ■END■ (10[1])

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