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EE 8950 - Homework 3

The document contains 5 questions about controls and signals for robotics homework. The questions cover topics like obtaining kinematic and dynamic models of robotic arms, deriving transfer functions of circuits and DC motors, and modeling and simulating responses of suspension systems. Students are asked to show their work and provide equations, transfer functions, and MATLAB code and plots to analyze various systems. The homework is due by midnight on November 22nd and no late submissions will be accepted.

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euclid cloud
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73 views4 pages

EE 8950 - Homework 3

The document contains 5 questions about controls and signals for robotics homework. The questions cover topics like obtaining kinematic and dynamic models of robotic arms, deriving transfer functions of circuits and DC motors, and modeling and simulating responses of suspension systems. Students are asked to show their work and provide equations, transfer functions, and MATLAB code and plots to analyze various systems. The homework is due by midnight on November 22nd and no late submissions will be accepted.

Uploaded by

euclid cloud
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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EE 8950 – Introduction to Controls and Signals for Robotics

Homework 3
Deadline: Sunday 11/22 by midnight (no late submissions).

Show your work.

1) (20 pts) Figure below shows a 3-link cartesian robot, where the three prismatic joints have
the joint variables 𝑞1 , 𝑞2 , and 𝑞3 . The links have masses 𝑚1 , 𝑚2 , and 𝑚3 . Joint 1 moves
all the links along the axis of 𝑞1 , joint 2 moves links 2 and 3 along the axis of 𝑞2 , and joint
3 moves link 3 along the axis of 𝑞3 . The end effector (gripper) position is (𝑥, 𝑦, 𝑧) with
respect to the inertial frame as shown in the figure.

(𝑥, 𝑦, 𝑧)

a. (8 pts) Obtain the kinematic model for this system and show how the end effector
position (𝑥, 𝑦, 𝑧) is related to the joint variables (𝑞1, 𝑞2 , 𝑞3 ) and how (𝑥̇ , 𝑦̇ , 𝑧̇ ) is
related to (𝑞̇ 1, 𝑞̇ 2 , 𝑞̇ 3 ).

b. (12 pts) Assuming no friction in the system, obtain the dynamical model that
relates (𝑥̈ , 𝑦,̈ 𝑧̈ ) to the forces at the joints 𝑓1, 𝑓2 , 𝑓3 (positive 𝑓𝑖 induces positive 𝑞̈ 𝑖 )
and the gravitational force (in -𝑍 direction, has the gravitational constant 𝑔).
2) (15 pts) Figure below shows a 3-link planar arm. Links have lengths 𝑙1 , 𝑙2 , 𝑙3 and the joint
angles are 𝜃1 , 𝜃2 , 𝜃3 . The pose of the end effector coordinate frame (𝑋𝐸 , 𝑌𝐸 ) with respect
to the inertial coordinate frame (𝑋0 , 𝑌0 ) is defined by (𝑥, 𝑦, 𝜃).

a. (7 pts) Obtain the forward kinematic equations that relate (𝑥, 𝑦, 𝜃) to the joint
variables 𝜃1 , 𝜃2 , 𝜃3 .

b. (8 pts) By taking the derivatives of the relationships in part a, obtain how (𝑥̇ , 𝑦̇ , 𝜃̇)
is related to (𝜃̇1 , 𝜃̇2, 𝜃̇3 ).

3) (15 pts) In the circuit below, the input is the voltage 𝑒𝑖 (𝑡) and the output is the voltage
𝑒0 (𝑡). Obtain the transfer function 𝐸𝑜 (𝑠)/𝐸𝑖 (𝑠).

4) (20 pts) Figure below shows a DC motor and its armature circuit. In this figure, 𝑣𝑎 is the
armature voltage, 𝑖𝑎 is the armature current, 𝑣𝑏 = 𝐾𝑏 𝜔 is the back emf voltage (𝐾𝑏 is the
back emf constant), 𝑇 = 𝐾𝑇 𝑖𝑎 is the torque generated by the motor (𝐾𝑇 is the torque
constant), 𝑇𝐿 is any load torque on the motor shaft (other than friction), 𝑐 is the viscous
friction constant, 𝐼 is the total inertia on the motor shaft, and 𝜔 is the angular speed of
the motor shaft. Such a system can be modeled by the following two equations:
𝑑𝑖𝑎
𝑣𝑎 − 𝑅𝑎 𝑖𝑎 − 𝐿𝑎 − 𝐾𝑏 𝜔 = 0
𝑑𝑡

𝐼𝜔̇ + 𝑐𝜔 + 𝑇𝐿 = 𝐾𝑇 𝑖𝑎

a. (10 pts) Obtain the transfer functions 𝐼𝑎 (𝑠)/𝑉𝑎 (𝑠), 𝐼𝑎 (𝑠)/𝑇𝐿 (𝑠), Ω(𝑠)/𝑉𝑎 (𝑠),
Ω(𝑠)/𝑇𝐿 (𝑠).

𝑁𝑚 10−4𝑁𝑚𝑠
b. (10 pts) Let the system parameters be 𝐾𝑇 = 𝐾𝑏 = 0.05 𝐴 , 𝑐 = 𝑟𝑎𝑑 , 𝑅𝑎 =
0.5 𝑜ℎ𝑚, 𝐿𝑎 = 2 × 10−3 ℎ𝑒𝑛𝑟𝑦, 𝐼 = 9 × 10−5 𝑘𝑔𝑚2, and suppose that 𝑇𝐿 = 0.
Obtain the equations for 𝑖𝑎 (𝑡) and 𝜔(𝑡) when the system has zero initial
conditions and a constant voltage of 𝑣𝑎 (𝑡) = 10 𝑉 (a step function of magnitude
10) is applied as input.

Hint: You can use the MATLAB function “residue” to obtain the partial fraction
expansions for 𝐼𝑎 (𝑠) and Ω(𝑠).

5) (30 pts) Figure below represents a simplified suspension model, where 𝑃 is the contact
point with the road, and 𝑢 is the vertical displacement due to the road profile. The
displacements 𝑥 and 𝑦 are measured from their respective equilibrium positions.

a. (8 pts) Obtain the equations of motion for 𝑚1 and 𝑚2 .

𝑋(𝑠) 𝑌(𝑠)
b. (7 pts) Obtain the transfer functions 𝑈(𝑠) and 𝑈(𝑠).
c. (15 pts) Let 𝑚1 = 10 𝑘𝑔, 𝑚2 = 100 𝑘𝑔, 𝑘1 = 50 𝑁/𝑚, 𝑘2 = 200 𝑁/𝑚, 𝑏1 =
50 𝑁𝑠/𝑚, 𝑏2 = 100 𝑁𝑠/𝑚. Assuming zero initial conditions, use MATLAB
commands (e.g., lsim, plot) to plot the responses of 𝑥1 and 𝑥2 to the inputs below
over time from 0 to 10 seconds with discrete steps of 0.01 seconds. Provide the
MATLAB commands you used and the resulting plots for 𝑥1 and 𝑥2 in each case:

i. 𝑢 = 𝛿(𝑡), where is 𝛿(𝑡) is the unit impulse function.


ii. 𝑢 = 0.1𝓊(𝑡), where 𝓊(𝑡) is the unit step function.
iii. 𝑢 = 0.1𝑠𝑖𝑛(2𝑡)

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