ECE 470: Homework 2
Solutions
Seth Hutchinson
Luke A. Wendt
ECE 470 : Homework 2
1
The frames for each link must be chosen with respect to the DH convention,
DH1 : xi+1 perpendicular to zi ,
DH2 : xi+
ECE 470: Homework 3
Due Tuesday, September 29
in class @12:30pm
Seth Hutchinson
Luke A. Wendt
ECE 470 : Homework 3
1
Show that eS is in SO(3) if and only if S is in so(3). The following may be useful:
ECE 470: Homework 1
Solutions
Seth Hutchinson
Luke A. Wendt
ECE 470 : Homework 1
1
A free vector is dened by the subtraction of two points in a given coordinate system, e.g., v = p1 p2 .
1 (a)
T
Using
ECE 470: Homework 5
Due Tuesday, October 27
in class @12:30pm
Seth Hutchinson
Luke A. Wendt
ECE 470 : Homework 5
1
Consider a camera with focal length = 1. Suppose the optical axis of the camera is al
ECE 470: Homework 5
Due Tuesday, October 27
in class @12:30pm
Seth Hutchinson
Luke A. Wendt
ECE 470 : Homework 5
1
Consider a camera with focal length = 1. Suppose the optical axis of the camera is al
ECE 470: Homework 4
Due Thursday, October 8
in class @12:30pm
Seth Hutchinson
Luke A. Wendt
ECE 470 : Homework 4
1
Given a wrist center oc , nd the inverse position kinematics of Figure 1.
Figure 1: T
ECE 470: Homework 2
Due Thursday, September 17
in class @12:30pm
Seth Hutchinson
Luke A. Wendt
ECE 470 : Homework 2
Consider the the following manipulators, and derive the forward kinematic equations
ECE 470: Homework 1
Due Tuesday, September 8
in class @12:30pm
Seth Hutchinson
Luke A. Wendt
ECE 470 : Homework 1
1
A free vector is dened by the subtraction of two points in a given coordinate system
ECE 470: Introduction to Robotics
Homework #2
Due: Thursday, Sept. 21, 2014.
More Properties of SO(3)
These problems will explore in a bit more depth some properties of rotation matrices
Solve proble
ECE 470: Introduction to Robotics
Homework #1
Due: Thursday, Sept. 14, 2017.
Rigid Body Motions
Rotations and homogeneous transformations are examples of rigid body motions, i.e., motions that preserv
ECE 470: Introduction to Robotics
Homework #3
Due: Thursday, Oct. 5, 2017.
The Denavit Hartenberg Convention
This homework should provide you with plenty of practice assigning DH frames.
Solve proble
ECE 470: Introduction to Robotics
Homework #3
Due: Thursday, Oct. 5, 2017.
ECE 470: Introduction to Robotics
Homework #4
Due: Thursday, Oct. 12, 2017.
This homework should provide you with practice so
ECE 470: Introduction to Robotics
Homework #2
Due: Thursday, Sept. 21, 2014.
More Properties of SO(3)
These problems will explore in a bit more depth some properties of rotation matrices
Solve proble
ECE 470: Homework 7
Due Tuesday, December 1
in class @12:30pm
Seth Hutchinson
Luke A. Wendt
ECE 470 : Homework 7
1
Give an expression for the interaction matrix of two points p1 and p2 that satisfies
ECE 470: Homework 3
Due Tuesday, September 29
in class @12:30pm
Seth Hutchinson
Luke A. Wendt
ECE 470 : Homework 3
1
Show that eS is in SO(3) if and only if S is in so(3). The following may be useful:
ECE 470: Homework 6
Solutions
Seth Hutchinson
Luke A. Wendt
ECE 470 : Homework 6
1
Suppose that q is a solution to = J q for m < n.
Show that q + (I J + J)b is also a solution to = J q for any b Rn .
ECE 470: Homework 6
Due Thursday, November 12
in class @12:30pm
Seth Hutchinson
Luke A. Wendt
ECE 470 : Homework 6
1
Suppose that q is a solution to = J q for m < n.
Show that q + (I J + J)b is also
ECE 470: Homework 7
Due Tuesday, December 1
in class @12:30pm
Seth Hutchinson
Luke A. Wendt
ECE 470 : Homework 7
1
Give an expression for the interaction matrix of two points p1 and p2 that satisfies