Homework #6 - Manipulability and Path Planning
Due: Dec. 4, 2008.
Manipulability
Consider the three-link elbow manipulator shown in
Figure 4.5.
Derive an expression for the manipulability of this
manipulator (w.r.t. linear velocity only).
Characterize the set of configurations for which the
manipulability is maximized.
Path Planning
Problems 5-1 --- 5-12 (inclusive), and 5-15.