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### Homework 1 Task 1

Verfasst: **2. Nov 2013 21:50**

von **MaMö**

I have some questions about Homework 1 and hope for some answers here

1.1 c) Is the state vector q our vector of the q1-q4 introduced at the top?

1.1 e) What does "shape of the manifold" exactly mean?

Greets

### Re: Homework 1 Task 1

Verfasst: **3. Nov 2013 07:18**

von **Domac**

Hey MaMö!

I'd agree on your guess concerning the task 1.1 c). There, they talk about "robot"… it would make a lot of sense to compute the jacobian to q1-q4 from "our" robot given in task 1.1! Maybe you could help me a bit out on task 1.1 a)… what about that coordinate system in the side view?

Best,

-Thomas

### Re: Homework 1 Task 1

Verfasst: **3. Nov 2013 13:50**

von **Domac**

Hey MaMö!

It's me again… to 1.1) e); the shape of the manifold is simply the shape of the operable working space for the robot arm.

I think so at least and this makes perfect sense for me.

Best,

-Thomas

### Re: Homework 1 Task 1

Verfasst: **11. Nov 2013 10:44**

von **MaMö**

Hey,

thank you for your reply

For 1.1 a) I think the coordinate system in the side view just shows how our robot stays in the room (bootom of q1 / x_base)