EEM 343/EEE 355 ROBOTICS

Answer Scheme
QUIZ 1 (SEMESTER 2 SESSION 2015/2016)

LECTURER: DR. MUHAMMAD NASIRUDDIN MAHYUDDIN

SCHOOL OF ELECTRICAL AND ELECTRONICS ENGINEERING, USM.

14/3/2016

Instruction
There are TWO Questions in Quiz 1 to be answered within 30 minutes. Please
write your answer ONLY in the blank sheets provided with the question paper.

Details of Assessment
QUIZ 1 will assess your understanding and knowledge on

1. CO2: Analyse kinematic and dynamic analysis for forward and inverse
mode.

1
NAME: MATRIC NO:

QUESTION 1-Differential Motion

(1.1) Find the effect of a differential rotation of 0.5 rad about x-axis followed
by a differential translation of [0.2 0.4 0.6] on the given frame A:
 
0 3 0 1
 2 1 0 7 
A=  0 1 0 3 
 (1)
0 0 0 1
Answer to 1.1

We may need to find the differential operator first,

dx = 0.2, dy = 0.4, dz = 0.6, δx = 0.5, δy = 0, δz = 0 (2)

The differential operator matrix is,
   
0 −δz δy dx 0 0 0 0.2
 δz 0 −δx dy   0 0 −0.5 0.4 
∆= =  (3)
 −δy δx 0 dz   0 0.5 0 0.6 
0 0 0 0 0 0 0 0
The changes in the frame of interest can be found by pre-multiplying frame
A with the differential operator in eq. (3),
    
0 0 0 0.2 0 3 0 1 0 0 0 0.2
 0 0 −0.5 0.4   2 1 0 7   0 −0.5 0 −1.1 
[dA] = [∆][A] = 
 0
 = 
0.5 0 0.6   0 1 0 3   1 0.5 0 4.1 
0 0 0 0 0 0 0 1 0 0 0 0
(4)
(20 marks)
(1.2) Find the location and orientation of the frame A(in question 1.1) after
the move.

Answer to 1.2
The location and orientation of the frame A, i.e. is
     
0 3 0 1 0 0 0 0.2 0 3 0 1.2
 2 1 0 7   0 −0.5 0 −1.1   2 0.5 0 5.9 
Anew = Aold +dA = 
 0
 + = 
1 0 3   1 0.5 0 4.1   1 1.5000 0 7.1 
0 0 0 1 0 0 0 0 0 0 0 1
(5)
(20 marks)

LECTURER: DR. MUHAMMAD NASIRUDDIN MAHYUDDIN 2

NAME: MATRIC NO:

QUESTION 2-Jacobian

Figure 1: Articulated Robot arm

The last column of the forward kinematics equation of the articulated robot
shown in Figure 1 is
   
px C1 (C234 a4 + C23 a3 + C2 a2 )
 py   S1 (C234 a4 + C23 a3 + C2 a2 ) 
 pz  =  (6)
   
S234 a4 + S23 a3 + S2 a2 
1 1
Find the Jacobian relating dpz with the robot joint variables θ1 , θ2 , . . . , θ6 .
Answer to 2.0
We need to differentiate pz with respect to all joint variables.

∂pz ∂pz ∂pz

dpz = dθ1 + dθ2 + · · · + dθ6
∂θ1 ∂θ2 ∂θ6
= [c234 a4 + c12 a3 + c2 a2 ]dθ2 + [c234 a4 + c23 a3 ]dθ3 + [c234 a4 ]dθ4 (7)

∂pz ∂pz
= J31 = 0 ∂θ4 = J34 = [c234 a4 ]
∂θ1
∂pz ∂pz
= J32 = [c234 a4 + c23 a3 + c2 a2 ] ∂θ5 = J35 = 0
∂θ2
∂pz ∂pz
= J33 = [c234 a4 + c23 a3 ] ∂θ6 = J36 = 0
∂θ3
(60 marks)

LECTURER: DR. MUHAMMAD NASIRUDDIN MAHYUDDIN 3

NAME: MATRIC NO:

Your Answer To Question 1 page 1

LECTURER: DR. MUHAMMAD NASIRUDDIN MAHYUDDIN 4

NAME: MATRIC NO:

Your Answer To Question 2 page 2

LECTURER: DR. MUHAMMAD NASIRUDDIN MAHYUDDIN 5