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Robotics EX1

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12 views3 pages

Robotics EX1

about slam

Uploaded by

Lan Tran Vu
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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STORoho

PRACTICE EXERCISE - 1

Problem 1:

Using Geometric Approch


Given:
First section: OA = 267 mm.
Second section: AB = 155 mm.
Third section: BC= 135 mm.
Fourth section: CD=217.5 mm.
OD is the distance from the Origin of x-y-z plane to the object N (x, y, z).
CD is the distance from third joint to the end of gripper and CD// OA.
01, 02 and 3 are the angles of joint 1, joint 2 and joint 3. (Joint 0 is working in x-y plane)
Find the values of 01,02 and 03?

B
B
A

0
D
Figure 1:Joint marking for KUKA arm Figure 2: Inverse Kinematic with geometric method

Problem 2:
Suppose we have hand frame as

-0.866 0.5 3
0.5 0.433 0.75 1
F
-0.866 0.25 0.433 5

And we have the final Transformation for the robot system.

fce,co, co,se se, -CO,se, Cece,se, +sese, P,


F = se,Co, Se,se,se, +Ce,Co, cose,se, - se,Ce. P
-se,0 so,co, cece, P
0

Find the necessary angles to achieve the given hand frame.


IST (Robotics) 2017-|g

Problem 3:

ror aRPPR manipulator the frames which are assiened to the joints are shown below.

d,

a) Write down the DH table.


b) Write all the Matrices.
c) Write an
equation in terms of A matrices that shows how 9T can be
calculated.
Problem 4:

a) Assign appropriate frames for DH


b) Write a DH table. representation.
c) Derive the Inverse
Kinematic equation of the above manipulator.
Problem 5

a) For the three-link PRR manipulator shown in Figure


b) Fillout the parameters table.
c) Write all the A matrices.
d) Write the T (hand frame relative to base frame) in terms of Amatrices.

GIVEN:
cos, -cosa, sin,
sin, cosa, cos0
sina, sino,
-sin a, cos
-4, cos1
a, sin.,
sin a, coS a, d,

sin(a FB) =sina cos ß sin Bcos a


cossa ¥ P) = cosa cosßtsinßsina
if cos =b then = Atan 2(ty-B',b)
if sin =b then = Atan 2(b, tyl-bi)

i açoso +bsin =c then = Atan 2(b, a) +Atan 2(tva' +b -c.c)


i/ acos0-bsin =0 hen = Atan 2(4, b) and 9 =Atan 2(-a, -b)
sin 0 =a , cos 0 =b then 0=Atan2(a, b)

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