Q3

8/10

quiz：给一个chain，让求一个p的坐标，用F来表示

注意答案格式：in terms of

• homogeneous transformation matrices
• R, d

Solution

Q1

root: joint 12

Kinematic Chain: 12, 11, 10, 1, 6, 7, 8, 9

$F_9^0=F_{12}^0F_{11}^{12}F_{10}^{11}F_{1}^{10}F_{6}^{1}F_{7}^{6}F_{8}^{7}F_{9}^{8}$

Q2

Know start and end point, how to move?

JP->IK->JA

Joint Position -> Inverse Kinematic -> Joint Angles