Robotics

Instructor: Dr. Amirhossein Monjazeb, P. Eng.

Spring/Summer 2023
Problem set # 3
Solutions
 Problem 1 – Step by Step Solution
1. A 3-DOF robotic arm is shown below. 𝑆
defines the stand (base) of the
manipulator. Joint 2 axis makes a 90-
degree angle with joint 1 axis. Axes of
joints 2 and 3 are parallel. Assuming that
all joints are at rest,

a) Assign link frames 0 to 3 for this

manipulator based on frame convention.
b) Form the D_H parameters table.
c) Drive transformation of each joint relative
to its previous joint.
d) Determine 03𝑇 Tool Coordinate
e) Determine 𝑇𝑜𝑜𝑙0𝑇

Note: In the figure, the positive sign of

the joint angles, 𝜃1 , 𝜃2 , and 𝜃3 are indicated by
arrows.

Robotics Problem Set #3 Solutions 2

𝑎) The fixed link is link # 0. Then the first moving link is link # 1, the second moving link is Link
# 2, and the third moving link is link # 3.
This manipulator has 4 joints (joints
0, 1, 2, and 3 ) and 4 links (links
0, 1, 2, and 3).
Note 1: Joint 0 and link 0 are fixed to
the ground. 1 2 3

Note 2: Joint 𝐸 and one side of link 3 𝑇𝑜𝑜𝑙

are attached to the Tool (end-effector)

0
1
2
1
0 3

MCG 5353 - Robotics Problem Set #3 Solutions 2

 Now, we want to assign link frames 0 to 3 for this manipulator. We can also
assign frame 𝑇𝑜𝑜𝑙 to the end-effector but that is not necessary unless asked!
Now that link frames are named by number, we are ready to assign frames to each
corresponding joint. Remember that The unit vectors of frame 𝑖 are called 𝑋෠𝑖 , 𝑌෠𝑖 , and 𝑍መ𝑖 .

Note: The origin of frame

1 is usually located
3
where the link length, 𝑎1 ,
𝑇𝑜𝑜𝑙
intersects the 1𝑠𝑡 joint axis.

0
1
2

0 3

MCG 5353 - Robotics Problem Set #3 Solutions 3

 We are choosing locations of frames 0 to 𝑇 as shown below. Remember that
every time you are measuring an angle (𝛼𝑖 and/or 𝜃𝑖 ), you will have to follow the right-hand
rules.

𝑍መ1 2 3

𝑌෠2 1
“Right-hand” rule 𝑇𝑜𝑜𝑙
𝛼1 = +90° 𝜃2

𝑋෠2
𝑍መ2 𝑋෠1

𝑍መ1 𝑌෠1 0
1 𝑌෠3
2
𝜃1
𝑍መ0 1 𝑌෠0
𝜃3
𝑋෠1 0 3 𝑋෠3
𝑋෠0
𝑍መ3 𝑋෠2

All angles (𝛼𝑖 and 𝜃𝑖 ) are

MCG 5353 - Robotics Problem Set #3 Solutions measured according to
“Right-hand” rule 𝑋෠0 4
𝑏) Now we complete the D-H parameters table for this manipulator. Remember that the
yellow box is your guide to complete the table.
𝑖 𝛼𝑖−1 𝑎𝑖−1 𝑑𝑖 𝜃𝑖 𝛼𝑖 = the angle from 𝑍መ𝑖 to 𝑍መ𝑖+1 , measured about 𝑋෠𝑖 .
1 𝛼0 = 0 𝑎0 = 0 𝑑1 = 𝐿1 +𝐿2 𝜃1 𝑎𝑖 = the distance from 𝑍መ𝑖 to 𝑍መ𝑖+1 , measured along 𝑋෠𝑖
2 𝛼1 = 90° 𝑎1 = 0 𝑑2 = 0 𝜃2 𝑑𝑖 = the distance from 𝑋෠𝑖−1 to 𝑋෠𝑖 , measured along 𝑍መ𝑖 .
3 𝛼2 = 0 𝑎2 = 𝐿3 𝑑3 = 0 𝜃3 𝜃𝑖 = the angle from 𝑋෠𝑖−1 to 𝑋෠𝑖 , measured about 𝑍መ𝑖 .
𝑇 𝛼3 = 0 𝑎3 = 𝐿4 𝑑𝑇 = 0 𝜃𝑇 = 0

𝑍መ1 2 3

𝑌෠2 1
“Right-hand” rule 𝑇𝑜𝑜𝑙
𝛼1 = +90° 𝜃2

𝑋෠2
𝑍መ2 𝑋෠1

𝑍መ1 𝑌෠1 0
1 𝑌෠3
2
𝜃1
𝑍መ0 1 𝑌෠0
𝜃3
𝑋෠1 0 3 𝑋෠3
𝑋෠0
𝑍መ3 𝑋෠2

All angles (𝛼𝑖 and 𝜃𝑖 ) are

MCG 5353 - Robotics Problem Set #3 Solutions measured according to
“Right-hand” rule 𝑋෠0 5
𝑐) Now, according to the table, we can drive transformation of each joint relative to
its previous joint based on equation (3.6) in your textbook.

𝑖 𝛼𝑖−1 𝑎𝑖−1 𝑑𝑖 𝜃𝑖 𝛼𝑖 = the angle from 𝑍መ𝑖 to 𝑍መ𝑖+1 , measured about 𝑋෠𝑖 .
1 𝛼0 = 0 𝑎0 = 0 𝑑1 = 𝐿1 +𝐿2 𝜃1 𝑎𝑖 = the distance from 𝑍መ𝑖 to 𝑍መ𝑖+1 , measured along 𝑋෠𝑖
2 𝛼1 = 90° 𝑎1 = 0 𝑑2 = 0 𝜃2 𝑑𝑖 = the distance from 𝑋෠𝑖−1 to 𝑋෠𝑖 , measured along 𝑍መ𝑖 .
3 𝛼2 = 0 𝑎2 = 𝐿3 𝑑3 = 0 𝜃3 𝜃𝑖 = the angle from 𝑋෠𝑖−1 to 𝑋෠𝑖 , measured about 𝑍መ𝑖 .
𝑇 𝛼3 = 0 𝑎3 = 𝐿4 𝑑𝑇 = 0 𝜃𝑇 = 0

 cos  i − sin  i 0 ai−1 

𝑖−1  − − 
sin  i . cos  i −1 cos  i . cos  i −1 sin  sin 
𝑇=  i −1 i −1 .d i
 (3.6)
𝑖  sin  i . sin  i−1 cos  i . sin  i−1 cos  i−1 cos  i−1 .d i 
 
 0 0 0 1 

 cos  1 − sin  1 0 a0  cos  1 − sin  1 0 0 

sin . cos   sin 0 
0  1  0 cos  1 . cos  0 − sin  0 − sin  0 .d 1   1 cos  1 0
𝑇= =
1  sin  1 . sin  0 cos  1 . sin  0 cos  0 cos  0 .d 1   0 0 1 L1 + L2 
   
 0 0 0 1   0 0 0 1 

Robotics Problem Set #3 Solutions 6

𝑖 𝛼𝑖−1 𝑎𝑖−1 𝑑𝑖 𝜃𝑖 𝛼𝑖 = the angle from 𝑍መ𝑖 to 𝑍መ𝑖+1 , measured about 𝑋෠𝑖 .
1 𝛼0 = 0 𝑎0 = 0 𝑑1 = 𝐿1 +𝐿2 𝜃1 𝑎𝑖 = the distance from 𝑍መ𝑖 to 𝑍መ𝑖+1 , measured along 𝑋෠𝑖
2 𝛼1 = 90° 𝑎1 = 0 𝑑2 = 0 𝜃2 𝑑𝑖 = the distance from 𝑋෠𝑖−1 to 𝑋෠𝑖 , measured along 𝑍መ𝑖 .
3 𝛼2 = 0 𝑎2 = 𝐿3 𝑑3 = 0 𝜃3 𝜃𝑖 = the angle from 𝑋෠𝑖−1 to 𝑋෠𝑖 , measured about 𝑍መ𝑖 .
𝑇 𝛼3 = 0 𝑎3 = 𝐿4 𝑑𝑇 = 0 𝜃𝑇 = 0

 cos  i − sin  i 0 ai−1 

𝑖−1  − − 
sin  i . cos  i −1 cos  i . cos  i −1 sin  sin 
𝑇=  i −1 i −1 .d i
 (3.6)
𝑖  sin  i . sin  i−1 cos  i . sin  i−1 cos  i−1 cos  i−1 .d i 
 
 0 0 0 1 

 cos  2 − sin  2 0 a1  cos  2 − sin  2 0 0

sin . cos   0 0
1  2  1 cos  2 . cos  1 − sin  1 − sin  1 .d 2   0 −1
𝑇= =
2  sin  2 . sin  1 cos  2 . sin  1 cos  1 cos  1 .d 2   sin  2 cos  2 0 0
   
 0 0 0 1   0 0 0 1

Robotics Problem Set #3 Solutions 7

𝑖 𝛼𝑖−1 𝑎𝑖−1 𝑑𝑖 𝜃𝑖 𝛼𝑖 = the angle from 𝑍መ𝑖 to 𝑍መ𝑖+1 , measured about 𝑋෠𝑖 .
1 𝛼0 = 0 𝑎0 = 0 𝑑1 = 𝐿1 +𝐿2 𝜃1 𝑎𝑖 = the distance from 𝑍መ𝑖 to 𝑍መ𝑖+1 , measured along 𝑋෠𝑖
2 𝛼1 = 90° 𝑎1 = 0 𝑑2 = 0 𝜃2 𝑑𝑖 = the distance from 𝑋෠𝑖−1 to 𝑋෠𝑖 , measured along 𝑍መ𝑖 .
3 𝛼2 = 0 𝑎2 = 𝐿3 𝑑3 = 0 𝜃3 𝜃𝑖 = the angle from 𝑋෠𝑖−1 to 𝑋෠𝑖 , measured about 𝑍መ𝑖 .
𝑇 𝛼3 = 0 𝑎3 = 𝐿4 𝑑𝑇 = 0 𝜃𝑇 = 0

 cos  i − sin  i 0 ai−1 

𝑖−1  − − 
sin  i . cos  i −1 cos  i . cos  i −1 sin  sin 
𝑇=  i −1 i −1 .d i
 (3.6)
𝑖  sin  i . sin  i−1 cos  i . sin  i−1 cos  i−1 cos  i−1 .d i 
 
 0 0 0 1 

 cos  3 − sin  3 0 a2  cos  3 − sin  3 0 L3

sin . cos   sin 0 0 
2  3  2 cos  3 . cos  2 − sin  2 − sin  2 .d 3    3 cos  3
𝑇= =  0 1 0
3  sin  3 . sin  2 cos  3 . sin  2 cos  2 cos  2 .d 3  0
   
 0 0 0 1   0 0 0 1

Robotics Problem Set #3 Solutions 8

𝑖 𝛼𝑖−1 𝑎𝑖−1 𝑑𝑖 𝜃𝑖 𝛼𝑖 = the angle from 𝑍መ𝑖 to 𝑍መ𝑖+1 , measured about 𝑋෠𝑖 .
1 𝛼0 = 0 𝑎0 = 0 𝑑1 = 𝐿1 +𝐿2 𝜃1 𝑎𝑖 = the distance from 𝑍መ𝑖 to 𝑍መ𝑖+1 , measured along 𝑋෠𝑖
2 𝛼1 = 90° 𝑎1 = 0 𝑑2 = 0 𝜃2 𝑑𝑖 = the distance from 𝑋෠𝑖−1 to 𝑋෠𝑖 , measured along 𝑍መ𝑖 .
3 𝛼2 = 0 𝑎2 = 𝐿3 𝑑3 = 0 𝜃3 𝜃𝑖 = the angle from 𝑋෠𝑖−1 to 𝑋෠𝑖 , measured about 𝑍መ𝑖 .
𝑇 𝛼3 = 0 𝑎3 = 𝐿4 𝑑𝑇 = 0 𝜃𝑇 = 0

 cos  i − sin  i 0 ai−1 

𝑖−1  − − 
sin  i . cos  i −1 cos  i . cos  i −1 sin  sin 
𝑇=  i −1 i −1 .d i
 (3.6)
𝑖  sin  i . sin  i−1 cos  i . sin  i−1 cos  i−1 cos  i−1 .d i 
 
 0 0 0 1 

This matrix shows no

 cos  T − sin  T 0 a3  1 0 0 L4  rotation but just a pure
sin . cos  0 1 0 0 
translation of frame
3  T  3 cos  T . cos  3 − sin  3 − sin  3 .d T   𝑇𝑜𝑜𝑙 relative to frame
𝑇= = 0 0 1 0
𝑇𝑜𝑜𝑙  sin  T . sin  3 cos  T . sin  3 cos  3 cos  3 .d T  3
   
 0 0 0 1  0 0 0 1

Robotics Problem Set #3 Solutions 9

 Note: By multiplying transformation matrices, the location of tool’s frame can be
described based on universe frame..

𝑖 𝛼𝑖−1 𝑎𝑖−1 𝑑𝑖 𝜃𝑖 𝛼𝑖 = the angle from 𝑍መ𝑖 to 𝑍መ𝑖+1 , measured about 𝑋෠𝑖 .
1 𝛼0 = 0 𝑎0 = 0 𝑑1 = 𝐿1 +𝐿2 𝜃1 𝑎𝑖 = the distance from 𝑍መ𝑖 to 𝑍መ𝑖+1 , measured along 𝑋෠𝑖
2 𝛼1 = 90° 𝑎1 = 0 𝑑2 = 0 𝜃2 𝑑𝑖 = the distance from 𝑋෠𝑖−1 to 𝑋෠𝑖 , measured along 𝑍መ𝑖 .
3 𝛼2 = 0 𝑎2 = 𝐿3 𝑑3 = 0 𝜃3 𝜃𝑖 = the angle from 𝑋෠𝑖−1 to 𝑋෠𝑖 , measured about 𝑍መ𝑖 .
𝑇 𝛼3 = 0 𝑎3 = 𝐿4 𝑑𝑇 = 0 𝜃𝑇 = 0

𝑈 0 0 1 2 3
𝑇= 𝑇= 𝑇∙ 𝑇∙ 𝑇∙ 𝑇
𝑇𝑜𝑜𝑙 𝑇𝑜𝑜𝑙 1 2 3 𝑇𝑜𝑜𝑙

c  1 − s  1 0 0  c  2 − s  2 0 0 c  3 − s  3 0 L3 1 0 0 L4 
s 0   0 −1 0 s 0 0  0 1 0 0 
𝑈 1 c 1 0 0  3 c3
→ 𝑇=   
𝑇𝑜𝑜𝑙 0 0 1 L1 + L2  s  2 c  2 0 0 0 0 1 0 0 0 1 0
       
0 0 0 1   0 0 0 1 0 0 0 1 0 0 0 1

Multiply above matrices and find the result

Robotics Problem Set #3 Solutions 10

 Problem 2
❑ The 4-DOF manipulator shown in Figure 3 is located near the universe frame, 𝑈 .

a) Assign Frames based on your “frame convention” of choice.

b) Form a D-H parameter table and fill it out.
c) Using link parameters, compute the individual transformations for each link
𝑈
d) Determine 𝑇.
𝐻

Robotics Problem Set #3 Solutions

Robotics Problem Set #3 Solutions 12

 Problem 2 - Solution
𝑎) The fixed link is link # 0. Then the first moving link is link # 1 (revolute), the second moving link is Link # 2
(prismatic), the third moving link is link # 3 (prismatic), and the fourth moving link is link # 4 (revolute).

Now, based on frame convention, we assign frames to joints

➢ The origin of frame 𝑖 is located where the link length, 𝑎𝑖 , intersects the 𝑖 𝑡ℎ joint axis.

➢ 𝑋෠𝑖 points along 𝑎𝑖 in the direction from joint, 𝑖, to joint, 𝑖 + 1. If the axes intersect,
assign 𝑋෠𝑖 to be normal to the plane containing the two axes.

➢ 𝑌෠𝑖 and 𝑍መ𝑖 are formed by the right-hand rule to complete frame 𝑖 . However, to simplify
calculations, it is preferred to assign 𝑍መ𝑖 pointing along the 𝑖 𝑡ℎ joint axis and then assign
𝑌෠𝑖 based on the right-hand rule.

➢ It is always simpler if we choose 𝑍መ0 along axis 1 which constitutes 𝑎0 = 0, 𝛼0 = 0

Robotics Problem Set #3 Solutions 13

 Problem 2 – Solution (cont’d)
𝑍መ𝐻
𝑍መ4
𝑌෠
𝑌෠4 𝐻

𝐻 4
𝑍መ3

𝑍መ1
𝑋෠4
𝑈 𝑋෠2
𝑋෠𝐻
3
3
2 𝑋෠3
𝑋෠1 1 𝑌෠1
𝑌෠𝟑
1 𝑍መ0 2

𝑌෠2

𝑌෠0
𝑋෠0 0 𝑍መ2

Robotics Problem Set #3 Solutions 14

 Problem 2 – Solution (cont’d)

𝛼𝑖 = the angle from 𝑍መ𝑖 to 𝑍መ𝑖+1 , measured about 𝑋෠𝑖 .

𝑎𝑖 = the distance from 𝑍መ𝑖 to 𝑍መ𝑖+1 , measured along 𝑋෠𝑖
𝑑𝑖 = the distance from 𝑋෠𝑖−1 to 𝑋෠𝑖 , measured along 𝑍መ𝑖 .
𝜃𝑖 = the angle from 𝑋෠𝑖−1 to 𝑋෠𝑖 , measured about 𝑍መ𝑖 .

𝛼0 = 0 the angle from 𝑍መ0 to 𝑍መ1 , measured about 𝑋෠0 𝑎0 = 0 the distance from 𝑍መ0 to 𝑍መ1 , measured along 𝑋෠0
𝛼1 = −90° the angle from 𝑍መ1 to 𝑍መ2 , measured about 𝑋෠1 𝑎1 = 0 the distance from 𝑍መ1 to 𝑍መ2 , measured along 𝑋෠1
𝛼2 = +90° the angle from 𝑍መ2 to 𝑍መ3 , measured about 𝑋෠2 𝑎2 = 𝑙6 the distance from 𝑍መ2 to 𝑍መ3 , measured along 𝑋෠2
𝛼3 = +90° the angle from 𝑍መ3 to 𝑍መ4 , measured about 𝑋෠3 𝑎3 = 0 the distance from 𝑍መ3 to 𝑍መ4 , measured along 𝑋෠3

𝑑1 = 𝑙4 the distance from 𝑋෠0 to 𝑋෠1 , measured along 𝑍መ1 𝜃1 is variable

𝑑2 is variable (Note that 𝑑2 = 𝑑2∗ + 𝑙5 , where 𝑑2∗ is the variable) 𝜃2 = −90° is the angle from 𝑋෠1 to 𝑋෠2 , measured about 𝑍መ2

𝑑3 is variable (Note that 𝑑3 = 𝑑3∗ + 𝑙7 , where 𝑑3∗ is the variable) 𝜃3 = +90° is the angle from 𝑋෠2 to 𝑋෠3 , measured about 𝑍መ3

𝑑𝐻 = 𝑙8 the distance from 𝑋෠3 to 𝑋෠𝐻 , measured along 𝑍መ4 𝜃4 is variable

Robotics Problem Set #3 Solutions 15

 Problem 2 – Solution (cont’d)
Therefore, D-H table can be formed as below

𝑖 𝛼𝑖−1 𝑎𝑖−1 𝑑𝑖 𝜃𝑖
1 𝛼0 = 0 𝑎0 = 0 𝑑1 = 𝑙4 𝜃1
2 𝛼1 = −90° 𝑎1 = 0 𝑑2 𝜃2 = −90°
3 𝛼2 = +90° 𝑎2 = 𝑙6 𝑑3 𝜃3 = +90°
4 𝛼3 = +90° 𝑎3 = 0 𝑑4 = 𝑙8 𝜃4

Based on equation (3.6) transformation matrix of each joint, 𝑖, relative to its adjacent joint, 𝑖 − 1, can
be determined

 cos  i − sin  i 0 ai−1 

sin . cos 
𝑖−1  i  i−1 cos  i . cos  i−1 − sin  i−1 − sin  i−1 .d i 
𝑇= (3.6)
𝑖  sin  i . sin  i−1 cos  i . sin  i−1 cos  i−1 cos  i−1 .d i 
 
 0 0 0 1 

Robotics Problem Set #3 Solutions 16

 Problem 2 – Solution (cont’d)
cos  1 − sin  1 0 0
𝑖 𝛼𝑖−1 𝑎𝑖−1 𝑑𝑖 𝜃𝑖  sin 0 0
0  1 cos  1
𝑇= 
1 𝛼0 = 0 𝑎0 = 0 𝑑1 = 𝑙4 𝜃1 1  0 0 1 l4
 
2 𝛼1 = −90° 𝑎1 = 0 𝑑2 𝜃2 = −90°  0 0 0 1

3 𝛼2 = +90° 𝑎2 = 𝑙6 𝑑3 𝜃3 = +90°
4 𝛼3 = +90° 𝑎3 = 0 𝑑4 = 𝑙8 𝜃4 𝑑2

and we know
 0 −1 0 l6 
3 3  0 0 −1 
𝑇= 𝑇 𝑑l37
𝑇 = −11 0 0 
𝐻 4 2
3 0
 
0 0 0 1
By multiplying all transformation matrices, the location
of 𝐻𝑎𝑛𝑑 relative to 𝑏𝑎𝑠𝑒 can be described as cos
cos 𝜃4H − sin 𝜃4H 0 0
 0 0 − 1 − l8 
𝑇 = 𝑇 = sin
3 3
0 0 1 2 3 𝐻 4 sin 𝜃4H cos 𝜃4H
cos 0 0
𝑇= 𝑇∙ 𝑇∙ 𝑇∙ 𝑇  
𝐻 1 2 3 𝐻  0 0 0 1

Robotics Problem Set #3 Solutions 17

 Problem 2 – Solution (cont’d)
In order to describe location of 𝐻𝑎𝑛𝑑 relative to 𝑈𝑛𝑖𝑣𝑒𝑟𝑠𝑒 frame, a simple transformation
matrix (No rotation is involved and just translations along 𝑋෠𝑈 , 𝑌෠𝑈 , and 𝑍መ𝑈 is considered.) may
0
be multiplied by 𝑇 as below:
𝐻

𝑈 𝑈 0
𝑇= 𝑇∙ 𝑇
𝐻 0 𝐻

where

1 0 0 l1 
0 1 0 l 2 
𝑇=
𝑈
0 0 0 1 l 3
 
0 0 0 1

Robotics Problem Set #3 Solutions 18

 Problem 2 – Solution (cont’d)

𝑈 𝑈 0 1 2 3
𝑇= 𝑇∙ 𝑇∙ 𝑇∙ 𝑇∙ 𝑇
𝐻 0 1 2 3 𝐻

1 0 0 l1  cos 𝜃11 − sin 𝜃11 0 0  0 −1 0 l6  cos

cos 𝜃4H − sin 𝜃4H 0 0
0  sin 0 0
𝑈 1 0 l 2   𝜃11 cos 𝜃 11 𝑑2  0 0 −1 𝑑l37
  0 0 − 1 − l8 
→ 𝑇=   
𝐻 0 0 1 l 3  0 0 1 l4 −11 0 0 0 sin
sin 𝜃4H cos 𝜃4H
cos 0 0
       
0 0 0 1  0 0 0 1 0 0 0 1  0 0 0 1

Variables are 𝜃1 , 𝑑2 , 𝑑3 , and 𝜃4

Robotics Problem Set #3 Solutions 19