Beruflich Dokumente
Kultur Dokumente
Answer Scheme
QUIZ 1 (SEMESTER 2 SESSION 2015/2016)
14/3/2016
Instruction
There are TWO Questions in Quiz 1 to be answered within 30 minutes. Please
write your answer ONLY in the blank sheets provided with the question paper.
Details of Assessment
QUIZ 1 will assess your understanding and knowledge on
1. CO2: Analyse kinematic and dynamic analysis for forward and inverse
mode.
1
NAME: MATRIC NO:
Answer to 1.2
The location and orientation of the frame A, i.e. is
0 3 0 1 0 0 0 0.2 0 3 0 1.2
2 1 0 7 0 −0.5 0 −1.1 2 0.5 0 5.9
Anew = Aold +dA =
0
+ =
1 0 3 1 0.5 0 4.1 1 1.5000 0 7.1
0 0 0 1 0 0 0 0 0 0 0 1
(5)
(20 marks)
QUESTION 2-Jacobian
The last column of the forward kinematics equation of the articulated robot
shown in Figure 1 is
px C1 (C234 a4 + C23 a3 + C2 a2 )
py S1 (C234 a4 + C23 a3 + C2 a2 )
pz = (6)
S234 a4 + S23 a3 + S2 a2
1 1
Find the Jacobian relating dpz with the robot joint variables θ1 , θ2 , . . . , θ6 .
Answer to 2.0
We need to differentiate pz with respect to all joint variables.
∂pz ∂pz
= J31 = 0 ∂θ4 = J34 = [c234 a4 ]
∂θ1
∂pz ∂pz
= J32 = [c234 a4 + c23 a3 + c2 a2 ] ∂θ5 = J35 = 0
∂θ2
∂pz ∂pz
= J33 = [c234 a4 + c23 a3 ] ∂θ6 = J36 = 0
∂θ3
(60 marks)