Answer Happy

1. Define the forward kinematic transform for the manipulatorshown on the next page.
(10 marks)
2. Determine the inverse kinematic transform for the manipulatorsuing Px and Py as the set positions for the end-effector.
(10 marks)
3. Discuss your solution to the inverse kinematic problem interms of redundancy, degeneracy and uniqueness.
(12 marks)
4. Determine the expression for the velocity of the endeffector.
(12 marks)
5. Determine the expressions for the joint velocities.
(12 marks)
6. Plot the joint position and joint velocity values versus timewhen moving the end effector from R(-0.3, 0.4, 0.6) toR(0.3, 0.4 0.6) relative to the world frame so that thespeed in the x direction is 0.6m/s and the speed in the y directionis 0m/s. Assume the end effector is located at the end oflink 2.
(12 marks)
7. What issues arose in your solution to part 6 and how did youdeal with these?
(12 marks)
ZR XR YR Note both joints are revolute d₁ = 0.6m, 12 = 0.5m 1₂2 link 2 Ꮎ . 1 0₂ d₁ link 1