• Forward Kinematics

• Modify your wavefront planner to favor NOT changing directions, whenever possible. i.e., if the choice is between two directions and one is the same direction you went in the previous step, then choose that direction.

1. Draw the intermediate motions for a wedge that undergoes Trans (Y, Δy₁) Rot (Z, θ₁) Trans (Y, Δy₂) Rot (X, θ₂)

2. Let be a homogenous tranformation.
   Demonstrate that H is either a translation followed by a rotation or a rotation following by a translation.
   (i.e., show that it is or is not a rotation followed by a translation, and show that it is or is not a translation followed by a rotation)
   
   (3&4) Consider the following robot

   

3. What are the parameters and variables for the robot

4. Derive the forward kinematics for the robot, i.e., write an expression for x,y, &Theta in terms of the joint parameters and variables.

Turn in:

Lab demo on 4/17 in class.
Submit hardcopy for individual assignment at the beginning of class on 4/18.