4. As shown in the following figure, it is an ABB IRB140 industrial robot. It has six

DOF and all the major dimensions are given. The last three axes intersect with

each other and have the common origin located at the centre of axis 5. Please

derive the transformation matrix between the end-effector (6) and the base of the

robot coordinates systems {0} using the homogenous transformation method.

Assume the axes orientations at every joint and draw your assumptions in the

free body diagram.

Your assumptions will vary from your fellow students, if there is an

intentional match both parties will receive zero marks!

The link lengths are given in the diagram.

You may use MATLAB for matrix multiplications.

670

Te

70

380 65

810

486

1092

712

352

151