Exercise 8, Problem 2.2

After fervently fighting for hours with correct matrix sizing, we can see that the system is now more accurate.

Exercise 9, Problem 1.2

Nabla H is calculated as stated in the previous exercise, but taking into account the displacement of the laser from the robot. We then obtain:

Exercise 9, Problem 1.3

The line matching script and obtained results are shown below:

Exercise 9, Problem 1.1

As stated in the book, the Jacobian matrix of the world to robot frame transformation is:

This is valid for the case when the robot and laser positions can be superimposed. In our case, due to laser displacement, the third term in the second row will be non-zero, as shown in the following problem.