1. CSCE 452 Intro to Robotics Question Set 3 – Inverse Kinematics 1

2. CSCE 452 Intro to Robotics PPR z0z0 y0y0 0 (z 3, y 3 ) α3α3 Given 0 (z 3, y 3, α 3 ) and frame {0}, perform the following tasks: Attach frames {1}, {2}, and {3} to the robot Draw (d 1, d 2,  3 ) on the figure Find (d 1, d 2,  3 ) as the function of 0 (z 3, y 3, α 3 ) x0x0 L2L2

3. CSCE 452 Intro to Robotics PPR Z 0,1 y0y0 0 (z 3, y 3 ) α3α3 Given 0 (z 3, y 3, α 3 ) and frame {0}, perform the following tasks: Attach frames {1}, {2}, and {3} to the robot Draw (d 1, d 2,  3 ) on the figure Find (d 1, d 2,  3 ) as the function of 0 (z 3, y 3, α 3 ) x1x1 Z2Z2 Z3Z3 x0x0 x2x2 x3x3 d2d2 d1d1 L2L2 33

4. CSCE 452 Intro to Robotics PPR Z 0,1 y0y0 0 (z 3, y 3 ) α3α3 Given 0 (z 3, y 3, α 3 ) and frame {0}, perform the following tasks: Attach frames {1}, {2}, and {3} to the robot Draw (d 1, d 2,  3 ) on the figure Find (d 1, d 2,  3 ) as the function of 0 (z 3, y 3, α 3 ) x1x1 Z2Z2 Z3Z3 x0x0 x2x2 x3x3 d2d2 d1d1 L2L2 33

5. CSCE 452 Intro to Robotics RPR Robot x0x0 y0y0 0 (x 3, y 3 ) α3α3 11 33 γ Given 0 (x 3, y 3, α 3 ) and frame {0}, perform the following tasks: Attach frames {1}, {2}, {3} to the robot Draw (  1, d 2,  3 ) on the figure Find (  1, d 2,  3 ) as the function of 0 (x 3, y 3, α 3 ) L2L2

6. CSCE 452 Intro to Robotics RPR x0x0 y0y0 0 (x 3, y 3 ) α3α3 90+  1 33 γ d2d2 L2L2 φ Z 0,1 Z2Z2 Z3Z3 Given 0 (x 3, y 3, α 3 ) and frame {0}, perform the following tasks: Attach frames {1}, {2}, and {3} to the robot Draw (  1, d 2,  3 ) on the figure Find (  1, d 2,  3 ) as the function of 0 (x 3, y 3, α 3 ) x1x1 -1-1 x2x2 x3x3

7. CSCE 452 Intro to Robotics RPR x0x0 y0y0 0 (x 3, y 3 ) α3α3 90+  1 33 γ d2d2 L2L2 φ Z 0,1 Z2Z2 Z3Z3 Given 0 (x 3, y 3, α 3 ) and frame {0}, perform the following tasks: Attach frames {1}, {2}, and {3} to the robot Draw (  1, d 2,  3 ) on the figure Find (  1, d 2,  3 ) as the function of 0 (x 3, y 3, α 3 ) x1x1 -1-1 x2x2 x3x3