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RF Sample Question Paper

Robotic Fundamental

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38 views6 pages

RF Sample Question Paper

Robotic Fundamental

Uploaded by

subhashcp18
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
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Faculty of Environment and Technology

Academic year: 2023/2024


A Assessment Period: January

Module Title: Robotic Fundamentals


Examination Duration: 24 hour submission

ONLINE EXAM

Instructions to Students:
Exam Duration

• You have 24 hours to complete and submit the answers. The paper must be submitted to the
UFMF4X-15-M Robotic Fundamentals Blackboard site by the deadline.

Exam Paper Instructions

• Please answer all questions.


• Please give concise answers to the questions.
• This is an open book exam. Students are allowed to use the module learning materials and
other sources to answer the questions. NO MATLAB results, codes or screenshot are accepted.

• Students should write down their answers to the questions either in an electronic document or
in a handwritten document. When you have finished the document with the answers, please
submit it as one PDF file to the Exam folder in Blackboard.

Plagiarism

• Please write down answers in your own words. We will use a plagiarism check software.

• You are reminded that to submit work that is not your own as your own, to allow others to copy
your work or to collude with others in the completion of this individual assessment may
constitute an assessment offence and will be investigate under the University's assessment
offence procedure.

Instructions to Candidates:

Candidates must attempt ‘ALL’ the Sections.


ALL questions are worth 25 marks.

UFMF4X-15-M Page 1 of 6
Appendix: Answer Sheet

Student No.:

Section A:
a) Consider the 3R planar robot manipulator schematic shown in Fig. 1. Based on the Forward [13]
Kinematics, the end effector coordinates (position and Orientation; x, y, φ) are specified as:

And therefore, the determinant of the Jacobian can be simplified as:

Which means that the manipulator is singular only when θ2 is either 0 or 180 degrees. Explain why
the singularity is not a function of θ3 even though when θ3 is either 0 or 180 causes the last two
links (l2, l3) to be aligned? Support your analysis by some configuration example of the manipulator
presented in Fig 1.

Fig. 1

b) Analyse the DH parameter table (Table 1) corresponding to the 3DoF RRP robot manipulator shown [12] in
Fig. 2. Identify up to three inaccuracies in the table, providing the correct values along with brief
justifications for each amendment. Note: If more than three corrections are submitted, only the first three
will be assessed.

UFMF4X-15-M Page 2 of 6
Fig. 2.

Table. 1

Section B:
Consider the robot manipulator shown in Fig. 3, where the robot parameters including the lengths has been
presented.

a) Find the Forward Kinematics which maps the joins parameters ( 1, 2 ) to the workspace [4] parameters
(x,y of the end-effector).

l1
[10]
b) For any possible values of , mathematically drive the reachable workspace. (without any l2 limitations
on joint angels).

c) Find the basic Jacobian, J0, for this manipulator which relates changes between workspace [5]
parameters (X,Y) of the end-effector and the joint parameters.
d) Find the singularities (with respect to linear velocity) of this manipulator. [6]

UFMF4X-15-M Page 3 of 6
Fig. 3

UFMF4X-15-M Page 4 of 6
Section C:
For the two-link manipulator shown in Fig. 4:
[13]

a) Generate a joint space trajectory q1,d ( ), q2,d ( ) , connecting the initial and final joint positions. (The
t t
subscript d stands for desired). Use a linear function with parabolic blends, assuming that the
velocity at the start and end of the path is zero. Assume that the duration of the motion is t f = 2.0
sec and that of the acceleration (and deceleration) is tb = 0.5sec.

a) Produce the path of the end-effector in the Cartesian space, by generating its position at 0, 0.5, 1.0, [12] 1.5,
and 2.0 sec. Aso, produce the path in the joint space.

Initial
Position Final Position
Fig. 4

Section D
Using the Iterative Newton-Euler method, find the equations of motion of the 2R link manipulator, shown [25] in
Fig 5. You may assume that the links can be modelled as point masses located as shown in the figure. Assume that
the damping coefficients and friction forces are negligible.

UFMF4X-15-M Page 5 of 6
Fig. 5

END OF QUESTION PAPER

UFMF4X-15-M Page 6 of 6

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