Worksheet One

Introduction to Robotics and Control IRC 2015/16

Robot drive systems:

1. For motor actuated robot drive, please derive equations for torque and power. And Plot the
torque /Power and speed characteristics using Matlab/Maple and comment it.
2. How is servo motor controlled? Show using examples.

Sensors and Machine vision:

1. Sensors:
1. What are sensors used to measure force? Select one and write its working principle
2. Strain gage is a sensor used to measure a change in deflection. It operates based on
wheatstone bridge. Please drive the equation of gage factor.

3. What is piezoelectric and discuss its operating principle.

4. Catagorize the following sensors based on their types and functions. Thermocouples, RTD,
thermistors, strain gage, piezoelectric devices, accelerometer, Gyroscope, IMUs, proximity
sensors, photoresistor, infrared sensor,

2. Machine vision
1. Write matlab code of image acquisition from a directory
2. Write matlab code of image capture from USB camera (Webcam live)
3. Write matlab code of video acquisition from a webcam live
4. Write codes used to change colors from RGB space to HSV / YCbCr
5. Mention methods and algorithms used to detect an object/ Extract features/ image analysis
which are based on matlab compute vision.
6. What is the use of background subtraction and frame difference in machine vision?

Robotics Kinematics:

Exercise 1:

The figure given by fig. 1 presents a polar robot (RRP) subjected to revolute revolute -prismatic joint
motions. Denoting the joint motions by q1, q2 and q3;

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 Fig. 1

Compute;

a. Direct kinematics in matrix form where both rotational and translational components
are clearly presented.
b. Compute the joint velocities and acceleration matrixes
c. Assign D-H parameters and complete the transformation matrix of each joints and end
effector position with respect to the fixed frame (xo, yo, zo)
d. Compute the Jacobian matrix
e. Compute the Singularity configuration of the robot
f. Compute the Euler and Newton equations for each joint variables
g. Plot force, torque and power graph by considering your own data based on the equation
of the model you derived from robot dynamics
h. Compute the inverse kinematics with symbols if the end effector position is P e =
(Xp,Yp,Zp)

Exercise 2:

The 3 degrees of freedom robot in fig. 2 is composed of three revolute joints (rotations q1, q2and
q3). q2 and q3 are zero when both links 2 and 3 are horizontal.

1) Find the Jacobian matrix related to the position of the end effector

2) Find and discuss the singular configurations of the robot.

3) The gravity force can be neglected and each link can be considered as a lumped mass located in the
centre of mass (G1, G2 and G3 respectively at half the length of the link). Assuming that the joints are

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commanded independently at constant acceleration with zero initial and final velocities to realize in 1s
the following rotations:

Joint 1: from to +

Joint 2: from 0 to /4

Joint 3: from 0 to /4

And L1=L2=L3=0.3m, m1=25kg, m2=10kg, m3=5kg,

find and plot the torque time profiles at the three motors (clarify the scale on the axes).

4) Simulate the model using either of MAPLE, LABVIEW, SIMULINK + SOLIDWORKS, ROS, or any .

5) Compute the inverse kinematics with symbols if the end effector position is P e = (Xp,Yp,Zp)

Fig. 2

Motion planning and Control:

1. Introduce the motion planning technique using cubic interpolation for a trajectory generation.
Then using Matlab + Simulink, perform the simulation and allow your robot to follow the path.
2. Control the motion of manipulator robot using P, I, D controllers and generate the simulation.

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