Forward Kinematics

1. For V+ answer the following: (3pts each)
   a) How many degrees of freedom can you control?
   b) What are these DOF?
2. Describe the difference between the following: (2pts each)
   a) Forward Kinematics
   b) Inverse Kinematics
3. The following series gives the value of -/4

Write a V+ loop to generate the following series for the first 30 terms using both a for and a while loop. At he
end calculate the difference between the series and the analytical solution. (5pts each)
FOR WHILE

4. Write a script that moves a robot from a point called “pick” to a point called “place”. Approach each point 10
   mm above and delay for 4 s before going to the point. Include a for loop to repeat 10 times. (10pts)Name:_________________________
   AMAR 300 Final Exam
   2
5. Consider the following V+ program: (2pts each)
   w = 1
   x = 1
   y = 1
   z = 3
   FOR i = 1 TO 4
   w = w * 3
   x = 3 * i
   z = z + x
   y = y + 3
   END
   a) How many times does the loop iterate?
   b) What is the ending value of w?
   c) What is the ending value of x?
   d) What is the ending value of z?
   e) What is the ending value of y?
6. Consider the following V+ program: (2pts each)
   x = 3
   y = 2
   z = 5
   FOR i = 1 TO 21
   y = y + 2xi
   w[i] = 2x - 5 u [i] = 2z - 5
   v[i] = i + y
   x = x + 1
   END
   a) How many times does the loop iterate?
   b) What is the value of w[3]?
   c) What is the value of u[5]?
   d) What is the value of v[3]?
   e) What is the value of u[21]?