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This document outlines Assignment 1 for the Advanced Robotics course (ENGG 5402), due on March 3, 2025. It consists of four main sections: Rotation Matrix, Direct Kinematics, Jacobian and Singularity Analysis, and a series of brief questions, each with specific tasks and percentage marks allocated. Students are required to answer all questions and define any variables or abbreviations used.

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ZHANG Hal
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9 views

homework

This document outlines Assignment 1 for the Advanced Robotics course (ENGG 5402), due on March 3, 2025. It consists of four main sections: Rotation Matrix, Direct Kinematics, Jacobian and Singularity Analysis, and a series of brief questions, each with specific tasks and percentage marks allocated. Students are required to answer all questions and define any variables or abbreviations used.

Uploaded by

ZHANG Hal
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Assignment 1 (2nd Term, 2024-2025)

Course Code: ENGG 5402

Course Title: Advanced Robotics

Due: 11:59pm, 03/03/2025

Notes:
1. ALL questions should be answered.
2. Full marks is 100.
3. If you need to use your own variables and abbreviations, please define them properly.
1. (Rotation Matrix) Please answer the following questions. (20%)
(a) (10%) Discuss the inverse solution for the RPY angles in the case cθ = 0.
(b) (10%) In Fig. 1, the location of the tool, WT T , is not accurately known. Using
force control, the robot feels around with the tool tip until it inserts it into the
socket (or Goal) at location GS T . Once in this ”calibration” configuration (in
which {G} and {T } are coincident), the position of the robot, WB T , is figured
out by reading the joint angle sensors and computing the kinematics. Assuming
B S
S T and G T are known, give the transform equation to compute the unknown
tool frame, WT T

Figure 1: Determination of the tool frame

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2. Direct Kinematics (30%)
(a) (15%) Derive the DH table for the robot in Fig. 2.
(b) (15%) Find the direct kinematics for the robot in Fig. 2

Figure 2: 4 DOF Robot

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3. Jacobian and Singularity Analysis. (30%)
(a) (20%) Determine Jacobian of the robot in Fig. 2.
(b) (10%) Find its kinematic singularities.

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4. Briefly answer the following questions. (20%)
(a) (5%) Explain the singularity situation while using Euler angles to represent ro-
tations. E.g., z-y-x presentation. How can this singularity be avoided?

(b) (5%) Normally, six independent parameters are required to fully represent the
position and orientation of a free rigid body in the three-dimensional space.
Why does the DH approach only have four parameters for each link frame?

(c) (5%) Name two advantages of the closed-form analytical kinematic solution and
the iterative solution, respectively.

(d) (5%) Is analytic rotation Jacobian always equivalent to geometric rotation Ja-
cobian? If no, please give a description of the relationship between them.

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