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I'm reading "Robot Modeling and Control" by Spong. It seems to me there are mistakes in the manual solutions provided by the authors. I came across the following two questions

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In this answer I think there is no $d_3$. It should be zero. In the following question

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In my solution $\alpha_2=-90^\circ$ not $90^\circ$ and $\theta_3 = 0^\circ$ not $-90^\circ$. I would love to hear your feedback. Also, if you are instructor, you may need to double check this.

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yes you are right in both models.

but add extending length of prismatic joint as it may be able to extend further and add theta to revolute joints

first model

add d1+a1 in the place of d1 and so on

hope it helps

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  • $\begingroup$ What DH conversion you're using? What is the table you've provided? $\endgroup$
    – CroCo
    Dec 7, 2021 at 15:44
  • $\begingroup$ i think it is modified dh table. for reference: [ link ](automaticaddison.com/…) $\endgroup$ Dec 8, 2021 at 13:25

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