Question

For problem 1, I understand that xi = {q + w; w}. How do I find omega?

Answer 1

it's qxw...big difference. Omega is a unit vector aligned with the axis of rotation of the join in the observer frame. So if the axis of rotation is x, w is [1;0;0]

Answer 2

For number 3, I know that the wrist position is: de* + Re* x (-l3; 0). How do I solve for alpha 1 and two from this equation?

Answer 3

Look back at problem 2. If you know the position to the wrist it boils down to what you already solved there right?