This application models a 3 DoF robot arm, with the motion of the tip writing "Maplesoft" in handwritten cursive script.
To model the arm, the worksheet:
- Analytically derives the Denavit & Hartenberg transformation matrix for each of the three joints
- Lets the user specify a parametric path for the tip of the robot to follow. The default equations in the worksheet writes "Maplesoft" in cursive script
- Animates the robot arm following the specified path