EE 570: Homework 1

Due: We 02/04/2009

Consider the two-link planar arm shown in figures 1.20 and 1.22 in the textbook.

1. Find the forward kinematic relationships given in the book.
2. Find the inverse kinematic relationships given in the book.
3. Show the arm's workspace.
4. Find the Jacobian, where it is singular, and why.