Solution Manual

for

Mechanics and Control of Robots

(Springer, 1997)

by

K. C. Gupta

Copyrlg ht, 1997

ISBN 978-1-4612-7308-0 ISBN 978-1-4612-1840-1 (eBook)
DOI 10.1007/978-1-4612-1840-1
 Preface

This Solution Manual contains solutions to the problems at the end of each
chapter in Mechanics and Control 0/of Robots, Springer, 1997. These problems
range in complexity from simple to difficult. The instructors using this book
as a main text or a supplemental text will find it useful to preview the
solutions before assigning the corresponding problems for homework.

The problems in the book belong to one of the following

folIowing three categories:

(a) Practice Problems -- These relate most directIy to the material presented
in the text and are designed to give the students some practice with the
concepts or equations presented in the book.

(b) Extensions -- These problems will allow

alIow the students to explore the text
material further. Hints are included either separately, or within the
problem statement itself.

(c) Supplementary Material -- As explained in the preface of the book, the

level of the book is kept at an introductory level appropriate for first year
graduate students in engineering. Some additional material of difficuIt
or tedious nature is included within some of the problems. Proper hints
are provided to guide the students.

As of this writing, two errors in the book are as folIows:

follows:

Page 42, Problem 15, line 4: ........ related as 6R = [E] R} and ..... .

Page 143, Figure 4.2(a): The third axis (on the right) should be u k +1

Any other errors in the book or the solution manual can be communicated
directIy to the author.

K. C. Gupta
July, 1997
 CH~P7R ,

I. (et)
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CHi

K. C. Gupta, Solution Manual for Mechanics and Control of Robots

Springer-Verlag Berlin Heidelberg 1997
 3. (11)

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CH:l. 13

K. C. Gupta, Solution Manual for Mechanics and Control of Robots

Springer-Verlag Berlin Heidelberg 1997
/. (C.wl,nIAJ)

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3

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c.V
t'( -
- - s,"E;,b

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lit
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t =
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(b) -rt....-t-t. QA...( ~ pC5J ibit!- <tff'XXJ... es .

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e, :: ta-t..-' (Hy/HJ() p..(so (71+{?/)

5~ =- (f.l ... Ilc.s 6,) - R. ( f+ Cos ( 3 )

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solk~ U-vc Iv<- r<-h.:sJ p.-lf'i-<L.:.lL

--7 be c..~)e .:/
j

1-11 eJv:"tt '..,J_ i 'v11Y1 f,Vf "-1A-U-& J titL p. . 15 iIV! ~h 'c {it z.) Jo J", f.
(J) v.Jh<.v\ p':Jt I.(.f H LH ~ ~ Z -.,t xi:.s I j(),.J "lo/l)ie 9,

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l- ~'H'-~ '5 ?tvf 10Hi bi~.

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o G -S&z
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c
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~ H::
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1
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k
=
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U .. ~ (-/ :.
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~

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