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HW 1

Homework for robotics

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FALAK FATIMA
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22 views

HW 1

Homework for robotics

Uploaded by

FALAK FATIMA
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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CP 214: Foundations of Robotics

Home Work 1

Due: 19th Aug 2024

Reference: http://ruina.tam.cornell.edu/Book/RuinaPratap-July-12-2019.pdf

Note: All problems must be done in a step-by-step fashion. Credit will not
be given for just putting the final answer without justification. Also the code of
conduct will be strictly enforced:

https://www.csa.iisc.ac.in/aboutus/data/misconduct.pdf

https://www.iisc.ac.in/wp-content/uploads/2020/07/iisc policy-for-academic-integrity-
in-research final.pdf

1. Find the percentage error in computing the moment of W about the pivot
point O as a function of θ, if the weight is assumed to act normal to the arm
OA (a good approximation when θ is very small).

2. An exam problem in statics has three unknown forces. A student writes the
following three equations (they know that they need three equations to find a
unique solution) - one for the force balance in the x-direction and the other
two for the moment balance about two different points.

(a) F1 − 12 F2 + √1 F3
2
=0
(b) 2F1 + 32 F2 = 0
√
(c) 52 F2 + 2F3 = 0

Can the student solve for F1 , F2 , and F3 uniquely from these equations?

1
3. Express the unit vectors n̂ and λ̂ in terms of î and ĵ shown in the below figure.
What are the x and y components of r̂ = 3n̂ − 1.5λ̂?

4. What is the distance d between the origin and the line AB shown? (You may
−
→ −
→
write your solution in terms of A and B before doing any arithmetic).

5. What is the solution to the set of equations?


x+y+z+w =0
x−y+z−w =0
x+y−z−w =0
x+y+z−w =2

6. For each equation below state whether:


• The equation is nonsense. If so, why?
• Is always true. Why?
• Is never true. Why?
• Is sometimes true. Why?
→
− − −c × →
−
(a) b × → c =→ b
→
− → − →
− →
−
(b) b × c = c · b
→
− →
− − →
(c) →
−c · (→
−
a × b ) = b · (→
c ×− a)
→
− → →
− →
− −
(d) a × ( b × c ) = ( a · c ) b − (→
→
− − →
− →
− −
a · b )→
c

where: · = dot product and × = cross product by definition.

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