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    Instructions: R A R A A R

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    anhhaikimdong
    This document contains a 4 question exam on robotics for a semester 2 examination at Ho Chi Minh City University of Technology. The exam includes questions on frame transformations, forward and inverse kinematics, and calculating joint torques required to balance an RPR planar robot. Students are provided with frame definitions, diagrams of robots, and instructions to complete frame components, derive D-H parameters, transformation matrices, forward kinematics solutions, and inverse kinematic constraints. They are also asked to derive a Jacobian matrix and calculate joint torques to balance the robot given a external force and joint postures. The exam is open book and lasts 120 minutes.

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    Instructions: R A R A A R

    Uploaded by

    anhhaikimdong
    52 views3 pages
    This document contains a 4 question exam on robotics for a semester 2 examination at Ho Chi Minh City University of Technology. The exam includes questions on frame transformations, forward and inverse kinematics, and calculating joint torques required to balance an RPR planar robot. Students are provided with frame definitions, diagrams of robots, and instructions to complete frame components, derive D-H parameters, transformation matrices, forward kinematics solutions, and inverse kinematic constraints. They are also asked to derive a Jacobian matrix and calculate joint torques to balance the robot given a external force and joint postures. The exam is open book and lasts 120 minutes.

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    This document contains a 4 question exam on robotics for a semester 2 examination at Ho Chi Minh City University of Technology. The exam includes questions on frame transformations, forward and inverse kinematics, and calculating joint torques required to balance an RPR planar robot. Students are provided with frame definitions, diagrams of robots, and instructions to complete frame components, derive D-H parameters, transformation matrices, forward kinematics solutions, and inverse kinematic constraints. They are also asked to derive a Jacobian matrix and calculate joint torques to balance the robot given a external force and joint postures. The exam is open book and lasts 120 minutes.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    52 views3 pages

    Instructions: R A R A A R

    Uploaded by

    anhhaikimdong
    This document contains a 4 question exam on robotics for a semester 2 examination at Ho Chi Minh City University of Technology. The exam includes questions on frame transformations, forward and inverse kinematics, and calculating joint torques required to balance an RPR planar robot. Students are provided with frame definitions, diagrams of robots, and instructions to complete frame components, derive D-H parameters, transformation matrices, forward kinematics solutions, and inverse kinematic constraints. They are also asked to derive a Jacobian matrix and calculate joint torques to balance the robot given a external force and joint postures. The exam is open book and lasts 120 minutes.

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    HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY

    SEMESTER 2 EXAMINATION 2017-2018 (June 15, 2018)


    ME3015 – Robotics

    Time Allowed: 120 minutes

    INSTRUCTIONS
    1. This paper contains 4 questions and comprises 3 pages.
    2. This is an OPEN BOOK examination (using electronic devices is not allowed).
    3. Notes:
     RTA has the same meaning as RA T (do similarly with RRA and RA𝐑)
     Frame {A} has its three orthogonal unit axes, namely XA, YA, and ZA

    Question 1 (2,0 marks) (L.O.1)

    The following frame definitions are given as known:

    √2 √2
    − 0 1
    2 2

     𝑈 √2 √2 0 −1
    𝐴𝐓 =
    2 2
    0 0 1 0
    [ 0 0 0 1]

    1 0 0 0
    √2 √2
    0 −2 1
     𝐵
    𝐴𝐓 = 2
    √2 √2
    0 −2
    2 2
    [0 0 0 1 ]

    √2 √2 √2
    0 −2
    2 2

     𝐶 0 1 0 −3 Fig. 1
    𝑈𝐓 =
    √2 √2 √2
    −2 0 2 2
    [ 0 0 0 1 ]

    a. Draw a frame diagram (like that of Fig. 1) to show their arrangement qualitatively.
    b. Solve for 𝐵𝐶𝐓.

    Question 2 (2,0 marks) (L.O.1)


    Figure 2 illustrates the initial posture of a unit cube (edge length is 1 unit) assigned with frame
    {0}. Determine coordinates of the corners (A  H) after 3 steps of rotation: rotation of 300
    about X0, then 300 about YR, and then 300 about Z0.

    1/3
    ZR

    Z0
    Fig. 2

    X0 Y0
    YR
    XR

    Question 3 (4 marks) (L.O.2)


    An RPR spatial robot, as shown in Fig. 3, is designed to manipulate a gripper at point P as seen
    in the figure. Frames {0}, {1}, {2} and {3}, which are assigned to link 0, link 1, link 2 and link
    3 respectively.
    (2)
    (5)
    (3) (6) Fig. 3

    (4)

    (7)
    l1
    Y0
    l3 Z3

    X3
    (1)
    Do the followings:
    a. Complete frame components at (1), (2), (3), (4), (5), (6), and (7).
    b. Derive the D-H parameters.
    c. Derive the neighboring homogeneous transformation matrices: 0T1, 1T2, and 2T3.
    d. Derive the forward-pose kinematics solution, i.e. 0xP, 0yP, and 0zP, as a function of joint
    variables (d).
    e. Derive the constraint of 0xP, 0yP, and 0zP in which solutions of the inverse kinematic
    problem exist. Assume that:
     there are no joint limits of and 
     d2 = [l3, 2l3] and l1 > l3

    2/3
    Question 4 (2,0 marks) (L.O.2)
    An RPR planar robot with known frames as shown in Fig. 4 in which

    cos(𝜃1 + 𝜃3 ) −sin(𝜃1 + 𝜃3 ) 0 𝑙3 cos(𝜃1 + 𝜃3 ) + 𝑑2 sin(𝜃1 )


    0 sin(𝜃1 + 𝜃3 ) cos(𝜃1 + 𝜃3 ) 0 𝑙3 sin(𝜃1 + 𝜃3 ) − 𝑑2 cos(𝜃1 ) ]
    3𝐓 = [
    0 0 1 0
    0 0 0 1

    X2

    Fig. 4 Y0 l3
    X1 Y2 Y3

    Z1 D
    X0 X3

    Do the followings:
    a. Derive the Jacobian matrix 0J() for this manipulator where 0𝐕𝑫 = 0𝐉(𝜃)𝛉̇. Note that
    𝛉̇ is a velocity vector of joint angles (𝜃̇1 , 𝑑̇2 , 𝜃̇3 ).
    b. Consider the posture of the robot when 1 = 1200, d2 = 1m, 3 = -1500. It is assumed that
    the links are massless and there is an external force of +10N along the axis Y3, compute
    the required joint torques 1, f2, and 3 that balance the robot (under the downward
    gravitational acceleration of 9.81 m/s2).

    End of Paper

    D. Head of Department Course Instructor

    Phạm Công Bằng

    3/3

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