National University of Singapore Faculty of Engineering EE5106/ME5402: Advanced Robotics Graded Assignment 1 (for 1st Half) (Due date:

11 Feb 2011: Submit softcopy (pdf or word doc) of your solution to IVLE workbin under Student Submission GA1) 1. Figure 1-1 shows a biped robot with one of the leg. Let {B} denote the frame attached to the cuboid body with origin located at the centre of the base (xB-yB are in the same plane as the base, yB is normal to the plane abcd), and {F} denote the frame attached to the foot as shown in the figure. xF-zF plane is parallel to the xB-zB frame. The leg, which consists of a thigh, a shank and a foot, is in the same plane as xF-zF. Find B T and B q (position vector of Q expressed in {B}). F A frame {G} is attached to the level ground with the origin at the ground level. zG and xG are parallel to zB and yB, respectively. Given
G

p BORG

0 0.2 , find G q . Is point Q above or below the ground level? 0.8

Please state any assumptions used.

0.4 0.4 a 0.6 c 0.2 zG xG yG 45o zF 30o 0.5 xF zB yB f d 0.5 xB e b

0.1

Figure 1-1 (30 Marks)

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2. The kinematic structure of a manipulator is shown in Figure 2-1. The arm has three revolute joints, where the joint axes are shown by z axes in accordance with the Denavit-Hartenberg notation. Note that axis z1 is in a plane which is parallel to x0-y0 plane.

z0

Endpoint x3 l2 z1 O3 y3 l5 l3 l4 z2 z3

l1 Base frame O x0

y0

Figure 2-1 a) Complete the sketch of link coordinate systems according to the Denavit-Hartenberg notation. Tabulate the kinematic parameters of the manipulator. (10 marks) b) Obtain all 4 by 4 matrices i i1 A (i=1, 2, 3) which describe the relative position and orientation between links i-1 and i. (10 marks) c) Obtain the direction of each joint axis by computing the unit vectors (expressed in the base frame) pointing in the directions of zi (i = 0, 1, 2). (10 marks) d) Assuming that l1 = l2 = l4 = 0 and l3 = l5 = 1, obtain the coordinates of point O3 expressed in the base frame. (10 marks) 2/3

3. The Jacobian of a 6 DOF manipulator can be represented by:

J J 11 J 21

J 12 J 22

where Jij are 3x3 blocks. Computation of the singularities (via the Jacobian determinant) for such manipulators can be rather tedious. If the manipulators have spherical wrist (one such example is as shown in Figure 3-1), it is possible to split the problem of singularity computation into two separate problems: a) computation of arm singularities (resulting from the motion of the first three joints) b) computation of wrist singularities (resulting from the motion of the wrist joints. By using the manipulator as shown in Figure 3-1, show that this is indeed true. (Hint: Choose an appropriate point for the origin of the end-effector such that J12 has zero elements.)

Figure 3-1: A 6 DOF manipulator with spherical wrist. (30 Marks)

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