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

1. 3.16 Also compute the forward kinematics.
2. 3.19 Also compute the forward kinematics.
3. 3.21 Also compute the forward kinematics.
4. 5.12
5. 5.18
6. 5.19
7. (Optional, 20 points)
   Write a computer program to numerically compute the inverse kinematics for the three link manipulator shown in Craig, Figure 3.29.
8. (Optional, 20 points)
   Analytically derive the inverse kinematics for the manipulator in the previous problem (illustrated in Criag, Figure 3.29).