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Jan. 24th, 2012: Test No. 2 Robotics I

This document contains a robotics test with 3 parts: 1) Derive the inverse pose kinematics for a robot with 2 rotational and 1 translational degrees of freedom. 2) Derive an equation for force in the translational direction using Lagrangian mechanics, assuming the rotational joints have no mass. 3) Determine the lower cost pose to move the robot from an initial to final position, minimizing a cost function involving the rotational angles.

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39 views

Jan. 24th, 2012: Test No. 2 Robotics I

This document contains a robotics test with 3 parts: 1) Derive the inverse pose kinematics for a robot with 2 rotational and 1 translational degrees of freedom. 2) Derive an equation for force in the translational direction using Lagrangian mechanics, assuming the rotational joints have no mass. 3) Determine the lower cost pose to move the robot from an initial to final position, minimizing a cost function involving the rotational angles.

Uploaded by

montymilky
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Test  No.

 2       Robotics I 
Jan. 24th, 2012   
Institut für Zuverlässigkeitstechnik 
Prof. Dr.­Ing. Uwe Weltin 

First Name  :………………………………………. Last Name  :……….……………………………….

Student ID. Nr.  :………………………………………. Program:  :……….……………………………….

Given is this PRR-Robot with one translational (d, the cart) and two rotational degrees of
freedom ( and ). There are two point masses (the cart) and (at the end of . The
joints ( and ) have no mass.

a) (7 Points) Derive the inverse pose kinematics for this robot. Given use
additional equations for x and y (in terms of , and ).

b) (7 Points) Derive corresponding to the force in d-direction with Lagrangian approach.


For simplicity 0 and for part b) only.

c) (6 Points) The Pose of has to be changed from 2 , 2 , 0 to


2 , 1 , . For the cost function determine the lower cost pose
with 2 and 1 .

Hint: 2 1,0 , 2 0,1 0, 2 0, 1

Grade:  Date: 
 
Test  No. 2       Robotics I 
Jan. 24th, 2012   
Institut für Zuverlässigkeitstechnik 
Prof. Dr.­Ing. Uwe Weltin 

a)

, 1 , 2 ,

b) , , 0

, 0, ,

,
2
,

1 1 1 1 1
2
2 2 2 2 2

0, 0,

c)
Initial Position:
2 0
2 , 1 1 2 1,0 , 0 , 2 0 1 1
2 2 2 2

Final Position 1:

1 1
2 , 1 0 2 0, 1 0, 0 , 2 2 0 0
2 2 2

Final Position 2:

1 1
2 , 1 0 2 0, 1 , , 2 2 0 4
2 2 2

Position d 90° 0° 90° 90° 1 0


1 2 1 6
0 90° -90° 1 90° 90° 1

1a 0° 90° 0 90° 180° 90° 90° 1 4


1 0 3 10
1b 180° -90° 4 90° 90° 1

Grade:  Date: 
 

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