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1718 - S1 - Final Exam - Solution

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19 views3 pages

1718 - S1 - Final Exam - Solution

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Arc Zero
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HCMC Univiversity of Technology FINAL EXAM.

Semester I 2017-2018
Faculty of Electronics & Electrical Eng. Subject: INTRODUCTION TO ROBOTICS
Dept. of Control & Automation Date: 02/01/2018
---o0o--- Duration: 80 minutes
(Documents are allowed to use)

Problem 1: (2 points)
a. What is the rotation matrix for a rotation of 30º about the Z axis, followed by a rotation of 60º
about the X axis, followed by a rotation of 90º about the Y axis ?
b. Determine a T matrix that represents a rotation of 60º about the X axis, followed by a
translation of 2 unit of distance along the Z axis, followed by a rotation of 30º about the Y
axis?

Problem 2: (3 points)
Consider the RPR manipulator as shown in Fig 1. The
angle and link length variables are 1 , d 2 , and 3 .
a. Draw all the co-ordinate frames and write out the DH
parameter table.
b. Find the transformations for each row of the DH
table, and compute the overall transformation.
c. Derive the full 6 by n Jacobian matrix J (q) . Figure 1

Problem 3: (3 points)
a. Given the values for the joint variable: q(t0 = 0) = 0, and q(tf = 4) = 3. Compute the cubic
interpolating spline with null initial and final velocities.
b. Given the values for the joint variable: q(t0 =0) = 0, q(2) = 2, and q(tf =4) = 3. Compute the
two fifth-order interpolating polynomials with continuous velocities and accelerations.

Problem 4: (2 points)
Consider a pendulum mounted on ceiling with link
length l and massive load m as shown in Fig 2.
Suppose the link is massless.
Let the configuration variable be q1 , and let the
origin be located as shown. 1
a. Compute the Lagrangian given by:
L K P
b. Derive the equations of motion in standard form.
Figure 2

Head of Department
SOLUTION
Problem 1: (2 points)
a. (1 point)
R  Rz ,30 Rx,60 Ry ,90 = -0.4330 -0.2500 0.8660
0.7500 0.4330 0.5000
-0.5000 0.8660 0.0000

b. (1 point)
T  Rx,60Tz ,2 Ry ,30 = 0.8660 0 0.5000 0
0.4330 0.5000 -0.7500 -1.7321
-0.2500 0.8660 0.4330 1.0000
0 0 0 1.0000

Problem 2: (3points)
a. DH parameter table: (1 points)
Link a  d 
1 0 -90 d1 1 +90
2 l2 0 d2 2
3 l3 0 0 3

b. The transformation for each joint: (1 points)


c1 0 s1 0 1 0 0 0 c3  s3 0 a3c3 
s 0 c1 0  0 0 1 0  s c3 0 a3 s3 
A1   1 , A2  , A2   3 ,
0 1 0 0 0 1 0 d2  0 0 1 d3 
     
0 0 0 1 0 0 0 1 0 0 0 1 
c13  s13 0 s1d 2  a3c13 
s c13 0 c1d 2  a3 s13 
T30  A1 A2 A3   13
0 0 1 d3 
 
0 0 0 1 

c. Jacobian matrix: (1 points)

 d3s13  d 2c1 s1 d3s13 


 d s  d s c d3c13 
 3 13 2 1 1
 0 0 0 
J  
 0 0 0 
 0 0 0 
 
 1 0 1 

Problem 3: (3points)
a. Cubic rest-to-rest path: (1.5 points)
x(0)  x0  0, x(0)  0
=> d1 (t )  0.5625t 2  0.0938t 3
x(2)  x f  2, x(4)  3
b. Quintic rest-to-rest path: (1.5 points)
Derive the same as Problem 3a.

Problem 4: (2points)
a. Lagrangian (1 points)
L  K V
1
 ml 2 2  mgl cos 
2
b. Derive the equations in standard form (1 points)
d1  ml 2
c1  0
g1  mgl sin 

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