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 root finding routines is probably the easiest way to do this.
5. In class, we computed the inverse kinematics for a Puma 560 using Pieper's method. This homework problem is to find one of the solutions for the given data (recall that there are four solutions). For the physical parameters of the robot, let
   a₂ = 2 ft
   d₃ = 0.5 ft
   a₃ = .16666 ft
   d₄ = 2 ft
   

   Let the desired location and orientation of the {6} frame relative to the {0} frame be