ROBÓTICA INDUSTRIAL – 1rs July 2021

1 – Consider the following robotic manipulator with 3 degrees of freedom:

θ2*
d3 θ 2* θ2*
z1

d3 d3

z1
z2 z3 z2 z3 z2 z3

z1
x1 x2 x3 x 2
x3 , x2
x 1, x1 x3
z0

z0
z0

d1 d1 d1
Y0 Y0 Y0
x0 x0 x0
i) ii) iii)
The correct referential frame assignment, according to the Denavit–Hartenberg methodology is: ii)
or iii)

2 - Find the forward kinematics parameters of the first two lines of the Denavit-Hartenberg table.
Axis X1, X2, X3, X4 and Z0 are in the same plane, Origins of referential frames 0 and 1 are at the
same height:

z2
x2
a3

a2

a4
0
z

z3 x4
z4
x2

a1 y0
x1
x 0 z1

i ai αi di θi
1 a1 -90º 0 1*
2 a2 0 0 2*
NAME: __________________________________________________________________

3 – Using the following manipulator:

z1

x3
LB x1

z2 z3

x2
θ 1*
LA
0

y0
x0z

a) Determine the inverse kinematics, i.e. given the origin of the tool referential (x3, y3, z3)
calculate the variables associated with each joint.

θ1*= arctan2(x3, y3)

θ2*= arctan2(r, s) , where r = z3 - LA and s = (x3)2 + (y3)2 - LB

d3*= r2 + s2

b) Calculate the third column of the Jacobian matrix:

 s2.c1
  0

Jv3 =  s2.s1  Jw3=  0 
 c2   0 
(70%) (30%)
 0.866 0 0.5

4 – Find the vector-angle representation for the following rotation matrix:  0 1 0 
 -0.5 0 0.866 

 0

Vector-angle representation =  30*pi/180 = 0.524 
 0 
5 – Consider the following system where the camera was placed at a height of 0.5 m and with a
displacement of 1.5 m on the x axis and 1.0 on the y axis. The camera is pointing towards the z0
axis and zC is parallel to the x0y0 plane.

a) Present the matrix that represents the homogeneous transformation between the oCxCyCzC
referential and the origin referential o0x0y0z0.

T=
0 -0.5547 -0.8321 1.5
0 0.8321 -0.5547 1.0
1 0 0 0.5
0 0 0 1

b) Present the matrix that represents the homogenous transformation between the o cxcyczc
referential and the origin referential o0x0y0z0 if the camera were rotated around yC axis so that the
axis defined by zC intersects the origin o0.

T=
-0.2224 -0.5547 -0.8018 1.5
-0.1482 0.8321 -0.5345 1.0
0.9636 0 -0.2673 0.5
0 0 0 1
6 – Consider the following control code for the cascade controller addressed in the practical
classes:

error_pos := PosRef - Pos;

Serror_pos := Serror_pos + Error_pos * Ts;
SRef := Kc_pos *(Error_pos+Td_pos*(Error_pos - Error_ant)/Ts+Serror_pos/Ti_pos)+0.25*Ac_r + Vel_r;
error_ant := Error_pos;

if (Abs(Error_pos) < 0.06) and (Abs(Vel_PosRef) < 0.01) then begin

// ???
end else begin
error_speed := SRef - Speed;
Serror := Serror + error_speed * Ts;
Vm := Kc *(error_speed + 1/Ti * Serror);
end;

if Vm > 15 then begin

Vm := 15;
Serror := Serror - Error_speed * Ts;
Serror_pos := Serror_pos - Error_pos * Ts;
end else begin
if Vm < -15 then begin
Vm := -15;
Serror := Serror - Error_speed * Ts;
Serror_pos := Serror_pos - Error_pos * Ts;
end;
end;

SetAxisVoltageRef(iRobot, iAxis, Vm);

What is the role of:

“…+0.25*Ac_r + Vel_r” : Feedforward signal based on first order approximation (40%)

The section signed with “//???” : Instructions to stop the motor if it is near the desired position
(20%)

The block started with the if statement “if Vm > 15” : Anti-windup to avoid overshoot due to the
integral action with saturation (40%

7 – List 3 differences between the “moveL” (ABB Rapid language) and the “MOVJ” (Inform II
language) in terms of utilisation, trajectory, data representation, etc.

- ABB Rapid language uses quaternions to represent orientation and Inform II uses Euler angles
(30%)
- moveL performs a linear trajectory and MOVJ does not guarantee the shape of the trajectory
(60%)
- ABB Rapid corner zone is defined in mm or fine and in Inform II is defined in levels (10%)
Question: 1 2 3-a) 3-b) 4 5-a) 5-b) 6 7
Score: 2 2.5 3 2.5 1.5 2 2 3 1.5