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Assignment 2

MCTR902:2010-2011 Assignment-2: Kinematics of Robots Due date: November 4, 2010. Show that rotation matrices about the yand the z-axes are unitary. Plot the transformations and the result and verify it.

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760 views5 pages

Assignment 2

MCTR902:2010-2011 Assignment-2: Kinematics of Robots Due date: November 4, 2010. Show that rotation matrices about the yand the z-axes are unitary. Plot the transformations and the result and verify it.

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aiao90
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
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German University in Cairo – GUC

Faculty of Engineering and Materials Science


Mechatronics Engineering Program

MCTR902: Robotics
Winter Term, 2010-2011
Assignment-2: Kinematics of Robots
Due date: November 4, 2010
[Only graded exercises must be submitted to your TA]

1. Show that rotation matrices about the y- and the z-axes are unitary.
2. A point P in space is defined as BP= (5; 3; 4)T relative to frame B which is attached to the origin of
the reference frame A and is parallel to it. Apply the following transformations to frame B and
find AP. Using the 3-D grid (Fig. A2.1), plot the transformations and the result and verify it. Also
verify graphically that you would not get the same results if you apply the transformations relative
to the current frame:
• Rotate 90o about x-axis; then
• Translate 3 units about y-axis, 6 units about z-axis, and 5 units about x-axis; then,
• Rotate 90o about z-axis.

A2.1 This isometric grid is meant to be used as a tracing grid for drawing 3-D shapes and objects such
as robots, frames, and transformations.
3. Frames describing the base of a robot and an object are given relative to the Universe frame.
[Graded-2 Marks]

A-2, MCTR902:2010-2011 © German University in Cairo 1/5


• Find a transformation RTH of the robot configuration if the hand of the robot is to be placed on
the object.
• Assuming that the robot is a 6-axis robot with Cartesian and Euler coordinates, find px; py; pz;
φ,θ,ψ.
4. For the simple 2-axis, planar robot (Fig. A2.2a), assign the necessary coordinate systems based on
the D-H representation, fill out the parameters table, and derive the forward kinematic equations
for the robot.

a) 2-axis Planar Robot b) Robot in reset position

Fig. A2.2
5. For the robot ABB IRB6400C (Fig. A2.3), derive the D-H parameters. [Graded-2 Marks]

Fig. A2.3 ABB IRB6400C


6. For the simple 6-DOF robot of Fig. A2.4, assign the necessary coordinate frames based on the D-
H representation, fill out the accompanying parameters table, and derive the forward kinematic
equation of the robot.

A-2, MCTR902:2010-2011 © German University in Cairo 2/5


Fig. A2.4
7. Stanford Arm (Fig. A2.5) was designed in 1969 by Victor Scheinman, a Mechanical Engineering
student working in the Stanford Artificial Intelligence Lab. This 6 degree of freedom (6-dof) all-
electric mechanical manipulator was one of the first “robots” designed exclusively for computer
control. In the 1970s Scheinman developed the PUMA, or programmable universal manipulation.
Assign the necessary coordinate frames for Stanford Arm based on the D-H representation, fill out
the accompanying parameters table, and derive the forward kinematic equation of the robot.
[Graded-3 Marks]

Fig. A2.5 Stanford Arm


8. For the following SCARA-type robot (Fig. A2.6):

Fig. A2.6 SCARA (Selective Compliance Assembly Robot Arm) Robot


A-2, MCTR902:2010-2011 © German University in Cairo 3/5
• Assign the coordinate frames based on the D-H representation.
• Fill out the parameters table.
• Write all the A matrices.
• Write the UTH matrix in terms of the A matrices.
9. For the simple 3-DOF arm (l1=8, l2=2, l3=9, l4=2 and l5=9) shown in Fig. A2.7, prove that inverse
kinematic equations for the robot relative to frame 0 are as follows: [Graded-3 Marks]

Note: If cosθ1 is zero, use px/S1 instead of py/C1

Fig. A2.7
10. For the given specialty designed 4-DOF robot (Fig. A2.8):

A-2, MCTR902:2010-2011 © German University in Cairo 4/5


Fig. A2.8
• Assign appropriate frames for the Denavit-Hartenberg representation.
• Fill out the parameters table.
• Write an equation in terms of A matrices that shows how UTH can be calculated.
• Derive the inverse kinematic equations for this robot.

A-2, MCTR902:2010-2011 © German University in Cairo 5/5

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