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Assignment 1

The document contains a test for a robotics course with multiple choice and short answer questions covering topics like open and closed loop control systems, robotic workspaces, kinematics, dynamics, sensors and actuators. Students are instructed to complete the test and submit their answers by a due date to be graded.

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Tshepiso Qobolo
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56 views

Assignment 1

The document contains a test for a robotics course with multiple choice and short answer questions covering topics like open and closed loop control systems, robotic workspaces, kinematics, dynamics, sensors and actuators. Students are instructed to complete the test and submit their answers by a due date to be graded.

Uploaded by

Tshepiso Qobolo
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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1

UNIVERSITY OF SOUTH AFRICA


SCHOOL OF ENGINEERING
CONTINUOUS ASSESSMENT

ASSIGNMENT: 01

2024

ELB1502

ELECTRICAL ENGINEERING ROBOTICS

Examiner 1: Dr. M.E MIGABO


Examiner 2: Mr. AM DLAMINI Marks: 50
Moderator: Mr. N MARNEWECK Weight of Assessment: 10%

INSTRUCTIONS TO ALL STUDENTS:

1. Use of a non-programmable pocket calculator is permissible.

2. Closed-book assessment.

3. Honour Pledge: I have neither given nor received any aid on the assignment.

4. Plagiarism is prohibited. Plagiarism is the act of taking words, ideas and thoughts of
others and presenting it as your own. It is a form of theft which involves several
dishonest academic activities.

5. This question paper remains the property of the University of South Africa and may
not be copied or printed.

6. Answer all questions.

Welcome to the School of Engineering.

NB.: After downloading the test paper from Additional Resources, under myUnisa platform,
answer the questions and send the answer sheets in the same way you send assignments on
myUnisa!

Please use the correct unique number for this assessment.

Open Rubric
2

TEST NUMBER ASSESSMENT UNIQUE NUMBER DUE DATE


TOOL

Assignment 1 myUnisa 315285 16 April 2024

1. Introduction to Robotics (20)


1.1. What is the difference between open-loop and closed-loop control systems in robotics? (2)
1.2. Explain the concept of workspace and how it relates to robot manipulators. (2)
1.3. How are joint variables and Cartesian variables used to describe the position and orientation of a
robot end-effector? (5)
1.4. Discuss the advantages and disadvantages of using hydraulic actuators in robotics. (5)
1.5. Define robotics and provide three examples of applications. (3)
1.6. Name and briefly explain the four main components that make up a robotic system. (3)

2. Robotic Kinetics and Dynamics (20)

2.1. A robot arm is initially located at (x, y, z) = (2, 4, 1) and is rotated by 90 degrees around the z-
axis. Find the rigid body transformation matrix that represents this movement. (5)

2.2. Explain the concept of manipulator dynamics in robotics. Describe the three main components of
manipulator dynamics and their significance in controlling the motion of a robotic manipulator. (5)

2.3. Explain by means of an example the concept of inverse kinematics in robotics (5)

2.4. Explain by means of an example the concept of dynamic equation of motion for a robot.(5)

3. Robotic sensors and Actuators (10)

3.1. A potentiometer is used to measure the joint angle of a robot. The potentiometer has a resistance
of 10 kΩ and is connected to a 5 V power supply. What is the joint angle if the potentiometer voltage
output is 2.5 V? (4)
3.2. What is an H-bridge and why is it used in motor control circuits? (3)
3.3. A stepper motor has a step angle of 1.8 degrees and a driver with a microstepping resolution of
1/16. If the motor rotates 360 degrees in 200 steps, how many microsteps are required for a full rotation?
(3)

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