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University of Oslo: Faculty of Mathematics and Natural Sciences

This document is an exam for a course on robotics. It consists of 6 questions assessing various topics in robotics. Question 1 asks about basic robotic system elements, degrees of freedom, common joint configurations, and orientation representation. Question 2 involves forward kinematics using Denavit-Hartenberg parameters. Question 3 covers inverse kinematics and workspace solutions. Question 4 derives the Jacobian and singular configurations. Question 5 explains dynamics, the Euler-Lagrange equations of motion, and derives dynamics for a 2DOF robot. Question 6 takes the Laplace transform of the equations of motion and discusses closed-loop control systems.

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44 views4 pages

University of Oslo: Faculty of Mathematics and Natural Sciences

This document is an exam for a course on robotics. It consists of 6 questions assessing various topics in robotics. Question 1 asks about basic robotic system elements, degrees of freedom, common joint configurations, and orientation representation. Question 2 involves forward kinematics using Denavit-Hartenberg parameters. Question 3 covers inverse kinematics and workspace solutions. Question 4 derives the Jacobian and singular configurations. Question 5 explains dynamics, the Euler-Lagrange equations of motion, and derives dynamics for a 2DOF robot. Question 6 takes the Laplace transform of the equations of motion and discusses closed-loop control systems.

Uploaded by

asalifew belachew
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Page 1

UNIVERSITY OF OSLO
Faculty of Mathematics and Natural Sciences

Exam in: Introduction to robotics (INF 3480)


Day of exam: 28th of may at 09:00
Exam hours: 09:00 – 12:00 (3 hours)
This examination paper consists of 4 page(s).
Appendices: None
Permitted materials:
a. Mark W. Spong, Seth Hutchinson, M. Vidyasagar: Robot Modeling and
Control, 2005. Wiley. ISBN: 978-0-471-64990-8.
b. Karl Rottmann, Matematisk Formelsamling

Make sure that your copy of this examination paper


is complete before answering.

Quest. 1 10%
Quest. 2 20%
Quest. 3 20%
Quest. 4 20%
Quest. 5 25%
Quest. 6 5%
totalt: 100%
Page 2

1) (10%)
a. Make a figure that shows the main elements that a robotic system typically
can consist of. Explain with few sentences each element of such a
system.
b. Explain what a robots degrees of freedom tell us. How many degrees of
freedom are necessary to reach any given position with an arbitrary
orientation within the workspace of the robot?
c. Prismatic joints are denoted by P and rotational joints by R. Which five
different combinations of the first three joints for tool positioning are most
common within robotic systems? What name do these combinations have
and how are they characterized?
d. How would you derive the orientation of the tool coordinate frame of a
robot with reference to the robot base coordinate system in terms of a
rotation matrix based on ZYZ-Euler representation?
e. How is a total rotation matrix calculated out of a set of sucessive rotations
about axes in the current coordinate system and fixed axes in the base
coordinate system respectively?

Figure 1: 4DOF robot


:
2) (20%) Write the homogeneous transformation that represents the forward
kinematics of the system shown in figure 1 above using the Denavit-Hartenberg
convention. Label all origins, links, and joints as appropriate (label the joint
variables q1 through q4 starting at the base). Make sure that you include your DH
table.
3) (20%) Assume that you can kinematically decouple the arm in figure 1 in a
position kinematics and an orientation kinematics.
a. Write an expression for the inverse position kinematics. Be sure to use
Page 3

the wrist center as defined in figure 1.


b. Without concern for joint limitations, how many solutions are there to the
inverse position kinematics? Explain each case including considerations
of the workspace boundary.
c. Find restrictions on q2 and q3 that ensure that there is only one solution to
the inverse position kinematics (assuming that the desired wrist center
position is always strictly inside the workspace).
4) (20%) Write an expression for the Jacobian of the system in figure 1 and
determine the singular configurations and prove that they are singular based
upon your Jacobian.

5) (25%) What is understood by a systems dynamics? Explain why it is important to


know the dynamics of a robotic system in order to control it.
a. The Euler-Lagrange equation of motion is:
d ∂L ∂L
− =τ j
dt ∂q j ∂q j
Explain the different elements of this equation.
b. Show/explain how the Euler-Lagrange equation, shown in question 5a, for
a robotic system can be written on the form:
d ∂k ∂k ∂p
− + =τ j
dt ∂q j ∂q j ∂q j
c. Derive the equations of motion for the robot in figure 2 by using the
equation from question 5b. (Assume frictionless joints, and that the joint
variables are θ1 and d2, centre of mass (C1 og C2- marked with circular
black and white spot) to each arm link with a total mass of m1 and m2
respectively, the inertia tensor of link 1 and 2 is diagonal and expressed
relative to the respective centre of masses as shown in figure 2)
d. Derive the equations of motion from question 5c in a compact matrix form
as shown below. Show the details of the matrix D, V and G separately.
What do the D, V and G matrix in physical terms express in the dynamic
equation of motion?
D(q )q + V (q, q ) + G (q ) = τ
V (q, q ) equals C (q, q )q
Explain how you would derive the C matrix isolating the first derivative of
the joint angle as in C (q, q )q ?
Page 4

Figure 2: 2DOF robot

6) (5%) Derive the Laplacetransform of the equation of motion for the system in
question 5d given on the form: D (q )q + C (q, q )q + G (q ) = τ
Show schematically the closed loop control system using the Laplace
transformed equations of motion and PDI feedback control. What is meant by a
Single-Input Single-Output system (SISO-system). What makes the system at
hand generally unsuited to be controlled as a Single-Input Single-Output system
(SISO-system)?

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