• (75%) Group: Robot Arm Path Planning
• (25%) Individual

• Build up the basic concepts of inverse kinematics
• Understand the limitations of motion based on given mechanical systems

1. Derive the inverse kinematics for the following prismatic-revolute-revolute joint planar robot. Explicitly state what and when there are infinite, one, or no solutions. Assume s can range from zero to infinity; the revolute joints can range from zero to 2 pi; and the first link is longer than the second link. (7pts)

2. Sketch the workspace of the arm. (5pts)
   
   Robotic arm for questions 1 and 2.
   
3. Derive the inverse kinematics for the following revolute-revolute-revolute joint planar robot. Explicitly state what and when there are infinite, one, or no solutions. Assume the revolute joints can range from zero to 2 pi; and the links sizes are ordered as L1 < L2 < L3. (10pts)

4. Sketch the workspace of the arm. (3pts)
   
   Robotic arm for questions 3 and 4.

Turn in:

Submit a PDF named [andrewID_hw11.pdf] to Gradescope before the beginning of class (4/18).