ECE881:HW 1

MM:20 DO NOT COPY Q1.Do forward and inverse kinmatics of manipulator with two revolute joint ?[5] Q2.What is difference between human operator and a Robot(mention 5 points tabuler form)?[2] Q3.What are advantages and disadvantages of suction cups over grippers(mention each 5 tabuler form)[3]? Q4.Do forward and inverse kinematics of manipulator shown in fig. And forward kinematics of joint with RRR configuration [5]

Q5. Make Homogeneous transformation matrix to represent following:(i)rotation of about z axis(ii)translation of distance r along x axis(iii) rotation of about x axis(iv)translation of distance h along y axis(v) rotation of about y axis [5]