1.

If the links and joints of the following manipulator had the settings; L1=375mm, L=300mm,
L4=75mm, θ=0°, φ=20° and ψ=34°, determine the coordinates of the resulting point P at which the
end-of-arm would be located. (5 Marks)

2. A 3 dof RRR robot manipulator is described in the following DH table. If the end-position of the
manipulator is [3 2 1]T units, find its joint angles. (5 Marks)

Link, i ai di θi , αi,
deg deg
1 0 0 θ1 0
2 0 0 θ2 -90
3 2 0 θ3 0