CPSC 452 - Chapter 3 Exercise Assignments and Hints

The exercises assigned are from J.J. Craig's text, "Intro. to Robotics," ed. 2.

Chapter 3 Assignment Due Friday, Feb. 14, 1997

Exercises 3.3, 3.8, 3.9, 3.13, 3.15

Hints

Exercise 3.13 - Don't every orient an x-axis in the direction of the next z-axis. Make d_4 = d_5 = 0.

Exercise 3.15 - The origins of the frames should not be inside the cylinders shown in the kinematic schematic.