Two messages regarding compulsory exercise ¡­

Two messages regarding compulsory exercise 1:

1) In assignment 1, the correct text should be: (the transformation matrix expressing the position and orientation of {T} with respect to {B}.) (Thanks to Ole for pointing this out)

2) The angles in assignment 3 (Figure 4), theta1, theta2 and theta3 are NOT the theta angles in the DH-convention. You are supposed to find the coordinate frames of the robot yourselves, and determine the correct angles that you should use as input to the forward kinematics. The drawing should leave no doubt of how the robot is oriented in relation to the three static coordinate frames. If anyone is in doubt about this, contact one of the course administrators

We have heard that several students have misunderstood this assignment, and realize that it may have been unfortunate that we named the angles in figure 4 "theta1, theta2 and theta3". Anyway, this has no effect on how the assignment is to be solved. If it makes it easier for you, feel free to rename the theta-angles (to phi or something else).