(Date) (Date)
Lecturer: Approved by:
(Signature & Fullname) (Signature, Position & Fullname)
Semester/Year 2 2019-2020
FINAL EXAM Date 02/08/2020
Course title Introduction to Robotics
UNIVERSITY OF TECHNOLOGY - Course ID 409402
VNUHCM Duration 90 mins. Question sheet code
FACULTY OF EEE
Notes: - Open book
Problem 1: (2 points)
a. Determine a T matrix that represents a rotation of 30º about the Y axis, followed by a
translation of 4 unit of distance along the Z axis, followed by a rotation of 60º about the X
axis?
b. A frame {A} is translated a vector (6, -2, 10) and then it is rotated 60° about axis x of the fixed
(initial) frame. Consider a point with coordinates (-5, 2, -12) with respect to the new frame
{B}. Find the coordinates of that point with respect to the initial frame
Problem 2: (3 points)
Consider the RPR manipulator as shown in Figure 1. The angle variables are q1 , q2 , and q3 .
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.
Figure 1
Problem 3: (3 points)
a. Given the values for the joint variable: q(t0 = 0) = 0, and q(tf = 2) = 20. Compute the cubic
interpolating spline with null initial and final velocities.
b. Given the values for the joint variable in constant velocity path planning as following:
q(t0 0) 10, q(t0 ) 0
q(t ) 15, 0.4 t 1.6
q(t f 2) 30, q(t f ) 0
Compute the q1 (t ), q2 (t ), q3 (t ) .
Problem 4: (2 points)
T
Consider a PR arm with configuration variables q1, q2 , the Lagrangian is given by:
1 1
L Km1 mef q12
P mef l32 I 3 q22 mef l3q1q2 sin q2 mef g l2 l3 sin q2
2 2
Derive the equations of motion in standard form.
SOLUTION
Problem 1: (2 points)
a. (1 point)
T Ry ,30Tz ,4 Rx,60 = 0.8660 0.4330 0.2500 2.0000
0 0.5000 -0.8660 0
-0.5000 0.7500 0.4330 3.4641
0 0 0 1.0000
b. (1 point)
1 0 0 0 1 0 0 6
0 cos(60) -sin(60) 0 0 1 0 2
T10 RxTz
0 sin(60) cos(60) 0 0 0 1 10
0 0 0 1 0 0 0 1
5 1
1.73
0 2
p T1 p T1
0 0 1
12 1
1 1
Problem 2: (3 points)
a. DH parameter table: (1.5 points)
Link a d
1 L1 0 0 q1
2 -L2 90 0 q2+ 180
3 0 0 L3 q3+ 180
b. The transformation for each joint: (1.5 points)
c1 s1 0 L1c1 c2 0 s2 L2c2 c3 s3 0 0
s c1
0 L1s1 s 0 c2
L2 s2 s c3 0 0
A1 1 , A2 2 , A3 3
0 0 1 0 0 1 0 0 0 0 1 L3
0 0 0 1 0 0 0 1 0 0 0 1
c12c3 c12 s3 s12 l2c12 l3 s12 l1c1
s c s s c12 l2 s12 l3c12 l1s1
T3 A1 A2 A3 12 3
0 12 3
s3 c3 0 0
0 0 0 1
Problem 3: (3points)
a. Cubic rest-to-rest path: (1.5 points)
x(0) x0 0, x(0) 0
=> d1 (t ) 22.5t 2 7.5t 3
x(2) x f 30, x(2) 0
b. Constant velocity: (1.5 points)
Derive the same as Problem 3a for constant velocity path planning.
Problem 4: (2points)
d
- Derive correct equations: L / qi (0.75 points)
dt
- Derive correct equations: L / qi (0.75 points)
- Derive correct equations in standard form (0.5 points)
