HCR ~ Exam 2017-01-25 (with Solutions)

• Exercise 1: Linear Algebra ^exercise-1
  • Find the solution(s) of this linear system:$Ax=y$Where:$A=\left[\begin{array}{lcc}1& 2& 1\\ 2& 4& 2\\ 0& 0& 3\end{array}\right],y=\left[\begin{array}{l}4\\ 8\\ 3\end{array}\right]$Tip: Solve the problem using the concept of RANK of matrices and discuss how many solutions the system has.
• Exercise 2: Grasping
  • (a) Describe what you know about internal forces. What are they? Why are they important?
  • (b) Given the simple 3D grasp:
    
    And assuming a hard finger contact model at each contact, compute the subspace of internal forces.
• Exercise 3: Haptics
  • (a) Describe the concept of transparency.
  • (b) Compute it in terms of impedance and transfer function.

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• Solution:
  • (Exercise 1: Linear Algebra)TODO
  • (Exercise 2: Grasping - a)TODO
  • (Exercise 2: Grasping - b)TODO
  • (Exercise 3: Haptics - a.)TODO
  • (Exercise 3: Haptics - b.)TODO

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Original Files

• Exam:
  
• Solutions: