Final Examination

Robotics I
22.07.2009 Institut fr
Zuverlssigkeitstechnik
PROF. DR.-ING. U. WELTIN

Remarks:
The exam consists of 4 questions on 4 pages.
You may answer the questions on the exam sheets. If necessary use your own
extra sheets.
Write on the front side only.
Number all extra pages. Write your name and matriculation number on every
sheet.
The calculation steps to the result have to be clear and the results have to be in
the correct units.
Allowed media: Books, scripts, homework and solutions, formulary, calculator
and handwritten notes.
Duration: 120 minutes, no break.
Starting with the distribution of the exam papers you are accepting the exam
conditions of TUHH and you are expressing that you are physically and
mentally able to take part in the exam. Every attempt to cheat, automatically
leads to failing the exam.
Results will be announced on 17.08.2009 at the institute.

Surname : ...............................................................

Name : ...............................................................

Matr. - Nr. : ...............................................................

Degree prog. : ...............................................................

Question 1 2 3 4

Points 10 11 18 11

1st Corrector

2nd Corrector.

Points total: Grade: Date: Sign:

 Final Examination -1-
Robotics I
22.07.2009

Question 1: Workspace

a) The 2R-planar Robot in figure 1 has constraints on the robot variables as

indicated. Determine the workspace and the work envelope traced out by E. The
point 0 is fixed throughout. All angles are positive in counterclockwise direction
(mathematically positive).

Given: 0, , 0, , 3 , 2

Figure 1

b) Calculate the area of the workspace from a)

c) Draw the workspace of the robot above with new constraints

0,2 , 0,2 , 3 , 2

Name Matr.Nr.
 Final Examination -2-
Robotics I
22.07.2009

Question 2: DH-Parameter

The arm in figure 2 has five degrees of freedom, 4 rotational and 1 translational. As
pictured all rotational joints are in their zero location. Note the positive sense of the
joint angle. The initial position for d is zero, however in the figure the prismatic joint is
pictured for a positive non-zero value of d. Assign all necessary frames {0} through
{w} for this arm.

Derive the Denavit-Hartenberg-Parameters and sketch the frames in figure 2.

Figure 2

Name Matr.Nr.
 Final Examination -3-
Robotics I
22.07.2009

Question 3: Control

a) Linear control

The plant in figure 3 with the equation

10 8

has to be controlled with the sketched control scheme (PD-Control).

Figure 3

Additionally there is an unmodeled Eigenfrequency 10 .

Derive and , so that the system is critically damped with a closed loop stiffness
as high as reasonable.

b) Nonlinear Control

Derive a nonlinear controller for a given plant. Use here Simulink notation and blocks.
If you do not know the exact shape of a block, describe what the block has to do.
I) Draw the plant with the equation 2 7 4 6 .
II) Add then a model based PD-Controller. The closed loop stiffness is 25.
III) Derive and mark the parts plant, model-based part and PD-part.

Name Matr.Nr.
 Final Examination -4-
Robotics I
22.07.2009

Question 4: Inverse Kinematics

Derive the inverse-pose kinematics of the hand (Point H) of the RRP-planar Robot
shown in figure 4.

Figure 4

Analytically derive, by hand, the inverse pose solution for this robot:

Given calculate all possible multiple solutions for , , out of and .

Name Matr.Nr.