## Description

The Figure below is an RRP robot. For this robot system:

1. D-H Parameters (10 points)

2. Determine the symbolic tool-tip velocities using partial differential

equations (20 points)

3. Determine the symbolic tool-tip linear and angular velocities using the

O and Z vector from the A Matrix. (20 points)

4. For the robot configuration shown below, where all the links are 1 unit

and Theta1 and Theta2 is at zero degrees, determine the numerical

Jacobian Matrix. (10 points)

5. Determine the inverse Jacobian for the Matrix found in Question 4. (10

points)

6. Write a MATLAB script to solve for the inverse kinematics, (q1, q2, q3)

to position the robot at 0.25x + 0.25y + 1.354z (30 points)