### University of Notre Dame

Aerospace and Mechanical Engineering

### ME 469: Introduction to Robotics

Homework 2

B. Goodwine
Spring, 1999 |
Issued: January 29, 1999
Due: February 3, 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.

- Write a Mathematica function that gives
^{i-1}_{i}T as a function of the link
parameters \alpha_{i-1}, a_{i-1}, \theta_i and d_i.
You can find
help on how to define a function in section 1.7.1 of the
Mathematica book. The entire book is available on-line
under the 'Help' menu in mathematica.

- 3.4
- 3.9
- 3.17 Additionally, use your slick Mathematica function from
problem 1 to compute
^{0}_{N}T in symbolic
form. (3 points extra credit for using fancy Mathematica
fonts to actually show Greek letters).
- 3.18 Also compute the forward kinematics.
- 3.19 Also compute the forward kinematics.
- 3.20 Also compute the forward kinematics.

**Note:** for problems where you have to compute the forward
kinematics, you may have to assign your own notation for lengths
of links, etc.

*Last updated: January 29, 1999.*

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