Faculty of Engineering
DEPARTMENT of ELECTRICAL AND ELECTRONIC ENGINEERING
EENG428 Introduction to Robotics
Instructor:
M. K. Uygurolu
Midterm EXAMINATION
April 21, 2014
Duration : 100 minutes
Number of Problems: 5
Good Luck
STUDENTS
NUMBER
NAME
SURNAME
SOLUTIONS
Problem
Points
15
15
20
25
25
TOTAL
100
EENG 428 Introduction to Robotics Midterm Examination
Problem 1
For frame F , find the values of the missing elements and complete the matrix representation
of the frame.
b
0.75 0
0.433
0.25 0.866
c
0
F
a
0
0.5 0
0
0
1
0
In order to determine the a, b, and c we will use the following relations:
0.433 b 0.25 0.866 a 0 0
0.25 0.866
b
0.5
0.433
n.o o.a n.a 0
0.75 b c 0.866 0.5 0 0
0.75 0.5
c
0.433
0.866
0.433 0.75 0.25 c a 0.5 0
0.433 0.75 0.25 0.433
a
0.866
0.5
M. K. Uygurolu
April 21, 2014
EENG 428 Introduction to Robotics Midterm Examination
Problem 2
For the given specialty designed 4-DOF robot:
z3
x3
z2
x2
x1
z1
z0
x0
z0
AssignappropriateframesfortheDenavitHartenbergrepresentation.
Fillouttheparameterstable.
1
2
d
3 4
0
Link
1
M. K. Uygurolu
a
0
90
-90
5
0
April 21, 2014
EENG 428 Introduction to Robotics Midterm Examination
Problem 3
A frame B shown below, is rotated 90 about the z-axis, then translated 3 and 5 units relative
to the n- and o-axes respectively, then rotated another 90 about the n-axis,and nally, 90
about the y-axis. Find the new location and orientation of the frame.
B Rot ( y,90) Rot ( z,90) BTrans(3,5, 0) Rot ( x,90)
0
0
B
1
0
1
0
0
1
0
0
0
0 1 0
0 0 1
B
1 0 0
0 0 0
M. K. Uygurolu
0 0 1
0 1 0
0 0 0
1 0 0
0
0
1
0
0 0
0 1
0 0
1 0
1 0
0 0
0 1
0 0
1 1
1 0
2 0
1 0
0
1
0
0
0
0
1
0
3 1
5 0
0 0
1 0
0 0
0 1
1 0
0 0
0
0
0
2
6
4
April 21, 2014
EENG 428 Introduction to Robotics Midterm Examination
Problem 4
For a RPPR manipulator the frames which are assigned to the joints are shown below.
Fillouttheparameterstable.
Link
1
d
1
90
3
4
90
d2
a
0
0
90
d3
90
90
WritealltheAmatrices.
WriteanequationintermsofAmatricesthatshowshow 0 TH canbecalculated.
M. K. Uygurolu
April 21, 2014
EENG 428 Introduction to Robotics Midterm Examination
cos 1
sin
1
A1
0
0
0 0
1 0
A2
0 1
0 0
0 0
1 0
A3
0 1
0 0
cos 4
sin
4
A4
0
0 sin 1
0
0 cos 1 0
1
1
0
0
0
1
1 0
0 0
0 d2
0 1
1 0
0 0
0 d3
0 1
sin 4 0 0
cos 4 0 0
0
1 2
0
0 1
T A1 A2 A3 A4
M. K. Uygurolu
April 21, 2014
EENG 428 Introduction to Robotics Midterm Examination
Problem 5
Suppose that a robot is made of a Cartesian and RPY
necessary RPY angles to achieve the following:
0.866 0.5
0
0.5
0.433 0.75
F
0.866 0.25 0.433
0
0
0
combination of joints. Find the
3
1
5
F Cart ( Px , Py , Pz ) RPY ( z , y , x ) Trans ( Px , Py , Pz ) Rot ( z , z ) Rot ( y, y ) Rot ( x, x )
C z C y
S C
F z y
S y
0
This implies that:
C z S y S x C x S z
S z S y S x C x C z
S x C y
0
C x C z S y S x S z
C x S z S y S x C z
C x C y
0
sin y 0.866
y a tan 2 0.866, 1 0.8662
Px
Py
Pz
y 60
1
y 120
2
sin x cos y 0.25
cos x cos y 0.433
0.25 0.433
0
,
30
cos 60 cos 60
0
0.25 0.433
x2 a tan 2
,
150
cos120 cos120
cos z cos y 0
x a tan 2
1
sin z cos y 0.5
0.5
, 0) 900
cos 60
0.5
z1 a tan 2(
, 0) 900
cos120
z a tan 2(
1
M. K. Uygurolu
April 21, 2014
EENG 428 Introduction to Robotics Midterm Examination
M. K. Uygurolu
April 21, 2014
EENG 428 Introduction to Robotics Midterm Examination
GIVEN:
cos i cos i sin i sin i sin i
sin
cos i cos i sin i cos i
i
Ai
0
sin i
cos i
0
0
0
sin( ) sin cos sin cos
cos( ) cos cos sin sin
ai cos i
ai sin i
di
if cos b then A tan 2( 1 b 2 , b)
if sin b then A tan 2(b, 1 b 2 )
if a cos b sin c then A tan 2(b, a ) A tan 2( a 2 b 2 c 2 , c)
if a cos b sin 0 then A tan 2(a, b) and A tan 2(a, b)
M. K. Uygurolu
April 21, 2014
