Exercise: Play with 2-dof manipulator C-space applet

With the simulator in setup mode, add at least two obstacles to the workspace by drawing polygons in the robot's backgound. Please answer the following questions:

• Describe the shape of the obstacles in the workspace and in the C-space.
• How do the C-space obstacles change when the length of the robot's links change?
• How does the C-space change when the robot's base position changes?

Now, put the simulator into configure mode and answer the following questions:

• How does changing the angle of the base joint change the position of the robot in the C-space? What about the other joint?

Finally, put the simulator into inverse kinematics mode and answer the following questions:

• What happens to the joint angles as you drag the end effector around?
• Is the robot generally able to avoid collisions? Why or why not?

Additionally, please take a screenshot of the applet that includes a workspace with at least two obstacles and the robot arm having changed in both length and base position. Be prepared to submit this image to Canvas and discuss your answers to the above questions.