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Question 1 [30%]
The initial location and orientation of a robot’s hand are given by �”, and its new location and orientation after a change are given by �#.
a) Construct a transformation matrix Q that will accomplish this transform (in the Universe frame).
b) Assuming the change is small, determine a differential operator that will do
the same.
c) By inspection, solve the differential translation and a differential rotation that constitute this operator
Question 2
Figure 1(a) and (b) shows a robotic arm used in automotive industry for painting and welding application. Based on the figures:
a) State number axes rotation
b) Degree of Freedom (DOF) in world space
c) Sketch any three (3) ways by which the robot can reach point P
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