HCMC Univiversity of Technology FINAL EXAM.
Semester I 20189-2019
Faculty of Electronics & Electrical Eng. Subject: INTRODUCTION TO ROBOTICS
Dept. of Control & Automation Date: 20/12/2018
---o0o--- Duration: 90 minutes
(Documents are allowed to use)
Problem 1: (2 points)
a. What is the rotation matrix for a rotation of 60º about the X axis, followed by a rotation of 60º
about the Y axis, followed by a rotation of 45º about the Z axis ?
b. Determine a T matrix that represents a rotation of 30º about the X axis, followed by a
translation of 5 unit of distance along the Y axis, followed by a rotation of 60º about the Y
axis?
Problem 2: (3 points)
Consider the RRR
manipulator as shown in Fig
1. The angle and link length
variables are 1 , 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.
Figure 1
Problem 3: (3 points)
a. Given the values for the joint variable: q(t0 = 0) = 0, and q(tf = 10) = 50. Compute the cubic
interpolating spline with null initial and final velocities.
b. Given the values for the joint variable: q(t0 =0) = 0, q(5) = 10, and q(tf =10) = 30. 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 Rx,60 Ry ,60 Rz ,45 = 0.3536 -0.3536 0.8660
0.8839 -0.1768 -0.4330
0.3062 0.9186 0.2500
b. (1 point)
T Rx,30Ty ,5 Ry ,60 = 0.5000 0 0.8660 0
0.4330 0.8660 -0.2500 4.3301
-0.7500 0.5000 0.4330 2.5000
0 0 0 1.0000
Problem 2: (3points)
a. DH parameter table: (1.5 points)
Link A d
1 0 -90 d1 1 +90
2 L2 0 d2 2
3 0 90 0 3 +90
b. The transformation for each joint: (1.5 points)
s1 0 c1 0 c2 s2 0 L2c2 s3 0 c3 0
c 0 s1 0 s c2 0 L2 s2 c 0 s3 0
A1 1
, A2 2 , A3 3
0 1 0 d1 0 0 1 d2 0 1 0 0
0 0 0 1 0 0 0 1 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 ) 1.5t 2 0.1t 3
x(10) x f 50, x(10) 0
b. Quintic rest-to-rest path: (1.5 points)
Derive the same as Problem 3a for 2 quintic paths.
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
