The Assignment
 Solve problem 45.
 Compute the derivative of the DH rotation matrix (e.g., eq. 3.13) and
find a simple expression for the angular velocity induced by a revolute joint.
Solve for joint i, and express the angular velocity relative to frame i1.
 Solve problems 417 and 418.
These problems will give you practice computing Jacobian matrices.

Design a fourlink arm (thus, four joints) and determine its
Jacobian matrix.
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 ector 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
Homework Set 3 if you like. Include a
figure that clearly shows the robot and the DH frames. Show the
intermediate steps in your computations.
 Solve problems 419 and 420.
These problems will give you a bit of practice finding singularities.
