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Exercises

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16 views2 pages

Exercises

Uploaded by

Minh Phan
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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COMPREHENSIVE EXERCISES

These exercises aim to practice the knowledge and skills learned throughout
the chapters and review for the final exam. Students are required to
complete all exercises and submit HANDWRITTEN SOLUTIONS.

CHAPTER 2: SPATIAL DESCRIPTIONS AND TRANSFORMATIONS


Exercise 2.1:
- Skill: Identify the components of a rotation matrix based on given
rotation angles.
- Skill: Apply matrix formulas to represent rotations about the X, Y, and Z
axes.

Exercise 2.3:
Skill: Analyze and transform coordinates from frame A to frame B using the
homogeneous transformation matrix.
Exercise 2.7:
- Skill: Determine the position of a point in space when represented in
different coordinate systems using transformation matrices.
Exercise 2.11:
- Skill: Calculate and interpret the meaning of the translation vector and
how it alters position in different frames.
Exercise 2.15:
- Skill: Analyze methods of representing position and orientation,
including rotation matrices and Euler representations.

CHAPTER 3: FORWARD KINEMATICS


Exercise 3.1:
- Skill: Compute forward kinematics for a two-link planar robot using the
given DH parameters.
Exercise 3.3:
- Skill: Determine the position and orientation of the end-effector for a
three-link robot using DH parameters.
Exercise 3.7:
- Skill: Use the DH method to represent links in an RPR-structured robotic
system.
Exercise 3.9:
- Skill: Calculate the end-effector position of a three-link manipulator and
verify the result using transformation matrices.
Exercise 3.15:
- Skill: Compare two different manipulator configurations using forward
kinematics equations.
CHAPTER 4: INVERSE KINEMATICS
Exercise 4.1:
- Skill: Analyze the inverse kinematics problem for a two-link planar
manipulator. Identify all possible solutions for the system.
Exercise 4.3:
- Skill: Calculate the joint angles required for the end-effector to reach a
specific position and orientation in 3D space using a geometric solution
method.

CHAPTER 5: JACOBIANS: VELOCITIES AND STATIC FORCES


Exercise 5.1:
- Skill: construct the Jacobian matrix for a two-link planar manipulator
and determine the relationship between joint velocities and cartesian
velocities of the end-effector.
Exercise 5.3:
- Skill: Compute the Jacobian for a three-degree-of-freedom (3-DOF)
manipulator in the base frame and apply it to determine the spatial
velocity of the end-effector.
Exercise 5.7:
- Skill: Analyze and identify the singularity positions of a three-link
manipulator using the Jacobian matrix.
Exercise 5.9:
- Skill: Calculate the static forces required at the manipulator’s joints to
maintain a specified force at the end-effector in the workspace.
Exercise 5.13:
- Skill: Use the Jacobian matrix to determine inverse velocity
kinematics and compare it with forward velocity kinematics.

These exercises are designed to thoroughly review critical concepts and


prepare students for the final exam.

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