Scribd
Upload
4 views24 pages

Lecture 6 - OHT1 Solution

The document outlines Lecture 6 of the ME-489 Robotics and Automation course, focusing on the OHT-1 solution and includes a quiz section. It features multiple-choice questions with answers, differences between robots and other machines, and solutions to problems related to velocity vectors and rotation matrices. The marking schemes for the quiz and questions are also detailed.

Uploaded by

kam834
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
4 views24 pages

Lecture 6 - OHT1 Solution

The document outlines Lecture 6 of the ME-489 Robotics and Automation course, focusing on the OHT-1 solution and includes a quiz section. It features multiple-choice questions with answers, differences between robots and other machines, and solutions to problems related to velocity vectors and rotation matrices. The marking schemes for the quiz and questions are also detailed.

Uploaded by

kam834
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
You are on page 1/ 24

ME – 489:

Robotics and Automation


LECTURE 6: OHT-1 SOLUTION
Outline
 OHT-1 Solution
 Quiz

17-Nov-2021 ME-489: ROBOTICS AND AUTOMATION 2


Outline
 OHT-1 Solution
 Quiz

17-Nov-2021 ME-489: ROBOTICS AND AUTOMATION 3


Marking Scheme
Q-1: Select the correct answer.

 5 MCQ’s

 2 marks per MCQ

 Total 10 marks

17-Nov-2021 ME-489: ROBOTICS AND AUTOMATION 4


Q-1:
Select the correct answer

i. When you subtract a point from another point, you get ____.
a) a third point
b) a vector
c) a transformation
d) a dot product

Answer:
b) a vector (Lecture 2, Slide 3)

17-Nov-2021 ME-489: ROBOTICS AND AUTOMATION 5


Q-1:
Select the correct answer

ii. How many variables are needed to describe an orientation in space?


a) 3
b) 6
c) 9
d) 16

Answer:
a) 3

17-Nov-2021 ME-489: ROBOTICS AND AUTOMATION 6


Q-1:
Select the correct answer

iii. How many variables are needed to describe a pose in a plane?


a) 1
b) 2
c) 3
d) 6

Answer:
c) 3

17-Nov-2021 ME-489: ROBOTICS AND AUTOMATION 7


Q-1:
Select the correct answer

iv. The symbol represents ___ :


a) Translation matrix of A relative to B.
b) Translation matrix of B relative to A.
c) Transformation matrix of A relative to B.
d) Transformation matrix of B relative to A.

Answer:
d) Transformation matrix of B relative to A.

17-Nov-2021 ME-489: ROBOTICS AND AUTOMATION 8


Q-1:
Select the correct answer

v. The inverse of a rotation matrix is its _____ :


a) Determinant
b) Adjoint
c) Transpose
d) None of the above

Answer:
c) Transpose

17-Nov-2021 ME-489: ROBOTICS AND AUTOMATION 9


Q-2:
List and explain the differences between robots and other machines.

Reprogrammable

 Multifunctional

 Capable of Learning

 Capable of Sensing its Environment

 Capable of making decisions

17-Nov-2021 ME-489: ROBOTICS AND AUTOMATION 10


Marking Scheme
Q-2: List and explain the differences between robots and other
machines. (10 marks)

 5 differences

 2 marks per difference

 1 for name + 1 for explanation

17-Nov-2021 ME-489: ROBOTICS AND AUTOMATION 11


Q-3:
A velocity vector is given by:

Given that:

Find . (5 marks)
Find . (5 marks)

17-Nov-2021 ME-489: ROBOTICS AND AUTOMATION 12


Q-3: Solution
 Velocity is a free vector.
 It does not transform due to change in position reference.
 It does transform due to change in orientation reference.
0.866 −0.500 0.000 11.0
𝐴
𝑇 = 0.500 0.866 0.000 −3.0
𝐵 0.000 0.000 1.000 9.0
0 0 0 1
0.866 −0.500 0.000
𝐴
𝐵𝑅 = 0.500 0.866 0.000
0.000 0.000 1.000

17-Nov-2021 ME-489: ROBOTICS AND AUTOMATION 13


Q-3: Solution
𝐴 𝐵
0.866 −0.500 0.000 10.0
𝐴
𝑂𝑉 = 𝑅 𝑉
𝐵 𝑂
= 0.500 0.866 0.000 20.0
0.000 0.000 1.000 30.0

8.66 − 10 + 0
𝐴
𝑂𝑉 = 5 + 17.32 + 0
0 + 0 + 30

−1.34
𝐴
𝑂𝑉 = 22.32
30.0

17-Nov-2021 ME-489: ROBOTICS AND AUTOMATION 14


Q-3: Solution
𝐴 𝑇
𝐵 𝐵 −1 𝐵𝑅 − 𝐵𝐴𝑅𝑇 𝐵𝐴𝑃
𝐴𝑇 = 𝐴𝑇 =
0 1

0.866 −0.500 0.000 0.866 0.500 0.000


𝐴 𝐴 𝑇
𝐵𝑅 = 0.500 0.866 0.000 , 𝐵𝑅 = −0.500 0.866 0.000
0.000 0.000 1.000 0.000 0.000 1.000

11
𝐴
𝐵𝑃 = −3
9

17-Nov-2021 ME-489: ROBOTICS AND AUTOMATION 15


Q-3: Solution
0.866 0.500 0.000 −8.026
𝐵
𝑇 = −0.500 0.866 0.000 8.098
𝐴 0.000 0.000 1.000 −9
0 0 0 1

17-Nov-2021 ME-489: ROBOTICS AND AUTOMATION 16


Q-4:
Refer to fig. 1,
Find the value of . (10 marks)
Find the value of . (10 marks)

17-Nov-2021 ME-489: ROBOTICS AND AUTOMATION 17


Q-4: Solution
Two possibilities for :

𝐵
𝑐𝑅 = 𝑅𝑧 143.1 𝑅𝑥 (90)

𝐵
𝑐𝑅 = 𝑅𝑥 (−90)𝑅𝑧 143.1

17-Nov-2021 ME-489: ROBOTICS AND AUTOMATION 18


Q-4: Solution
Four possibilities for :

𝐴
𝑐𝑅 = 𝑅𝑧 36.9 𝑅𝑥 (180)

𝐴
𝑐𝑅 = 𝑅𝑥 180 𝑅𝑧 −36.9

𝐴
𝑐𝑅 = 𝑅𝑦 (180)𝑅𝑧 143.1

𝐴
𝑐𝑅 = 𝑅𝑧 (143.1)𝑅𝑦 180

17-Nov-2021 ME-489: ROBOTICS AND AUTOMATION 19


Q-4: Solution
Four possibilities for 𝐵𝐴𝑇 :

𝐴
𝐵𝑅 = 𝑅𝑧 180 𝑅𝑥 (−90)

𝐴
𝐵𝑅 = 𝑅𝑥 90 𝑅𝑧 180

𝐴
𝐵𝑅 = 𝑅𝑦 (180)𝑅𝑥 90

𝐴
𝑐𝑅 = 𝑅𝑥 (−90)𝑅𝑦 180

17-Nov-2021 ME-489: ROBOTICS AND AUTOMATION 20


Marking Scheme
Q-4:

 Identify rotations correctly = 3 marks


 Make correct rotation matrix = 3 marks
 Make correct position matrix = 3 marks
 Make correct transformation matrix = 1 mark

17-Nov-2021 ME-489: ROBOTICS AND AUTOMATION 21


Outline
 OHT-1 Solution
 Quiz

17-Nov-2021 ME-489: ROBOTICS AND AUTOMATION 22


Quiz 3:
 Find the forward kinematics of this RPR mechanism.

17-Nov-2021 ME-489: ROBOTICS AND AUTOMATION 23


That’s it for today.

See you next week.

17-Nov-2021 ME-489: ROBOTICS AND AUTOMATION 24

You might also like