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Robot Exam2

This document contains a mid-term exam for a robotics course. It has 3 questions: 1. For a 6 joint robot manipulator, establish the link frame origins and coordinate systems using Denavit-Hartenberg parameters. 2. For a 2 link planar robot, find the joint angles to move the wrist to a given transformation matrix position and orientation. 3. For a robot delivering an object to a CNC machine, calculate the transformation matrices between frames, the position of a point P in different frames, and the new position of P if the object is rotated about one of the frames.

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rahbi malek
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257 views2 pages

Robot Exam2

This document contains a mid-term exam for a robotics course. It has 3 questions: 1. For a 6 joint robot manipulator, establish the link frame origins and coordinate systems using Denavit-Hartenberg parameters. 2. For a 2 link planar robot, find the joint angles to move the wrist to a given transformation matrix position and orientation. 3. For a robot delivering an object to a CNC machine, calculate the transformation matrices between frames, the position of a point P in different frames, and the new position of P if the object is rotated about one of the frames.

Uploaded by

rahbi malek
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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Taiz University

Mechatronics and Robotics Dept.


Robotics ǁ mid-term Exam.
First semester 2018/2019

Answer all questions


Q1 : For the robot manipulator shown in figure below the axes of each joint is indicated
where axes 2 , 3 and 5 are in parallel. Using the Denavit Hartenberg representation,
establish the link frame origin and coordinate systems and derive the corresponding
D-H parameters for all joints of the manipulator .
𝑖 𝛼𝑖−1 𝑎𝑖−1 𝑑𝑖 𝜃𝑖

Q2 : For the following two links planar robot find the joint angles required
to move the robot wrist to the position and orientation given by ⬚𝐵𝑇𝑤
transformation matrix.
Q3 : an object needs to be processed in 3 dimensions by a CNC machine, so the
robot in figure below is used to deliver object into the CNC machine and also
orient it. The axes XA , YB and ZC are in parallel .
Find:
a- The transformation matrices ⬚𝐴𝑇𝐵 and ⬚𝐴𝑇𝐶 .
b- the position of point P relative to frames {A }and {C}.
c- If the object is rotated (-90) degrees about ZB , find the new position of
point P relative to frame { C}

Wish you the best,,,,,,

Eng. Malek Alrahbi

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