Description
1. (10 pt)
• (0 pt. ) Read chapter 1 of SHV and chapter 1 of the Robotics and
Automation Handbook (link to material provided in class).
• (10 pt. ) Select any field of application that you find interesting (space
exploration, medical, industrial, etc.). Then search for an applicationsoriented article on robotics from one of the journals available through the
CSU Library’s Journal Finder, for example:
– Robotica
– IEEE Transactions on Robotics
– International Journal of Robotics Research
The article must be from a technical journal (no trade magazines or
websites). Provide a 1-page document where you indicate the complete
citation (journal, author, title of article and publication data), followed
by a summary of the aims, methodology and outcomes of the paper.
2. (60 pt) The figure shows two planar manipulators of the RP and PR
types. For each, write Matlab code that displays the reachable workspace for
a given set of parameters. Show the shape of the reachable workspaces for
the following parameter values: l1 = l2 = 1, δ = 0.2, d = 0.2, h = 0.5 and
D = 0.75.
1. RP robot: The range of motion of the prismatic link is 0 ≤ q2 ≤ D. The
range of motion of the revolute joint is limited by interference between
the first link and the ground and between the end effector and the ground.
b. The range of motion of the prismatic link is 0 ≤ q1 ≤ D. The range of
motion of the revolute joint is limited only by intereference between the
end effector and the ground.
q2
q
2
2
q2
2
q
3. (30 pt) Read chapter 2 of Linear Algebra and Its Applications by Strang,
de-emphasizing or skipping sections 2.2, 2.4 and 2.5. Then solve the following
problems:
• Set 2.1, ex. 3 (p. 82)
• Set 2.1, ex. 8 (p. 83)
• (Doctoral students only) Set 2.1, ex. 17 (p. 84)
• Set 2.3, ex. 2 (p. 110)
• Set 2.3, ex. 20 (p. 112)
• (Doctoral students only) Set 2.3, ex. 31 (p. 114)
• Set 2.6, ex. 5 (p. 149)
• Set 2.6, ex. 6 (p. 149)
• (Doctoral students only) Set 2.6, ex. 7 (p. 150)
Only 3 problems will be graded.
https://academic.csuohio.edu/richter_h/courses/mce647/StrangCH2.
pdf
