Adding Solution

Assignment01/README.md

@@ -5,24 +5,19 @@ Solution
 ### Read Frames Chapter from Craig's book and present a mind map.
 ![Craigs](Manipulator.jpeg)
 ### Understanding of youbot_driver :
-####2.1 Present an overview of the youbot_driver. (Preferably as class diagram,
-do not detail the member functions).
-        ![UML](YouBotManipulatorUML.pdf)
-####2.2. Currently the home position of the robot is calibrated to folded arm.
-Change the home position to candle position.
+####2.1 Present an overview of the youbot_driver. (Preferably as class diagram,do not detail the member functions).
+        ![UML](YouBotManipulatorUML.png)
+####2.2. Currently the home position of the robot is calibrated to folded arm.Change the home position to candle position.
              The candle position of the arm can be found in the shared
 youbot_kdl folder. (hint : setencoders to zero)
          You also need to modify the joint limits in the configuration file.
          Joint limits for candle position can be found in :
          http://www.youbot-store.com/youbot-developers/software/simulation/kuka-youbot-kinematics-dynamics-and-3d-model
-####2.3. Write a program which controls first three joints in position mode and
-the last two in velocity mode.
+####2.3. Write a program which controls first three joints in position mode and the last two in velocity mode.
         Solution : [Implemented Here !](code/src/main.cpp)
-####2.4. Understand the working of kdl library and provide an interface from
-kdl to youbot.
+####2.4. Understand the working of kdl library and provide an interface from kdl to youbot.
         Solution : [Implemented Here !](code/src/mainInterface.cpp)
-### What is cascaded controller ? Term some advantages of using a cascaded
-   controller.
+### What is cascaded controller ? Term some advantages of using a cascaded   controller.
 
     A cascade control system is a multiple-loop system where the primary
 variable is controlled by adjusting the setpoint of a related secondary
@@ -40,6 +35,4 @@ The advantages of cascade control are as follows:
     6.Improve dynamic performance
 
 Reference :http://www.sapiensman.com/control/
-### Provide a theoretical method of modelling a motor as a spring. (You need to
-   program it in the next assignment)
-
+### Provide a theoretical method of modelling a motor as a spring. (You need to  program it in the next assignment)