COLLEGE OF ENGINEERING

DEPARTMENT OF ELECTRICAL, ELECTRONICS COMPUTER

ENGINEERING
2017/2018, Second Semester Examination (MSC)
EEE 824: ROBOTICS Unit: 3
Instruction: Answer four questions only Time Allocated: 2 hrs. 30 minutes

QUESTION 1
(a) Find the inverse Kinematic equations for the arm to derive the joint values from tool point
position. [9 marks]

Figure 1: Diagram of a planer manipulator

(b) A frame F was rotated about the y- axis at an angle of 90 degrees, with a translation of 5
units along the y axis, followed by a rotation about x-axis at 30 degrees, with a
translation of 4 units along the x-axis. Calculate (i) the total transformation matrix (ii)
what is the current position of the frame? [6 Marks]

QUESTION 2

(a) Discuss in the relevance of sensors in Robotics [5 Marks]

(b) List five types of sensors and give brief explanation on each [6 Marks]

(c) Using a suitable schematic diagram formulate the kinematics equation of 2 joint planar
robotic arm of joint length , , (translated in x and y direction) respectively with joint
angles . Hence, Calculate the Position ( x and y coordinates ) of the end effector
 if = 6 , =9 , = 60 , = 30 , ( is rotated along the x axis and is rotated
in the along the z axis)
[4 Marks]

QUESTION 3
(a) Differentiate between path and trajectory [4 Marks]

(b) The second joint of a 6-axis robot moves from an initial angle of 20 degrees to an
intermediate angle of 80 degrees in 5 seconds and continue to its final destination of 25
degrees in 5 seconds. Calculate the co-efficient for a third- order polynomial Joint-space
trajectory. Determine joint angles, velocities and acceleration. Assume that the robot starts
from rest and stops at intermediate points [6 Marks]

(c) Identify and explain the types of power source used in the design of robots [5 Marks]

QUESTION 4
(a) Using the D-H convention, derive the x and y component of a planar two-link arm in Figure
2 [ 7 Marks]

Figure 2: Two-link planar manipulator

(b) Using a well labelled diagram identify and define the four-basic parameter using the D- H
Convention [5 Marks]

(c) State the three laws of robotics as invented by Asimov Isaac [3 Marks]
QUESTION 5
(a) Discuss the basic implications of kinematics and dynamics in the design of a robot
[9 Marks]
(b) Derive the equation of motion for the 2- D. O. F system shown in Figure 3 [8 Marks]

Figure 3: Schematic of a Cart- Pendulum System

QUESTION 6
(a) Calculate the total kinetic energy of the link AB, attached to a roller with negligible
mass shown in Figure 4 [7 Marks]

Figure 4: Schematic diagram of a single link mechanism

(b) As an Engineer you were consulted to design a Robot that can load cartoon of soft
drinks into a waiting truck.
(i) Draw a flowchart diagram illustrating the process to be controlled.
(ii) Identify and give detail explanation of the components needed for the design.
[8 Marks]