Modern Robotics Mechanics Planning and Control 1st Edition Lynch Solutions Manual

MODERN ROBOTICS MECHANICS,PLANNING
MODERN ROBOTICS AND
CONTROL PRACTICE EXERCISE
MECHANICS, PLANNING, AND CONTROL

Practice Exercises

Contributions from Tito Fernandez, Kevin Lynch, Huan Weng, and Zack
Woodruff

December 6, 2018




This is a supplemental document to
Modern Robotics
Mechanics, Planning, and Control
Kevin M. Lynch and Frank C. Park
Cambridge University Press, 2017

Original material from this document may be reused provided proper citation
is given. More information on the book, including a downloadable preprint,
software, videos, online courses, and a feedback form can be found at http:
//modernrobotics.org. Comments are welcome!

,
,Contents

1 Introduction 1

2 Practice Exercises on Configuration Space 3
2.1 Practice Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2.2 Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

3 Practice Exercises on Rigid-Body Motions 15
3.1 Practice Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.2 Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

4 Practice Exercises on Forward Kinematics 31
4.1 Practice Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . 31
4.2 Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

5 Practice Exercises on Velocity Kinematics and Statics 39
5.1 Practice Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . 39
5.2 Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

6 Practice Exercises on Inverse Kinematics 47
6.1 Practice Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . 47
6.2 Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

7 Practice Exercises on Kinematics of Closed Chains 53
7.1 Practice Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . 53
7.2 Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

8 Practice Exercises on Dynamics of Open Chains 55
8.1 Practice Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . 55
8.2 Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62


i

, ii Contents


9 Practice Exercises on Trajectory Generation 73
9.1 Practice Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . 73
9.2 Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

10 Practice Exercises on Motion Planning 85
10.1 Practice Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . 85
10.2 Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

11 Practice Exercises on Robot Control 87
11.1 Practice Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . 87
11.2 Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

12 Practice Exercises on Grasping and Manipulation 97
12.1 Practice Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . 97
12.2 Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

13 Practice Exercises on Wheeled Mobile Robots 99
13.1 Practice Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . 99
13.2 Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101




Practice exercises for Modern Robotics, Lynch and Park, Cambridge U. Press, 2017. http://modernrobotics.org