Full name: Nguyen Van A

Student ID: 17146xxx

Course group: 050

SAMPLE
Homework 1:
Step 1: Assigned the coordinates to manipulator like Figure 1.

x4

y5 P

y2 x3

q2 l2
y0 y3
x2
y1
l1
x1

q1
x0

z1
z0

Figure 1. Assign of coordinates to manipulator.

Step 2: Determine the matrix of transformation
0
P  0T4 4 P  0T1 1T2 2T3 3T4 4 P  R  z , q1   T  l1 , 0, 0   R  z , q 2   T  l2 , 0, 0   4 P
cos q1  sin q1 0 0  1 0 0 l1  cos q 2  sin q 2 0 0  0 0 0 l2  0 
 sin q cos q1 0 0  0 1 0 0   sin q 2 cos q 2 0 0  0 0 0 0  0 
 1

 0 0 1 0  0 0 1 0  0 0 1 0  0 0 1 0  0
     
 0 0 0 1  0 0 0 1  0 0 0 1  0 0 0 1  1 
cos q1  q 2   sin q1  q 2  0 l1 cos q1  l2 cos q1  q 2   0 
  
sin q1  q 2  cos q1  q 2  0 l1 sin q1  l2 sin q1  q 2   0 

 0 0 1 0  0 
  
 0 0 0 1  1 
Step 3: Determine the position of P in frame of 0

Px  l1 cos q1  l2 cos q1  q 2 

Py  l1 sin q1  l2 sin q1  q 2 
Pz  0

Step 4: Workspace of manipulator (Figure 2)

Figure 2. Workspaces with alternative variable rotation angles.