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Exercise 1 (20 %)
a) The algorithm has the following steps.
(a) Initialize random population
(b) Evaluate individuals
(c) Check if termination criterion is reached
(d) Create new population from good individuals
b) Serial manipulators consist of one open chain, while parallel manipulators have a closed loop with
ground.
Exercise 2 (45 %)
a) It is a PRP robot.
b) The DH parameters are
ai di i i
1 Lof f L1 + L2 + d1 0 0
2 0 0 90 2
3 0 L3 + L4 + d3 0 0
1
In the rest of the exercise we will use
d1 = L1 + L2 + d1 (1)
d3 = L3 + L4 + d3 (2)
c) The transformations between the joints based on the DH parameters are (see (3.10) on page 77 in
the course textbook)
1 0 0 Lof f c2 0 s2 0
0 1 0 0 s2 0 c2 0
T10 = 1
T2 =
(3)
0 0 1 d1 0 1 0 0
0 0 0 1 0 0 0 1
1 0 0 0
2
0 1 0 0
T3 =
(4)
0 0 1 d3
0 0 0 1
d) The equations for the jacobian is given on page 133 in the textbook. It is a PRP manipulator,
therefore the jacobian is:
z0 z1 (o3 o1 ) z2
J= (7)
0 z1 0
2
The calculating the elements in the jacobian.
s2 d3 + Lof f
Lof f
o3 o1 = c2 d3 0 (8)
d1 d1
s2 d3
= c2 d3 (9)
0
~i ~j ~k
z1 (o3 o1 ) = 0 0 1 (10)
s d c d 0
2 3 2 3
c2 d3
= s2 d3 (11)
0
c2 d3
0 s2
0 s2 d3 c2
1 0 0
J = (12)
0 0 0
0 0 0
0 1 0
e) The inverse kinematics can be solved analytically and geometrically. Solving analytically we start
with the tree equations
x = s2 d3 + Lof f (13)
y =c2 d 3 (14)
z =d1 (15)
d1 = z L1 L2 (16)
3
This can be solved using the atan2 function
y =c2 d3 (23)
y
d3 = (24)
c2
4
Exercise 3 (15 %)
a) Position of the mass is (can be found directly or by simplifying the forward kinematics in exercise
2)
L2 sin 2
p = L2 cos 2 (26)
d1 + L1
L2 c2 2
v = L2 s2 2 (27)
d1
P = mgh (30)
= mgL2 cos 2 (31)
L=KP (32)
1
= m d21 + L22 22 mgL2 cos 2 (33)
2
b) Using (7.5) on page 241 in the textbook, and calculating for the individual parts
L L
= md1 = mL22 2 (34)
d1 2
d L d L
= md1 = mL22 2 (35)
dt d1 dt 2
L L
=0 = mgL2 sin 2 (36)
d1 2
(37)
md1 = f1 (38)
mL22 2 mgL2 sin 2 = 2 (39)
In matrix form
m 0 0
q + = (40)
0 mL22 mgL2 sin 2
Exercise 4 (20 %)
a) Proportional controller (P-controller)
5
b) The system without and with controller
Js2 = D K Js2 = D K + C(d ) (41)
The rearranging the equations yield
Js2 + K + D = 0 Js2 + (K + C) + D = Cd (42)
Then tranforming the equations into the time domain yields
d2 d2
J + K + D = 0 J + (K + C) + D = Cd (43)
dt2 dt2
c) Rearranging the equation (system with controller) from b) yields
Cd D
= (44)
Js2 + K + C
Inserting into the final value theorem
lim (t) = lim s(s) (45)
t s0
C 1sT 1sDc
= lim s (46)
s0 Js2 + K + C
CT Dc
= lim 0 (47)
s0 2
Js
* +K +C
C 1
= T Dc (48)
K +C K +C
d) Integral controller (I-controller / PI-controller)
1
CI s D
1 1 1
d
C
J s s
6
b) The compliance frame is placed in the center of joint 2 with the x-axis pointing towards the tool:
First we define the natural constraints. The robot cannot move in the x-direction as it would
collide with the surface. There are no forces that can interact in the y- and z-direction. The robot
cannot rotate around the x and y axis, thus the velocities are zero. The is no external force when
rotating around the z-axis. This is summarized in the table below.
For the artificial constraints the force in the x-direction should be constant. The robot should
move to paint the entire surface, which means that the robot must have a variable velocity in vx
and z . The rest of the artificial constraints should be zero. The reciprocity condition is met with
these constraints.
Natural Artificial
vx = 0 fx = fc
fy = 0 vx = 0
fz = 0 vx = variable
x = 0 x = 0
y = 0 y = 0
z = 0 z = variable
G + Fe = M ax G + af
Mx (52)
= M ax + af Fe
Mx (53)
1
x
= ax + M (af Fe ) (54)
(55)
d Md1 (Bd x
ax = x + Kd x
+ Fe ) (56)
af = Fe (57)
7
Then insert this into the equation in c)
= ax + M 1 (af Fe )
x (58)
x
=x d M 1 (Bd x
d + Fe ) + M 1 (Fe Fe )
+ Kd x (59)
1
x
x =d
Md (Bd x
+ Kd x + Fe ) (60)
Md x
= (Bd x
+ Kd x
+ Fe ) (61)
+ Bd x
Md x + Kd x
= Fe (62)
We have now shown that the chosen ax and af gives the desired system.
u = M ax Gx + af (63)
= Mx d
Md1 (Bd x
+ Fe ) Gx + Fe
+ Kd x (64)