### University of Notre Dame

Aerospace and Mechanical Engineering

### ME 469: Introduction to Robotics

Homework 1

B. Goodwine
Spring, 1999 |
Issued: January 20, 1999
Due: January 27, 1999 |

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

- 2.3

Wait until after Monday's class for this one.
- 2.5
- 2.6

Optional -- 50 point bonus with the restrictions
described in class.
- 2.14

*Hint:* see Example 2.9.
- 2.20
- 2.38

*Hint:* use the matrix multiplication
representation of the dot product and the fact that the angle
between the two vectors remains fixed.

*Last updated: January 20, 1999.*

B. Goodwine (*jgoodwin@nd.edu*)