This homework should provide you with
practice solving inverse kinematics problems.
The Assignment
 Solve problem 311. This problem addresses
issues related to multiple solutions of inverse
kinematic problems.
 Solve problems 312, 313 and 314.
These are straightforward inverse kinematics problems for
several different manipulators.
Note, if multiple solutions exist, you must list them.
You need not give explicit equations for the additional
solutions, but you must enumerate them, and explain
how they differ from the solution you have provided.
 Solve problem 318. For this problem, you will find the
complete inverse kinematic solution for a Stanford arm
equipped with a spherical wrist.
There are multiple solutions for this arm/wrist, but you
need only find one of them. However, you must discuss
the other solutions (e.g., give the number of solutions,
and explain how they differ from the solution that you
have found).
 Solve problem 321. For this problem,
be sure to include a drawing of the robot that clearly
indicates its kinematic structure and your assignment
of DH frames.

Consider the twolink planar arm (e.g., Fig. 3.6).
The inverse kinematic problem is to find the two
joint angles that place the end effector frame
at a given xy position.
In terms of the desired xy position of the end effector frame,
describe all situations for which
 no solutions exist
 two solutions exist
 exactly one solution exists

For this problem you are to design a fourlink arm (thus, four joints) and
determine its inverse kinematics solution. Your design should include at least
one revolute joint and one prismatic joint. The arm should not be a simple
planar mechanism (i.e., the origin of the end effector frame should not be
constrained to lie in a plane), and it should not appear in the text book. You
may use your design from the previous homework assignment if you like.
Include a figure that clearly shows the robot and the DH frames.
Show all steps in your computations.
