### 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.

- 3.11 Also compute the forward kinematics.
- 3.16 Also compute the forward kinematics.
- 3.21 Also compute the forward kinematics.
- 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*)