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Faculty of Engineering

DEPARTMENT of ELECTRICAL AND ELECTRONIC ENGINEERING

EENG428 Introduction to Robotics


Instructor:
M. K. Uygurolu
Midterm EXAMINATION
April 21, 2014
Duration : 100 minutes
Number of Problems: 5
Good Luck

STUDENTS
NUMBER
NAME
SURNAME

SOLUTIONS

Problem

Points

15

15

20

25

25

TOTAL

100

EENG 428 Introduction to Robotics Midterm Examination

Problem 1
For frame F , find the values of the missing elements and complete the matrix representation
of the frame.
b
0.75 0
0.433
0.25 0.866
c
0
F
a
0
0.5 0

0
0
1
0
In order to determine the a, b, and c we will use the following relations:
0.433 b 0.25 0.866 a 0 0
0.25 0.866
b
0.5
0.433

n.o o.a n.a 0

0.75 b c 0.866 0.5 0 0


0.75 0.5
c
0.433
0.866
0.433 0.75 0.25 c a 0.5 0
0.433 0.75 0.25 0.433
a
0.866
0.5

M. K. Uygurolu

April 21, 2014

EENG 428 Introduction to Robotics Midterm Examination

Problem 2
For the given specialty designed 4-DOF robot:

z3

x3
z2
x2

x1
z1
z0

x0

z0

AssignappropriateframesfortheDenavitHartenbergrepresentation.
Fillouttheparameterstable.

1
2

d
3 4
0

Link
1

M. K. Uygurolu

a
0

90
-90

5
0

April 21, 2014

EENG 428 Introduction to Robotics Midterm Examination

Problem 3
A frame B shown below, is rotated 90 about the z-axis, then translated 3 and 5 units relative
to the n- and o-axes respectively, then rotated another 90 about the n-axis,and nally, 90
about the y-axis. Find the new location and orientation of the frame.

B Rot ( y,90) Rot ( z,90) BTrans(3,5, 0) Rot ( x,90)


0
0
B
1

0
1
0
0

1
0
0
0

0 1 0
0 0 1
B
1 0 0

0 0 0

M. K. Uygurolu

0 0 1
0 1 0
0 0 0

1 0 0

0
0
1
0

0 0
0 1
0 0

1 0

1 0
0 0
0 1
0 0

1 1
1 0
2 0

1 0

0
1
0
0

0
0
1
0

3 1
5 0
0 0

1 0

0 0
0 1
1 0
0 0

0
0
0

2
6
4

April 21, 2014

EENG 428 Introduction to Robotics Midterm Examination

Problem 4
For a RPPR manipulator the frames which are assigned to the joints are shown below.

Fillouttheparameterstable.

Link
1

d
1

90

3
4

90

d2

a
0
0

90

d3

90

90

WritealltheAmatrices.

WriteanequationintermsofAmatricesthatshowshow 0 TH canbecalculated.

M. K. Uygurolu

April 21, 2014

EENG 428 Introduction to Robotics Midterm Examination

cos 1
sin
1
A1
0

0
0 0
1 0
A2
0 1

0 0
0 0
1 0
A3
0 1

0 0
cos 4
sin
4
A4
0

0 sin 1
0
0 cos 1 0
1
1
0

0
0
1
1 0
0 0
0 d2

0 1
1 0
0 0
0 d3

0 1
sin 4 0 0
cos 4 0 0
0
1 2

0
0 1

T A1 A2 A3 A4

M. K. Uygurolu

April 21, 2014

EENG 428 Introduction to Robotics Midterm Examination

Problem 5
Suppose that a robot is made of a Cartesian and RPY
necessary RPY angles to achieve the following:
0.866 0.5
0
0.5
0.433 0.75
F
0.866 0.25 0.433

0
0
0

combination of joints. Find the


3
1
5

F Cart ( Px , Py , Pz ) RPY ( z , y , x ) Trans ( Px , Py , Pz ) Rot ( z , z ) Rot ( y, y ) Rot ( x, x )


C z C y
S C
F z y
S y

0
This implies that:

C z S y S x C x S z
S z S y S x C x C z
S x C y
0

C x C z S y S x S z
C x S z S y S x C z
C x C y
0

sin y 0.866

y a tan 2 0.866, 1 0.8662

Px
Py
Pz

y 60
1

y 120
2

sin x cos y 0.25


cos x cos y 0.433
0.25 0.433
0
,
30
cos 60 cos 60
0
0.25 0.433
x2 a tan 2

,
150

cos120 cos120
cos z cos y 0

x a tan 2
1

sin z cos y 0.5


0.5
, 0) 900
cos 60
0.5
z1 a tan 2(
, 0) 900
cos120

z a tan 2(
1

M. K. Uygurolu

April 21, 2014

EENG 428 Introduction to Robotics Midterm Examination

M. K. Uygurolu

April 21, 2014

EENG 428 Introduction to Robotics Midterm Examination

GIVEN:

cos i cos i sin i sin i sin i


sin
cos i cos i sin i cos i
i
Ai
0
sin i
cos i

0
0
0
sin( ) sin cos sin cos
cos( ) cos cos sin sin

ai cos i
ai sin i
di

if cos b then A tan 2( 1 b 2 , b)


if sin b then A tan 2(b, 1 b 2 )
if a cos b sin c then A tan 2(b, a ) A tan 2( a 2 b 2 c 2 , c)
if a cos b sin 0 then A tan 2(a, b) and A tan 2(a, b)

M. K. Uygurolu

April 21, 2014