by
Consider a robotic manipulator with two degrees of freedom shown in the figure.
The manipulator can rotate around axis 
for the angle of 
and around the axis 
for the angle of 
. Assume that , , distances 
and 
are given.
Your task is to
- Assign coordinate systems to every joint.
- Construct rotation matrices and homogeneous transform.
- Represent the coordinates of the end-effector point
in the base coordinate system 
by using rotation matrices and homogeneous transforms.
Important notes:
- The submission deadline is Friday, January 28, at 12:00PM, during the class. Only printed copies will be accepted. Please do not email the homework assignments.
- You are expected to write equations, text, and graphs in appropriate software. Hand-written homework assignments will not be accepted. Latex software is a good option for writting the homework assignment, see for example the online tutorial given below.
- Plagiarism will not be tolerated.
