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 determined the Denavit-Hartenberg parameters for a Puma 260 manipulator. This homework problem is to find one of the inverse kinematic solutions for the given data (recall that there are four solutions). Use the following parameters (they might not be exactly the same as from class):



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

Again, you only need to find one solution.

• Hint: you may want to type the all the formulas for f, g and k into Matlab or Mathematica. That way it will be easy to recompute everything if you find an error relatively late in the problem.
• Hint: you will have to follow the overall procedure -- don't just use the A, B and C from the Puma 560 example.
• Hint: you do not have to convert the angle into the u variable. In Matlab or Mathematica, you can just solve k₃=r² for the angle directly. The conversion to A, B and C was just to be able to do it by hand.