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Problems 3

The document contains exercise problems for Module 3 focusing on kinematics of robotic manipulators, including 2R, 3R, RRR, PUMA 560, SCARA, and redundant manipulators. It covers topics such as workspace area calculations, D-H parameters, inverse kinematics, and path evaluations for various manipulator configurations. The problems require both analytical derivations and numerical verifications of kinematic equations and manipulator behaviors.

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Mazin Alsaedi
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7 views3 pages

Problems 3

The document contains exercise problems for Module 3 focusing on kinematics of robotic manipulators, including 2R, 3R, RRR, PUMA 560, SCARA, and redundant manipulators. It covers topics such as workspace area calculations, D-H parameters, inverse kinematics, and path evaluations for various manipulator configurations. The problems require both analytical derivations and numerical verifications of kinematic equations and manipulator behaviors.

Uploaded by

Mazin Alsaedi
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Exercise Problems for Module 3

[P3.1] Determine the expression for the area of the workspace of 2R manip-
ulator with l1 and l2 . Assume that l1 and l2 can be changed with
l1 + l2 = constant. Show that l1 = l2 for maximum workspace.

[P3.2] Sketch the workspace of planar 2R manipulator with −π/2 ≤ θi ≤


π/2, i = 1, 2.

[P3.3] For the planar 3R manipulator, discussed in Lecture 3, verify numeri-


cally that for a point (x, y) chosen in the dexterous region, i.e., between
circles of radius l1 + l2 − l3 , and l1 − l2 + l3 , the inverse kinematics can
be solved with arbitrary ϕ. Use l1 = 5, l2 = 3 and l3 = 1.

[P3.4] Obtain the D-H parameters for the RRR manipulator shown in fig-
ure ??. Derive expressions for the (x, y, z) coordinates of the point P
on the manipulator, with respect to {Base}, as a function of (θ1 , θ2 , θ3 ).
Derive the expressions for θ1 , θ2 , and θ3 for a given (x, y, z)T .

ẐBase R Joint

R Joint θ3
P
θ2
(x, y, z)
θ1

d1

R Joint

X̂Base

Origin of {Base}

Figure 1: A RRR Manipulator

[P3.5] Assign coordinate systems, obtain D-H parameters and derive expres-
sions for the (x, y, z) coordinates of the point P , on the manipulator,

1
shown in figure ??, as a function of (θ1 , θ2 , θ3 ). Derive the expressions
for θ1 , θ2 , and θ3 for a given (x, y, z)T .

θ2

θ1

θ3
R Joint

R Joint
R Joint

Point P (x, y, z)

Figure 2: A different RRR Manipulator

[P3.6] Derive the direct and inverse kinematics for Stanford Arm shown in
Exercise Problems in Module 2.
[P3.7] Show that the expressions for θ1 , θ2 and θ3 for a PUMA 560 robot can
also be obtained in the form
√
θ1 = Atan2(O6y , O6x ) − Atan2(d3 , ± O6 2x + O6 2y − d23 )
√
θ3 = Atan2(a3 , d4 ) − Atan2(K, ± a23 + d24 − K 2 )
θ2 = Atan2[(−a3 − a2 c3 )O6z − (c1 O6x + s1 O6y )(d4 − a2 s3 ),
(a2 s3 − d4 )O6z + (c1 O6x + s1 O6y )(a3 + a2 c3 )] − θ3
where

K = (1/2a2 )(O6 2x + O6 2y + O6 2z − a22 − a23 − d23 − d24 )

and Atan2(y, x) is the four-quadrant tan−1 function.


[P3.8] Obtain other inverse kinematics solutions by using different initial
guesses for the 06 [T ] given for the non-intersecting wrist robot.

2
[P3.9] Derive the inverse kinematics equations of a SCARA manipulator
shown Lecture 3 and sketch the workspace of the SCARA manipu-
lator.

[P3.10] Take a straight line path in the workspace and plot θi when joint ro-
tations are limited for the redundant planar 3R manipulator. Assume
−120◦ ≤ θi ≤ +120◦ , i = 1, 2, 3, and the link lengths are 5, 3, and 1
units, respectively.

[P3.11] Take a straight line path in the workspace and evaluate θi for a re-
dundant planar 4R manipulator. Assume −120◦ ≤ θi ≤ +120◦ , i =
1, 2, 3, 4, and the link lengths are 5, 2.5, 1, and 0.5 units, respectively.
Plot the θi ’s and compare with problem P3.10.

[P3.12] The equations of two circles with centre (ai , bi ), i = 1, 2 and radii
ri , i = 1, 2 are

(x − ai )2 + (y − bi )2 = ri2 , i = 1, 2

Transform (x, y) to homogeneous coordinates x = x/w and y = y/w.


Obtain expressions for two regular points of intersection with w = 1.
With w = 0, obtain the expressions for the line at ∞ and the two more
solutions at infinity. Show that they are independent of the centre and
radius of the circles.
∑4 i
[P3.13] Obtain the Bezout matrix for two polynomials, P (x) = i=0 ai x and
∑
Q(x) = 2i=0 bi xi .

[P3.14] Determine the inverse kinematics equations for six degree of freedom
RRPRRR manipulator analogous to the 14 equations for a 6R manip-
ulator discussed in the text.

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