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Robotics and Automation

This document contains 6 questions regarding robotics and automation for an examination. It includes topics such as: advantages of integrating robots into industrial processes; defining robotics terminology; essential characteristics for robot design; robotic arm configurations; applications of household robots; the history of robotics; robot programming modes; solving kinematic equations; differential motions; trajectory generation; Denavit-Hartenberg parameters; and deriving equations for a two-link manipulator. Students are required to answer 4 out of the 6 questions covering concepts in robotics, kinematics, trajectory planning and robotic system design.

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Temitayo Olutimi Ejidokun
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175 views

Robotics and Automation

This document contains 6 questions regarding robotics and automation for an examination. It includes topics such as: advantages of integrating robots into industrial processes; defining robotics terminology; essential characteristics for robot design; robotic arm configurations; applications of household robots; the history of robotics; robot programming modes; solving kinematic equations; differential motions; trajectory generation; Denavit-Hartenberg parameters; and deriving equations for a two-link manipulator. Students are required to answer 4 out of the 6 questions covering concepts in robotics, kinematics, trajectory planning and robotic system design.

Uploaded by

Temitayo Olutimi Ejidokun
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as DOCX, PDF, TXT or read online on Scribd
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COLLEGE OF ENGINEERING

DEPARTMENT OF ELECTRICAL, ELECTRONICS COMPUTER


ENGINEERING
2019/2020, First Semester Examination
COE 519: Robotics and Automation Unit: 2
Instruction: Answer four questions only Time Allocated: 2 hrs

QUESTION 1
(a) Discuss the advantages of integrating Robots industrial work process
[5 marks]
(b) Write short notes on the following:
(i) Robotics (ii) Degree of freedom (iii) World reference frame (iv) Robot Joints
[8 marks]
(c) Outline the essential features of electrical power source that distinguish it from other
sources [4 marks]
(d) For an Engineer to design a robot there are some essential characteristics that needs to be
put into consideration, identify and briefly explain them [8 marks]

QUESTION 2
(a) Name and specify the configurations of the various Robotic Arm shown in Figure 1(a-e)
[6 marks]

Figure 1: Robotic arm configuration


(b) Identify and explain five current and future applications of robot in a domestic household
[5 marks]
(c) Trace the history of robotics from inception till present day. [6 marks]
(d) Discuss the various modes of programming robots [8 marks]

QUESTION 3
Suppose the robot in Figure 2 is to be moved toward part P in order to drill a hole in the part.
The robot’s base position relative to the reference frame U is described by a frame R, the robot’s
hand is described by frame H, and the end effector (let’s say the end of the drill bit that will be
used to drill the hole) is described by frame E. The part’s position is also described by frame P.

Figure 2: The Universe, robot, hand part and end effector frames

(a) (i) Identify the paths through which the location of the point where the hole can be related
to the reference frame
(ii) Formulate an equation for (a) and define all parameters
(iii) From (b) compute the unknown parameter. [8 marks]

(b) (i) Calculate the inverse of the given transformation matrix:

(ii) Prove that 𝑅𝑜𝑡(𝑥, 𝜃)−1 = 𝑅𝑜𝑡(𝑥, 𝜃)𝑇 [8 marks]

(c) (i) A robot is composed of a Cartesian and RPY joint combination. Find the necessary
RPY angles and displacement needed to achieve the configuration given below:
(ii) Assume the robotic joint combination in b (ii) is changed to Cartesian-Euler, find the
necessary Euler angles [9 Marks]

QUESTION 4

(a) A camera is attached to the hand frame 𝑇𝐻 of a robot is given. The corresponding
inverse Jacobian of the robot at this location is also shown. The differential motion
described as 𝐷 = [0.05, 0, 0, −0.1, 0.03]𝑇

Find:
(i) which joint must make a differential motion and by how much, in order to create
the indicated differential motion
(ii) the change in the Hand frame
(iii) the new location of the camera after the differential motion
(iv) how much the differential motion should have been instead, if measured relative
to frame 𝑇𝐻 to move the robot to the same new location as in (iii)
[12 marks]
(b) The hand frame of a robot of a 5-DOF robot, the corresponding Jacobian are given, for
differential changes of the joints, compute the change location of the hand after the
differential motion. [8 marks]
(c) Show that [𝑑𝑇] = [∆][𝑇] [5 marks]

QUESTION 5

(a) Differentiate between path and trajectory [6 Marks]


(b) Differentiate between Joint space and Cartesian-space trajectories [9 Marks]
(c) It is desired to have the first joint of a 6-axis robot go from an Initial joint angle of 50 degree
to a final angle of 80 degree in 3 seconds. Calculate the co-efficient for a third-order
polynomial joint space trajectory. Determine the joint angles, velocities and accelerations at
1, 2,3 seconds. It is assumed that the robot starts from rest to stop.
[10 marks]

QUESTION 6

(a) Using a well labelled diagram identify and define the four-basic parameter using the D- H
Convention [10 Marks]
(b) Discuss the fundamental problem associated with Denavit-Hartenberg Representation
[7 Marks]
(c) Using the D-H convention, derive the x and y component of a planar two-link arm in Figure
2 [ 8 Marks]

Figure 3: Two-link planar manipulator

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