MODERN ROBOTICS
MECHANICS, PLANNING, AND CONTROL
Practice Exercises
Contributions from Tito Fernandez, Kevin Lynch, Huan Weng, and Zack Woodruff
December 6, 2018
This is a supplementa
...
MODERN ROBOTICS
MECHANICS, PLANNING, AND CONTROL
Practice Exercises
Contributions from Tito Fernandez, Kevin Lynch, Huan Weng, and Zack Woodruff
December 6, 2018
This is a supplemental document to
Modern Robotics Mechanics, Planning, and Control Kevin M. Lynch and Frank C. Park Cambridge University Press, 2017
Original material from this document may be reused provided proper citation is given. More information on the book, including a downloadable preprint, software, videos, online courses, and a feedback form can be found at http:
//modernrobotics.org. Comments are welcome!
Contents
1 Introduction 1
2 Practice Exercises on Configuration Space 3
2.1 Practice Exercises 3
2.2 Solutions 9
3 Practice Exercises on Rigid-Body Motions 15
3.1 Practice Exercises 15
3.2 Solutions 25
4 Practice Exercises on Forward Kinematics 31
4.1 Practice Exercises 31
4.2 Solutions 36
5 Practice Exercises on Velocity Kinematics and Statics 39
5.1 Practice Exercises 39
5.2 Solutions 43
6 Practice Exercises on Inverse Kinematics 47
6.1 Practice Exercises 47
6.2 Solutions 51
7 Practice Exercises on Kinematics of Closed Chains 53
7.1 Practice Exercises 53
7.2 Solutions 53
8 Practice Exercises on Dynamics of Open Chains 55
8.1 Practice Exercises 55
8.2 Solutions 62
9 Practice Exercises on Trajectory Generation 73
9.1 Practice Exercises 73
9.2 Solutions 79
10 Practice Exercises on Motion Planning 85
10.1 Practice Exercises 85
10.2 Solutions 85
11 Practice Exercises on Robot Control 87
11.1 Practice Exercises 87
11.2 Solutions 92
12 Practice Exercises on Grasping and Manipulation 97
12.1 Practice Exercises 97
12.2 Solutions 97
13 Practice Exercises on Wheeled Mobile Robots 99
13.1 Practice Exercises 99
13.2 Solutions 101
CONTINUED.........
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