Engn4627pr02 PDF
Engn4627pr02 PDF
Problem Sheet 2.
Problem Sheet 1
Spatial Descriptions and Transformations
Q 1.
Compute the kinematics of the planar arm shown below. Simplify expressions by summing
angles where appropriate. (cf. Problem 3.1 Craig).
Q 2.
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.
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.
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.
Can an arbitrary rigid body transformation always be expressed with the four DevanitHartenberg parameters (a, , d, ). (cf. also Problem 3.12 Craig).
Q 6.
Assign linkage parameters and assign link frames to the RPR planar robot shown below.
(Problem 3.16 Craig.)
Q 7.
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.
Q 8.
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)