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RKD Assignment 1

The document discusses robot kinematics and dynamics. It provides 5 questions about roll, pitch, and yaw angles, homogeneous coordinates, direct kinematic analysis of a 4-axis robot, comparing direct kinematic analysis of SCARA and 3-axis robots, and direct kinematic analysis of a 6-axis robot.

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Dr RAMESH KUMAR A
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50 views1 page

RKD Assignment 1

The document discusses robot kinematics and dynamics. It provides 5 questions about roll, pitch, and yaw angles, homogeneous coordinates, direct kinematic analysis of a 4-axis robot, comparing direct kinematic analysis of SCARA and 3-axis robots, and direct kinematic analysis of a 6-axis robot.

Uploaded by

Dr RAMESH KUMAR A
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOC, PDF, TXT or read online on Scribd
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K.S.

RANGASAMY COLLEGE OF TECHNOLOGY, TIRUCHENGODE - 637 215


MCT
(Autonomous)

Programme & Branch B.E., Mechatronics Engineering Year & Semester III & VI
Course Code & Name 50 MC H03 & Robot Kinematics and Dynamics Maximum Marks 50
Date Submission Date
Assignment 1
Answer all the questions

Q. Bloom’s
Question CO PO Marks
No. Level
1 Explain roll, pitch, and yaw angles as they relate to robotics, and Re CO1 02 10
describe how they are interconnected with the orientation of an object.
2 Describe homogeneous coordinates in robotics and their role in Un CO1 02 10
representing transformations, highlighting their significance in the field.
3 Detail the direct kinematic analysis process for a four-axis robot, Ap CO2 02 10
including the transformation matrices and equations utilized to
ascertain the position and orientation of the end-effector.
4 Discuss the similarities and differences in the direct kinematic analysis Un CO2 01 10
of SCARA robots and three-axis articulated robots, emphasizing the
key distinctions in their kinematic models and the equations employed
for analysis.
5 Consider the direct kinematic analysis for a six-axis articulated robot, Ap CO2 01 10
emphasizing the challenges and computational considerations
involved in determining the end-effector position and orientation in six-
dimensional space

Blooms Level Marks


Remember (Re) 10
Understand (Un) 20
Apply (Ap) 20
Total 50

Q.No. Course Outcomes Marks


CO1 : To impart knowledge about kinematic and dynamic analysis of robot
1-2 20
manipulators
CO2 : To control both the position and orientation of the tool in the three dimensional
3-6 30
space

Course Instructor Module Coordinator HoD


(Dr.M.Ravi) (Dr.M. Sasikumar) (Dr. S. S. Saravanakumar)

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