Introduction to Robotics Homework #2 Some tips + Please include a litle grid lke this at the top of your first page of homework: 1[2]3|4 | Tot '* Use our abbreviations for trig functions (i.¢. of for cos(@), 5: for sin(@:)), or you will quickly get sick of writing sin and oos all the tie. + Unless instructed otherwise, leave squate rots in aymbole form, rathor than waiting out their docimal vals ¢Iyou give a vector as an answer, make sure that you specify what frame it is given in (itis not clear fom context). The same rule applies to rotation and transformation matrices 4, Bxercise 3.9 in the text 2. Consider the RPR manipulator in Fig. 3.36 in the text. (a) Assign link frames {0} through {3} for the manipulator ~ that is, sketch the coordinate axes of cach frame, (b) Find the Denavit-Hartenberg parameters for this manipulator — that is, fill in the entries for the following table: Tan ona [& cilmeeat 2 3 (6) Derive the forward kinematics for this manipulator - that is find the matrix 97. 3. Consider the PRR manipulator in Fig. 3.40 in the text. (@) Draw a schematic of this manipulator, with the axes of frames {0} through {3} labeled. Also, include the parameters dy, a:, 82, ¢2 and 8s on your schematic. Assume that this diagram shows ‘a configuration where @2 = 45 =0. (b) Find the Denavit-Hartenberg, parameters for this manipulator ~ that is, fill in the entries for the following table: aa [aims [| (6) Derive the forward kinematics for this manipulator ~that is, find the matrix 97. 4, Referring to Eqn. 3.6 from the text, explain why ths = 0. Your answer should be one or two sentences,