PROBLEMS AND 115 3-10 Consider the PUMA 260 manipulator shown in Figure 3.31. Derive the complete set of forward kinematic equations by establishing appro- priate DH coordinate frames, constructing a table of DH parameters, forming the A matrices, etc. 13 in to Shoulder Rotation 310° Elbow Rotation 8.0 in Flange Rotation 80in 360° de Figure 3.31: PUMA 260 manipulator. Wrist Rotation 4-13 Given the Euler angle transformation R = Rz, Ry,oRz,b show that RS(w)R where == {cpso-s0}i+ {sused+cu0}j + { + coo}k The components of i, j, k, respectively, are called the nutation, spin, 01 and precession. wed? I