National University of Singapore

Faculty of Engineering

Drill Problem Set 3: ME4245/EE4304: Robotics Term 1, 1996/1997

1. At an orientation of

 − 0.5 − 0.433 0.75 

 
R =  0.866 0.25 0.433 ,
 
 0 0.866 0.5 
a rigid body is rotating at the Euler angle rates of
α = β = γ = 1o / sec .
Determine the angular velocity of the rigid body. The Euler angles α, β, and γ are defined
as R = Rot(z, α)Rot(y, β)Rot(z, γ). (Hint: You may need to first solve for the Euler angles
corresponding to this orientation.)

Two Possible Answers:

 0.25  125
. 
   
ω =  13.  deg/ sec or ω =  − 0.433 deg/ sec
   
 15.   15 . 
2 Fig. 2 shows a connecting (bent) rod (BJ) rigidly connecting the rotational joint J to
the cuboid (ABCDEFGO). Let
1> Frame U be fixed and serve as the universe frame of reference.
2> Frame H be translating with respect to Frame U.
3> Frame H is attached rigidly to the rotational joint J.
3> Axis k be fixed onto Frame H.
4> Frame M be fixed rigidly onto the cuboid.
5> The cuboid (ABCDEFGO), bent connecting rod (BJ), and joint J be all
connected as one rigid assembly.
6> Joint J be a rotational joint that rotates the cuboid-connecting rod rigid
assembly about axis k. This assembly is rotating about axis k.
At a certain instant of time, the origin of Frame H (joint J) is translating at a
velocity of U u H = (1 2 3) m/sec, and the cuboid-connecting rod assembly is
T

rotating about axis k at an angular velocity of 10 rad/sec. At this same instant of

time the assembly and frames are at the configuration indicated in Fig. 1.
At that same instant of time, determine:
i. The angular velocity of the cuboid-connecting rod assembly with respect to
Frame U.
ii. The translational velocity of point C (on the cuboid) with respect to Frame U.

1
 z u,m y k
A h
B
D C
G 30 deg
O
E y u,m J xh
F
x u,m length of line segments:
AD=CB=1 DE=CF=2 OG=EF=3 OJ=10
Fig. 2

 53.32   0 
   
Ans: u =  7  m / sec ω =  8.66 rad / sec
   
 − 5.66  5 
3. Fig.3 shows a 4-axis robot with all rotational joints. The first joint rotates about a
vertical axis while the next three joints rotate about a horizontal axis parallel to the xy
plane of Frame U. Frame E is attached to the robot end-effector. A six axis force-
torque sensor provides 3 force and 3 torque readings along and about the x, y, and z
axes of the sensor frame S. Frame S is coincident to the fixed frame of reference U. If
the robot end-effector is carrying a payload of 20 kg when it is at a configuration
indicated by
 0.0 − 10 . 0 10
 
 RE
U U
p E   0.866 0 0.5 5
U
TE =  = ,
 0 1   − 0.5 0 − 0.866 4 
 
 0 0 0 1
Determine the six readings of the six-axis force-torque sensor. Assume that the robot
is weightless less. The gravitational force is pointing downward along the negative z
axis direction of Frame U. Assume all the links are of length 1 m, determine the joint
forces/torques required.
z s,u J3
J4
J2
J1
0.05m
six-axis payload
xE
force sensor
zE
y s,u
x s,u payload mass center
Figure 3
 0   − 1029
   
Ans: F =  0  N T =  1960  N . m
   
 − 196  0 

2
4. There are three moving frames A,B, and C. At a certain time instant, they are at:
 0.866 − 0.5 0 10 −1 0 0 3
   
 0.5 0.866 0 0   0 0 − 1 4
A
TB =  , B
TC =  ;
0 0 1 5 0 − 1 0 5
   
 0 0 0 1  0 0 0 1
and are moving with the following generalized velocity vectors (the first three
components represent the translational velocity while the last three components represent
the angular velocity):
 0.0   10. 
   
 2.0   4.0 
 − 3.0   − 5.0
A
VB =   ; B
VC =  
. 
 1414  0.5 
. 
 1414  10. 
   
 0.0   2.0 

Find the generalized velocity AVC of Frame C as seen from Frame A.

 5.936 
 
 − 1106
. 
. 
 − 1826
Ans: AVC =  
.
 1347 
 2.53 
 
 2 