Robotics and Automation MEM665/T/LCYRev.

01-2011

UNIVERSITI TEKNOLOGI MARA
FACULTY OF MECHANICAL ENGINEERING
_____________________________________________________________________________________

Program : Bachelor of Engineering (Hons) (Mechanical) EM220
Bachelor of Mechanical Engineering (Manufacturing) (Hons) EM221
Course : Robotics and Automation
Code : MEM665 / KJP 626
_____________________________________________________________________________________

Tutorial 1 Object Location

Q1 Frame zero, F
0
. is the fixed global frame. For each of the cases below find T
0
1
:
(a) F
1
is rotated by an angle about z
o
.
(b) F
1
is rotated by about x
o
.
(c) F
1
is rotated by about y
o
.

Q2 Referring to Figure 1, find T
1
2
, T
1
3
and T
2
3
.

Figure 1



Robotics and Automation MEM665/T/LCYRev.01-2011

Q3 In Q2, let P
1
, P
2
and P
3
be the co-ordinates of P in Frame 1, Frame 2 and Frame 3 respectively:-
(a) Given P
2
= (0, 0, 0,1), find P
1

(b) Given P
2
= (1, 0, 0, 1), find P
1

(c) Given P
3
= (0,0,0,1) find P
1
and P
2


Q4 A vector P (4,6,0) is rotated anticlockwise through 30 around Z-axis, what are the new co-
ordinates of P.

Q5 A vector P (1,0,0) is rotated
(a) ROT (Z,90)
(b) ROT (Y,90)
(c) ROT (Z, -90)
For each case find the new co-ordinates of P.

Q6 Find the composite transformation matrix for each of the following cases
(a) F
1
is rotated by 90 about y
0
and then F
2
is rotated by 90 about z
0.

(b) F
1
is rotated by 90 about y
0
and then F
2
is rotated by 90 about z
1.

(c) F
1
is rotated by 45 about y
0
and then F
2
is rotated by 90 about z
1
and then F
3
is rotated
by 90 about x
2.

Q7 A vector P (1,0,0) is subjected to the following rotations.
(a) ROT (Z,90) and then ROT (Y,90)
(b) ROT (Y,90) and then ROT (Y,90)
(c) ROT (X,90) and then ROT (Y,90)
Find the new co-ordinates of P after each of the above rotation.

Robotics and Automation MEM665/T/LCYRev.01-2011

Q8 Given the two-dimensional transformation of A=Trans (2,0), B= Trans (0,2) and C=Rot (45),
draw the following transformations: AB, AC, BC, CA, CB, ABC, CBA, ACBA, ABCA, CCA,
ACCAB

Q9 Find the transformation matrix which solves the simple assembly problem in Figure 2. The
wedge-shaped block is to be placed on the assembly so that p and r are touching, and s and q are
touching and the final assembly is a rectangular block. Use the following method:

Figure 2
(a) Assign co-ordinate frames to each object.
(b) Develop transformation matrixes for each frame with respect to word co-ordinates.
(c) Calculate the transformation matrix.
(d) Use the matrix to transform point s.

Q10 Consider the diagram of figure 3. A robot is set up 1 meter from a table, two of whose legs are on
the y
0
axis as shown. The table top is 1 meter high square. A frame o
1
x
1
y
1
z
1
is fixed to the edge
of the table as shown. A cube measuring 20cm on a side is placed in the center of the table with
frame o
2
x
2
y
2
z
2
established at the center of the cube as shown. A camera is situated directly above
the center of the block 2 m above the table top with frame o
3
x
3
y
3
z
3
attached as shown. Find the
homogeneous transformations relating each of these frames to the base frame o
0
xo
0
y
0
z
0
. Find the
homogeneous transformation relating the frame o
2
xo
2
y
2
z
2
to the camera frame o
3
xo
3
y
3
z
3.
Robotics and Automation MEM665/T/LCYRev.01-2011

Figure 3









Robotics and Automation MEM665/T/LCYRev.01-2011

UNIVERSITI TEKNOLOGI MARA
FACULTY OF MECHANICAL ENGINEERING
_____________________________________________________________________________________

Program : Bachelor of Engineering (Hons) (Mechanical) EM220
Bachelor of Mechanical Engineering (Manufacturing) (Hons) EM221
Course : Robotics and Automation
Code : MEM665 / KJP 626
_____________________________________________________________________________________

Tutorial 2 Kinematics

Q1 For each of the planar robots shown in Figure 1, find the forward kinematic equations using the
vector-loop method.
For each of the planar robots shown in Figure 1, find the forward kinematic equations using the
Denavit-Hartenbert method.
Find the tool position and orientation corresponding to each of the following joint configurations.
(a) Figure (a) :
1
= 45;
2
= 60;
3
= 30
(b) Figure (b) :
1
= 30; h

= 5;
2
= 45
All angles are measured from the positive sense of the x-axis. The link lengths are given by R
1

= R
2
= R
3
= 10 units.

Figure 1
Robotics and Automation MEM665/T/LCYRev.01-2011

Q2 A three link cylindrical robot is symbolically represented in Figure 2. Derive the forward
kinematic equations.

Figure 2

Q3 A Standford manipulator is symbolically represendted in Figure 3. Derive the forward kinematic
equations.
Robotics and Automation MEM665/T/LCYRev.01-2011

Figure 3

Q4 Derive the forward kinematic equations for the three-link articulated robot shown in Figure 4.

Figure 4

Robotics and Automation MEM665/T/LCYRev.01-2011

Q5 Derive the forward kinematic equations for the cylindrical manipulator with a spherical wrist,
shown in Figure 5.

Figure 5

Q6 Derive the forward kinematic equations for the PUMA manipulator shown in Figure 6.

Find the tool position and orientation for the following joint configurations:

(a)
1
=
2
=
3
=
4
=
5
=
6
= 0
(b)
1
=
3
=
4
=
5
=
6
= 90 and
2
= 0
Robotics and Automation MEM665/T/LCYRev.01-2011

Figure 6

Robotics and Automation MEM665/T/LCYRev.01-2011

Q7 The tool of the robot in Figure 7 is at the (x,y) = (40,50) position. Find the corresponding joint
co-ordinates. It is required to move the tool to the (x,y) = (45, 55) position. Compute the
corresponding joint co-ordinates.

Figure 7

The link lengths of the robots in Figure 8 are (R1, R2) = (80, 60). Find the joint co-ordinates
when the tool is at the (x, y) = (60, 50) position. The tool is to be moved to the (x, y) = (55, 45)
position. Compute the corresponding joint co-ordinates.

Figure 8

The planar robot with 2 rotary joints (
1,

2)
and a translator joint (h) is shown in Figure 1(b). The
link length are R
1
= 4.2 and R
2
= 2.0. It is required to move the tool tip to point P (6,7) with the
tool tip pointing at an angle 120 with the positive x-axis. Determine the corresponding joint co-
ordinates.
The link lengths of the robot in Figure 1(a) are (R1, R2, R3) = (30, 40, 20). Determine the joint
angles when the end effector is at the point (x, y) = 60, 50) with an orientation of 60.

Robotics and Automation MEM665/T/LCYRev.01-2011

Q8 Derive the inverse kinematic equations for the three link cylindrical robot given in Figure 2.
Let d
1
= 10.
Find (
,
d
2
, d
3
) when the end effector is at point (5, 10, 15).
What is the end effector orientation at this position.

Q9 Derive inverse kinematic equations for the three-link articulated robot shown in Figure 4.
Let R
1
= R
2
= R
3
= 10.
Find
1,

2,

3
when the end effector is at point (7,8,9). What is the corresponding tool orientation.

Q10 Derive the inverse kinematic equation for the cylindrical manipulator with a spherical wrist,
shown in Figure 5.

Q11 Derive the invese kinematic equation for the PUMA manipulator shown in Figure 6.













Robotics and Automation MEM665/T/LCYRev.01-2011

UNIVERSITI TEKNOLOGI MARA
FACULTY OF MECHANICAL ENGINEERING
_____________________________________________________________________________________

Program : Bachelor of Engineering (Hons) (Mechanical) EM220
Bachelor of Mechanical Engineering (Manufacturing) (Hons) EM221
Course : Robotics and Automation
Code : MEM665 / KJP 626
_____________________________________________________________________________________

Tutorial 3 Jacobian Matrices

Q1 Derive the Jacobian matrix for each of the robot arms in Figures 1 to 8 in the Kinematics Tutorial.

Q2 For each of the robot arms in Figures 1 to 8 in the Kinematics Tutorial, derive the singular
configurations.

Q3 For each of the robot arms in Figures 1 to 8 in the Kinematics Tutorial, it is required to increase
each of the tool coordinates by 5 unit from the current position. Determine the corresponding
inverse kinematic solutions using the Jacobian matrices.

Q4 For each of the robot arms in Figures 1 to 8 in the Kinematics Tutorial, the tool is required to
exert a force vector against the environment. All the elements of the force vector is one unit.
Find the corresponding joint actuator forces.