University of Notre Dame
Aerospace and Mechanical Engineering

ME 469: Introduction to Robotics
Homework 3

B. Goodwine
Spring 1999		 Issued: February 13, 1999
Due: February 17, 1999

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. 3.11 Also compute the forward kinematics.
  2. 3.16 Also compute the forward kinematics.
  3. 3.21 Also compute the forward kinematics.
  4. Write a computer program to numerically compute the inverse kinematics for the three link manipulator shown in Craig, Figure 3.29. Hint: using Mathematica or Matlab is probably the easiest way to do this.

Last updated: February 13, 1999.
B. Goodwine (jgoodwin@nd.edu)