All the problems are from the course text, Craig, Introduction to Robotics. Unless otherwise indicated, each problem is worth 10 points.

1. 2.3
2. 2.5
3. 2.6 (optional -- 50 point bonus with the restrictions described in class).
4. 2.14 (Hint: see Example 2.9)
5. 2.16
6. 2.20
7. 2.38