1. Using the numerical values in Exercise 5.5 show the noncommutative property of the rotations, i.e., QAQB ≠ QBQA. 5.1
2. Using the functions, ‘atan’ and ‘atan2, ’ fi nd the angle formed by the line joining the origin (0, 0) and a point (2, 1).
3. Repeat Exercise 5.18 for the points (0, 0) and (–2, –1). Comment on the results obtained using ‘atan’ and ‘atan2.’ Which one is the correct one? 5.
4. Symbolically compute the 12 sets of Euler angles.
5. Using RoboAnalyzer (RA) software, generate the spherical robot arm using the DH parameters of Table 5.6.
6. Visualize DH parameters of the spherical robot arm using RA.
7. What are the default DH parameters of PUMA 560 in RA software?
8. Generate a 6R robot model in RA using the DH parameters of Exercise 5.23.
9. Note down individual HTM of the Stanford robot from “Link Confi g” of RA software. Compare those in MATLAB using the default DH parameters in RA screen and Eq. (5.61b).