0% found this document useful (0 votes)
252 views4 pages

Engn4627pr02 PDF

This document contains 8 questions for a problem sheet on robotics. The questions cover topics like forward kinematics of planar and non-planar robotic manipulators, link assignments, link transformations, rigid body motions, and computing Devanit-Hartenberg parameters and forward kinematics for different robotic manipulator configurations including RPR, RPP, and PRR. Students are asked to derive kinematic equations, assign link frames, and compute transformations between frames for various robotic arms.

Uploaded by

vishank94
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
0% found this document useful (0 votes)
252 views4 pages

Engn4627pr02 PDF

This document contains 8 questions for a problem sheet on robotics. The questions cover topics like forward kinematics of planar and non-planar robotic manipulators, link assignments, link transformations, rigid body motions, and computing Devanit-Hartenberg parameters and forward kinematics for different robotic manipulator configurations including RPR, RPP, and PRR. Students are asked to derive kinematic equations, assign link frames, and compute transformations between frames for various robotic arms.

Uploaded by

vishank94
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 4

ENG4627, Robotics.

Problem Sheet 2.

Problem Sheet 1
Spatial Descriptions and Transformations
Q 1.

Forward Kinematics of a planar robotic manipulator with revolute joints

Compute the kinematics of the planar arm shown below. Simplify expressions by summing
angles where appropriate. (cf. Problem 3.1 Craig).

Q 2.

Forward Kinematics of a non-planar RRR robotic manipulator.

Consider an RRR robotic manipulator as shown below. Derive the link parameters and the
kinematic equations for B
W T . (cf. Problem 3.3 Craig.)

ENG4627, Robotics.

Q 3.

Problem Sheet 2.

Link assignment and link transformations.

Consider the RRR robotic manipulator as shown below. As pictured, all joints are at their
zero location. Note that the positive sense of the oint angle is indicated in the diagram.
Assign link frames {0}, {1}, {2}. Derive the link parameters and the link transformations
0
1
2
1 T , 2 T and 3 T . (cf. Problem 3.4 Craig.)

Q 4.

Rigid body motion of tip of end-eector.

Consider the two link manipulator shown below

The transformation from frame {0} to {2} is given by

c1 c2 c1 s2 s1 l1 c1
s c
1 2 s1 s2 c1 l1 s1
0
2T =
s2
c2
0
0
0
0
0
1
2

ENG4627, Robotics.

Problem Sheet 2.

The link frame assignments used are indicated in the Figure. Note that frame {0} is coincident with frame {1} when 1 = 0. Find an expression for the vector 0 P tip which locates
the tip of the arm relative to the {0} frame. (Problem 3.9 Craig.)

Q 5.

Relative rigid-body motion of manipulator links

Can an arbitrary rigid body transformation always be expressed with the four DevanitHartenberg parameters (a, , d, ). (cf. also Problem 3.12 Craig).

Q 6.

Link assignment and Devanit-Hartenberg parameters

Assign linkage parameters and assign link frames to the RPR planar robot shown below.
(Problem 3.16 Craig.)

Q 7.

Forward kinematics of an RPP manipulator

Compute the Devanit-Hartenberg parameters and show the attachment of link frames on
the three-link RPP robotic manipulator shown below. Compute the forward kinematics for

ENG4627, Robotics.

Problem Sheet 2.

this robotic manipulator. (cf. also Problem 3.19 Craig)

Q 8.

Forward kinematics of a PRR manipulator

Compute the Devanit-Hartenberg parameters and show the attachment of link frames on
the three-link PRR robotic manipulator shown below. Compute the forward kinematics for
this robotic manipulator. (cf. also Problem 3.20 Craig)

You might also like

pFad - Phonifier reborn

Pfad - The Proxy pFad of © 2024 Garber Painting. All rights reserved.

Note: This service is not intended for secure transactions such as banking, social media, email, or purchasing. Use at your own risk. We assume no liability whatsoever for broken pages.


Alternative Proxies:

Alternative Proxy

pFad Proxy

pFad v3 Proxy

pFad v4 Proxy