Scribd
Upload
239 views

Solution Manual For Introduction To Robotics Mechanics and Control 3rd Edition by Craig

The document provides solutions to exercises from Chapter 1 and Chapter 2 of a textbook on robotics mechanics and control. It includes step-by-step solutions to 10 problems involving kinematics, coordinate frames, spatial descriptions, and transformations. The problems cover topics like rotation matrices, Euler angles, and eigenvectors related to robotic systems.

Uploaded by

Guadalupe Price
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
239 views

Solution Manual For Introduction To Robotics Mechanics and Control 3rd Edition by Craig

The document provides solutions to exercises from Chapter 1 and Chapter 2 of a textbook on robotics mechanics and control. It includes step-by-step solutions to 10 problems involving kinematics, coordinate frames, spatial descriptions, and transformations. The problems cover topics like rotation matrices, Euler angles, and eigenvectors related to robotic systems.

Uploaded by

Guadalupe Price
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 5

Solution Manual for Introduction to Robotics

Mechanics and Control 3rd Edition by Craig


full chapter at: https://testbankbell.com/product/solution-manual-for-
introduction-to-robotics-mechanics-and-control-3rd-edition-by-craig/

Chapter 1
Introduction

Exercises

1.1) Here's just an example of a reasonable response:


(ref. [8] in Chap. 1)

1955 Denavit & Hartenberg developed


methodology for describing linkages.
1961 George Devol patents design of rst robot.
1961 First unimate robot installed.
1968 Shakey Robot developed at S.R.I.
1975 Robot institute of America formed.
1975 Unimation becomes rst Robot Co. to be
protable.
1978 First Puma Robot shipped to GM.
1985 Total U.S. market exceeds 500 million
dollars (annual revenue).

Developments might be split into a technical list


and a business list.

1.2) (Based on 1981 numbers)

Source:
L. Conigliaro, "robotics presentation, institutional
■ Other-32.2%

■
investors conf.", May 28, 1981, Bache Newsletter [ea«seas»ss -28%
81-249.

■
Machining - 6.8%

Material Handling - 11.8%

D
■
Assembly - 22.4%

Welding - 23.9%

1.3)
People Are Flexible,
But More Expensive Every Year

$60
U.S. Automotive
$50
$40

$30 $0

$20
$10
1111 1111 1074
1111

10t 1$5

© 2005 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently exist.
No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.
1.4) Kinematics is the study of position and derivatives
of position without regard to forces which cause
the motion. Workspace is the locus of positions
and orientations achievable by the end-effector of
a manipulator. Trajectory is a time based function
which specifies the position (and higher deriva•
tives) of the robot mechanism for any value of
time.

1.5) Frame is a coordinate system, usually specified in


position and orientation relative to some imbed•
ding frame. Degrees of freedom is the number
of independent variables which must be specified
in order to completely locate all members of a
(rigid-body) mechanism. Position control implies
the use of a control system, usually in a closed-
loop manner, to control the position of one or
more moving bodies.

1.6) Force control is the use of (usually closed-loop)


algorithms to control the forces of contact gener•
ated when a robot touches its work environment.
A robot programming language is a programming
language intended for use in specifying manipu•
lator actions.

1.7) Structural stiffness is the "Kin F = KAX (A.K.A


"Hooke's law") which describes the rigidity of
some structure. Nonlinear control refers to a closed
loop control system in which either the system
to be controlled, or the control algorithm itself is
nonlinear in nature. Off line programming is the
process of creating a program for a device without
access to that device.

1.8) See references. For example, in 1985 average labor


costs of $15 to $20 per hour are reasonable (depending
how fringe benefits are calculated).

1.9) Obviously it has increased dramatically. Recently


(1988-1990) the ratio doubles or even triples each
year.

1.10) See Figure 1.3, but use latest data you can find.

© 2005 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently exist.
No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.
Chapter 2
Spatial Descriptions and Transformations

Exercises

[:
2.1) R =rot(x, ¢) rot(2, 0)

0 co - S0
C¢
S¢ -}:] [ So

0
Co

0 ~]
=
[ c0
Cb$0
S¢$0
-- S0
C¢Co
S¢Co
1] C¢

2.2) R =rot(&,45°) rot0, 30°)

I
0 0 ] [ .866 0
.5 ]
.707 -.707 0 1
.707 .707 -.5 0 £
[ .866 0
.5 ]
= .353 .707 -.612
-.353 .707 .612

2.3) Since rotations are performed about axes of the


frame being rotated, these are Euler-Angle style
rotations:

R =rot(z, 0)rot(x, ¢)

We might also use the following reasoning:

$R(9,¢) ="R',¢)
= [rot(x, -) rot(z, --0)]'

= rot(~, 0) rot(x, b)
Yet another way of viewing the same operation:

1st rotate by rot(z, 0)

2nd rotate by rot(z, 0) rot(8, ) rot'(z,0)

© 2005 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently exist.
No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.
2.3) ( continued)
(This is a similarity transform)
Composing these two rotations:

= rot(2, 0) rot(8, ) rot'(z, 0)·rot(z, 0)


= rot(~, 0)rot(~, ¢)

=
[C0
si -7
C0
0
0
1
0
0
0
C¢
S¢
t]C¢

• : -- S9C¢
CBC¢
S¢
em]
CBS¢
C¢

2.4) This is the same as 2.3 only with numbers.

R = rot(&, 30°) rot(8, 45)


.866 -.353 .353]
= [ .50 .612 -.612
0 .707 .707

2.5) If V, is an eigenvector of R, then

RV, = 7V,
If the eigenvalue associated with V, is 1, then

RV, = V
Hence the vector is not changed by the rotation R.
So V is the axis of rotation.

2.6) Imagine a frame {A} whose


the direction k:
?

Then, the rotation with rotates vectors about


0 degrees could be written:

R = ';Rrot('£,0)R []
axis is aligned with

k by
A

x,
7°
\A
Yz

We write the description of {A} in {U} as:

F
E
z
K
.
K,

If we multiply out Eq. [1] above, and then simplify


using A + B? +C? =1, D + E?+ F =1,[ABC]
=
[DEF] 0,[ABC][DEF] [K,K,K.] we arrive =
at Eq. (2.80) in the book. Also, see [R. Paul]'
page 25.

© 2005 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently exist.
No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

You might also like