engineering homework

EECS/EMAE 489 Fall 2019 Homework # 4

1. Chapter 2 exercises, question 18 of MLS.

2. Chapter 3 exercises, question 3 part (c) for manipulators (i) and (iii) of MLS.

3. Derive the spatial Jacobian for the inverse elbow manipulator in Figure 3.24 (ii) of MLS. (Level of detail of the example 3 on p.119–120 of MLS is sufficient. You can use Mathematica or Matlab to perform the symbolic calculations. )

4. Chapter 3 exercises, question 14 part (c) of MLS.

5. Chapter 3 exercises, question 13, parts (b) and (c) of MLS.

6. Chapter 3 exercises, question 21, parts (a), (d), and (e) on p. 153 of MLS.

7. Find the resulting wrench at B for a pure force (no moment) applied at A. Note that the axes of the A and B frames differ by a 180o rotation about the z-axis and include the elements of any rotation matrices you use in the answer.

8. Chapter 3 exercises, question 18 of MLS.

9. Chapter 3 exercises, question 19, on p. 152 of MLS.