Robotics: Kinematics, Dynamics and Control

Course Contents:

This course aims to introduce the fundamentals of mechanics and control of robotic manipulators. For
this the required mathematics is introduced, concepts like manipulator Kinematics and Dynamics are
elaborated, and different approaches to derive them are explained. Jacobian, singularity and redundancy
is introduced next, and different control algorithm in joint-space and Cartesian space is introduced. The
linear and nonlinear control algorithms are developed through the course, and a thorough and
comprehensive design task is performed by them as a term project.

Teacher Biography:
Hamid D. Taghirad has received his B.Sc. degree in mechanical engineering from Sharif
University of Technology, Tehran, Iran, in 1989, his M.Sc. in mechanical engineering in 1993,
and his Ph.D. in electrical engineering in 1997, both from McGill University, Montreal,
Canada. He is currently the University Vice-Chancellor for Global strategies and
International Affairs, Professor and the Director of the Advanced Robotics and Automated
System (ARAS), Department of Systems and Control, Faculty of Electrical Engineering, K. N.
Toosi University of Technology, Tehran, Iran. He is a senior member of IEEE, and Editorial
board of International Journal of Robotics: Theory and Application, and International
Journal of Advanced Robotic Systems. His research interest is robust and nonlinear control applied to robotic
systems. His publications include five books, and more than 250 papers in international Journals and
conference proceedings.

Course Materials:
This document contains:

Homework assignments and their solution;

Mid-term and final exams with their solutions;
Term project;
Extra reading materials for the course.
 ‫ﺑﻨﺎم آﻧﻜﻪ ﺟﺎﻧﺮا ﻓﻜﺮت آﻣﻮﺧﺖ‬
‫داﻧﺸﻜﺪه ﻣﻬﻨﺪﺳﻲ ﺑﺮق‬
‫ﻛﺮوه ﻛﻨﺘﺮل‬
‫رﺑﺎﺗﻴﻚ‬

‫ﻧﻴﻤﺴﺎل دو‪‬م ‪87-86‬‬

‫ﻣﺤﺘﻮاي درس‬
‫ﻣﺪرس‪ :‬ﺣﻤﻴﺪرﺿﺎ ﺗﻘﻲ راد‬

‫در اﻳﻦ درس ﺑﺎ اﺻﻮل ﻣﺪﻟﺴﺎزي و ﻛﻨﺘﺮل ﺑﺎزوﻫﺎي ﻣﻜﺎﻧﻴﻜﻲ‪ ،‬ﺑﻪ ﻋﻨﻮان ﻣﻬﻤﺘﺮﻳﻦ ﺳﻴﺴﺘﻤﻬﺎي روﺑﺎﺗﻴﻚ ﺻﻨﻌﺘﻲ‬
‫آﺷﻨﺎ ﻣﻲ ﺷﻮﻳﻢ‪ .‬ﺳﻴﻨﻤﺎﺗﻴﻚ و دﻳﻨﺎﻣﻴﻚ ﻣﺴﺘﻘﻴﻢ و ﻣﻌﻜﻮس ﺑﺎزوﻫﺎي ﻣﻜﺎﻧﻴﻜﻲ در ﺑﺨﺶ ﻣﺪﻟﺴﺎزي ﻣﻮرد ﺑﺮرﺳﻲ‬
‫و ﻣﺸﺎﺑﻪ ﺳﺎزي ﻗﺮار ﮔﺮﻓﺘﻪ و ﻣﻄﺎﺑﻖ ﻓﺼﻮل زﻳﺮ ﺑﻪ ﻃﺮاﺣﻲ ﻛﻨﺘﺮل ﺧﻄﻲ و ﻏﻴﺮﺧﻄﻲ روﺑﺎﺗﻬﺎ ﻣﻲ ﭘﺮدازﻳﻢ‪:‬‬

‫‪ -‬ﻣﻘﺪﻣﻪ ﺷﺎﻣﻞ ﻣﻌﺮﻓﻲ ﺑﺎزوﻫﺎ و ﺳﻴﺴﺘﻤﻬﺎي روﺑﺎﺗﻴﻚ‪ ،‬و ﻣﻘﺪﻣﺎت رﻳﺎﺿﻲ ﻻزم ﺑﺮاي ﺑﺮرﺳﻲ دﻳﻨﺎﻣﻴﻚ و ﻛﻨﺘﺮل ﺑﺎزوﻫﺎي‬
‫ﻣﻜﺎﻧﻴﻜﻲ‪.‬‬
‫‪ -‬ﺗﺒﺪﻳﻠﻬﺎي رﻳﺎﺿﻲ ﺷﺎﻣﻞ ﺗﻌﺮﻳﻒ ﻣﻮﻗﻌﻴﺖ‪ ،‬ﺳﺮﻋﺖ و ﺟﻬﺖ ﮔﻴﺮي‪ ،‬ﻣﺎﺗﺮﻳﺲ دوران‪ ،‬ﻣﺎﺗﺮﻳﺲ ﺗﺒﺪﻳﻞ و زواﻳﺎي اوﻳﻠﺮ‪.‬‬
‫‪ -‬ﺳﻴﻨﻤﺎﺗﻴﻚ ﻣﺴﺘﻘﻴﻢ و ﻣﻌﻜﻮس ﺷﺎﻣﻞ ﭘﺎراﻣﺘﺮﻫﺎي دﻧﺎوﻳﺖ ﻫﺎرﺗﻨﺒﺮگ‪ ،‬ﻓﻀﺎي ﻣﻔﺼﻠﻲ و ﻛﺎرﺗﺰﻳﻦ‪ ،‬روش ﻫﻨﺪﺳﻲ‪ ،‬روﺷﻬﺎي‬
‫ﺑﺎزﮔﺸﺘﻲ‪ ،‬ﻗﻀﻴﺔ ﭘﻔﺎﻳﻔﺮ‪ ،‬زﻳﺮﻓﻀﺎﻫﺎي ﺳﻴﻨﻤﺎﺗﻴﻜﻲ‪.‬‬
‫‪ -‬ژاﻛﻮﺑﻴﻦ ﺷﺎﻣﻞ ﺳﺮﻋﺖ زاوﻳﻪ اي‪ ،‬ﺗﻌﻴﻴﻦ ﺳﺮﻋﺖ ﻣﻔﺎﺻﻞ‪ ،‬روش ﺑﺎزﮔﺸﺘﻲ‪ ،‬ﺗﻌﺮﻳﻒ ژاﻛﻮﺑﻴﻦ‪ ،‬ﺗﻜﻴﻨﮕﻲ‪ ،‬راﺑﻄﺔ ﻧﻴﺮو و ﮔﺸﺘﺎور‪.‬‬
‫‪ -‬دﻳﻨﺎﻣﻴﻚ ﺷﺎﻣﻞ ﺷﺘﺎب ﺧﻄﻲ و زاوﻳﻪ اي‪ ،‬روش ﻧﻴﻮﺗﻦ‪ -‬اوﻳﻠﺮ‪ ،‬روﺷﻬﺎي ﺑﺎزﮔﺸﺘﻲ‪ ،‬روش ﻻﮔﺮاﻧﮋ‪ ،‬روش ﺑﺎزﮔﺸﺘﻲ ﻻﮔﺮاﻧﮋ‪.‬‬
‫‪ -‬ﺗﻮﻟﻴﺪ ﻣﺴﻴﺮ ﺷﺎﻣﻞ روﺷﻬﺎي ﻓﻀﺎي ﻣﻔﺼﻠﻲ و ﻛﺎرﺗﺰﻳﻦ‪ ،‬ﻣﻨﺤﻨﻲ ﻫﺎي درﺟﺔ ﺳﻪ و ﭘﺎروﺑﻮﻟﻴﻚ‪ ،‬روﺷﻬﺎي ﺑﻬﻴﻨﺔ زﻣﺎﻧﻲ‪.‬‬
‫‪ -‬ﻃﺮاﺣﻲ ﻛﻨﺘﺮﻟﺮ ﺧﻄﻲ ﺷﺎﻣﻞ ﺳﻴﺴﺘﻤﻬﺎي رﺳﺘﺔ دو‪،‬ﻣﺪﻟﺴﺎزي و ﺷﻨﺎﺳﺎﻳﻲ ﺧﻄﻲ ﺑﺎزوﻫﺎي ﻣﻜﺎﻧﻴﻜﻲ ﺑﺎ ﺟﻌﺒﻪ دﻧﺪه‪ ،‬ﻃﺮاﺣﻲ‬
‫ﻛﻨﺘﺮل ﺧﻄﻲ ﺑﺮ اﺳﺎس ﻣﺪل ﺷﻨﺎﺳﺎﻳﻲ ﺷﺪه‪..‬‬
‫‪ -‬ﻃﺮاﺣﻲ ﻛﻨﺘﺮﻟﺮ ﻏﻴﺮﺧﻄﻲ ﺷﺎﻣﻞ روﺷﻬﺎي ﺧﻄﻲ ﺳﺎزي ﺑﺎ ﻓﻴﺪﺑﻚ‪ ،‬روش ﮔﺸﺘﺎور ﻣﺤﺎﺳﺒﻪ ﺷﺪه‪ ،‬روﺷﻬﺎي ﭼﻨﺪ ﻣﺘﻐﻴﺮه‬
‫ﺑﺮاﺳﺎس ژاﻛﻮﺑﻴﻦ‪.‬‬
‫‪ -‬ﻛﻨﺘﺮﻟﻬﺎي ﻧﻴﺮو‪ ،‬اﻣﭙﺪاﻧﺲ و ﻫﻴﺒﺮﻳﺪ ﺷﺎﻣﻞ ﻣﻌﺮﻓﻲ روﺷﻬﺎي ﺗﺮﻛﻴﺒﻲ ﻛﻨﺘﺮل ﻧﻴﺮو و ﻣﻮﻗﻌﻴﺖ ﺑﻪ ﺻﻮرت ﻫﻤﺰﻣﺎن‪.‬‬

‫ﻣﺮاﺟﻊ‪:‬‬
‫‪1 M. W. Spong, S. Hutchinson, M. Vidyasagar, “Robot Modeling and Control”, New York, Wiley, 2006.‬‬
‫‪2 John J. Craig, “Introduction to robotics: mechanics and control”, 3rd Edition Mass., AddisonWesley, 2005.‬‬
‫‪ 3‬ﺗﺮﺟﻤﺔ )ﭼﺎپ دوم( ﻛﺘﺎب ﻓﻮق ﺗﻮﺳﻂ دﻛﺘﺮ ﻋﻠﻲ ﻣﻘﺪاري و ﻓﺎﺋﺰة ﻣﻴﺮﻓﺨﺮاﺋﻲ‪ ،‬اﻧﺘﺸﺎرات داﻧﺸﮕﺎه ﺻﻨﻌﺘﻲ ﺷﺮﻳﻒ‪.1374،‬‬
‫‪4 Lung-Wen Tsai, “Robot analysis: the mechanics of serial and parallel manipulators”, New York,‬‬
‫‪Wiley, 1999.‬‬
‫‪5 H.Asada and J.J. Slotine, “Robot Analysis and Control”, J. Wiley, 1989.‬‬
‫‪6 Selected papers.‬‬

‫ﺑﺎرم ﻧﻤﺮه‪:‬‬
‫‪%15‬‬ ‫ﺗﻜﺎﻟﻴﻒ و ﻛﻮﺋﻴﺰ‪:‬‬ ‫‪(1‬‬
‫‪%25‬‬ ‫ﭘﺮوژه‬ ‫‪(2‬‬
‫‪%20‬‬ ‫آزﻣﻮن ﻣﻴﺎن ﺗﺮم‪:‬‬ ‫‪(3‬‬
‫‪%40‬‬ ‫آزﻣﻮن ﭘﺎﻳﺎن ﺗﺮم‪:‬‬ ‫‪(4‬‬

‫»ﻣﻮﻓﻖ ﺑﺎﺷﻴﺪ«‬
 ‫داﻧﺸﻜﺪه ﻣﻬﻨﺪﺳﻲ ﺑﺮق‬ ‫ﺑﻨﺎم آﻧﻜﻪ ﺟﺎﻧﺮا ﻓﻜﺮت آﻣﻮﺧﺖ‬
‫ﻛﺮوه ﻛﻨﺘﺮل‬
‫ﻧﻴﻤﺴﺎل دو‪‬م ‪87-86‬‬ ‫رﺑﺎﺗﻴﻚ‬
‫ﻣﻮﻋﺪ ﺗﺤﻮﻳﻞ‪86/12/13 :‬‬ ‫ﺗﻜﻠﻴﻒ ﺳﺮي او‪‬ل‬
‫ﻣﺪرس‪ :‬ﺣﻤﻴﺪرﺿﺎ ﺗﻘﻲ راد‬

‫‪Do the following exercises from my book:‬‬

‫‪Chapter 2:‬‬
‫‪Exersices: 1, 7, 11, 13, 18, 19, 26, 28.‬‬

‫»‪«Good Luck‬‬
 ‫داﻧﺸﻜﺪه ﻣﻬﻨﺪﺳﻲ ﺑﺮق‬
‫ﻛﺮوه ﻛﻨﺘﺮل‬ ‫ﺑﻨﺎم آﻧﻜﻪ ﺟﺎﻧﺮا ﻓﻜﺮت آﻣﻮﺧﺖ‬

87-86 ‫ﻧﻴﻤﺴﺎل دوم‬ ‫رﺑﺎﺗﻴﻚ‬

86/12/25 ‫ ﺷﻨﺒﻪ‬:‫ﻣﻮﻋﺪ ﺗﺤﻮﻳﻞ‬ ‫م‬‫ﺗﻜﻠﻴﻒ ﺳﺮي دو‬ ‫ ﺣﻤﻴﺪرﺿﺎ ﺗﻘﻲ راد‬:‫ﻣﺪرس‬

1) In Craig, do exercises # 4.9 and 4.11, 4.16 (Using Robotic Toolbox), 4.24.

2) For the SCARA manipulator shown schematically as following:

a) Affix link frames according to the Denavit-Hartenberg convention.

b) Find by inspection an expression for 0TE as a function of joint variables qi ’s
c) Assume a desired position and orientation of the end effector is given as:

Solve the inverse kinematics of the SCARA manipulator, i.e. given expressions for Rd , xe , ye , ze ,
find expressions for joint variables qi .

3) Solve the inverse kinematics of the above SCARA robot, using the method of successive
screws.

4) Refer to the 4R2P manipulator (four revolute joints, two prismatic), shown below. The
depicted directions for the joint variables q are all positive.
(a) Carefully assign link frames to the 4R2P manipulator.
(b) Determine the manipulator’s Denavit-Hartenberg parameters. Identify the joint variables.
How many are the Degrees-of-Freedom (DOF) for this manipulator?
(c) Write an expression for the homogeneous transform 0TE which describes the position and
orientation of the end-point, E.
(d) Explain how you would solve the inverse kinematics, given a desired end-effector position
and orientation.
 ‫داﻧﺸﻜﺪه ﻣﻬﻨﺪﺳﻲ ﺑﺮق‬
‫ﻛﺮوه ﻛﻨﺘﺮل‬ ‫ﺑﻨﺎم آﻧﻜﻪ ﺟﺎﻧﺮا ﻓﻜﺮت آﻣﻮﺧﺖ‬

87-86 ‫ﻧﻴﻤﺴﺎل دوم‬ ‫رﺑﺎﺗﻴﻚ‬

87/2/9 ‫ دوﺷﻨﺒﻪ‬:‫ﻣﻮﻋﺪ ﺗﺤﻮﻳﻞ‬ ‫م‬‫ﺗﻜﻠﻴﻒ ﺳﺮي ﺳﻮ‬ ‫ ﺣﻤﻴﺪرﺿﺎ ﺗﻘﻲ راد‬:‫ﻣﺪرس‬

Problem #1)
For the SCARA manipulator shown schematically as following:

Derive the screw-based Jacobian matrix of the manipulator, which relates the generalized
velocity vector of the end-effoctor [ x& E y& E z&E ϕ& ]T, to the rate of joint vector [ q&1 q&2 q&3 q&4 ].

Problem #2)
The PRP2R 5 DOF industrial manipulator shown below is used to drill holes into thick steel
plates and structures. To choose the motors for this manipulator, we want to calculate the
actuator torques or forces that are required during some typical drilling operation.
(a) A colleague of yours has already affixed the link frames. Are they correctly affixed? If
not, make any required corrections.
(b) Find the D-H parameters and the transformation matrices oTi for i = 1,…,5. Assume that
the end-effector frame E is attached at the endpoint of the drill, and has the same orientation
as frame 5. Find oTi .
(c) Using the general method discussed in class, (or any other method you like), find the
Jacobian o J v which relates q& = d [q1 q2 q3 q4 ]T , to oVE = [ o v E , o ω E ]T Note that since this
dt
manipulator has 5 DOF, this Jacobian should be a 6×5 matrix.
(d) Assuming that the force f and the torque n acting on the drill are parallel to x5, (in other
words, 5 f E = [ f , 0, 0]T and 5 n E = [n, 0, 0]T .), find the equivalent manipulator forces and
torques t = [ f1,a ,τ 2 , f 3,a ,τ 4 ,τ 5 ]T required to balance f and n.
Problem #3)
General mechanisms may have certain configurations, called "isotropic points," where the
columns of the Jacobian become orthogonal and of equal magnitude. For a two-link RR
manipulator with Jacobian

⎡ Ls 0⎤
3
J =⎢ 1 2
⎣ L1c2 + L2 L2 ⎥⎦

(determined in frame {3} attached to the end-effector see course notes), determine any
existing isotropic points. Sketch the manipulator at one of these points. Intuitively, what is
the physical meaning of an isotropic point?

Problem #4)
Consider the RPR-spatial manipulator shown in the figure below. Assume that m1 is a point
mass and m2=0, I2=0. The task of this manipulator is to position the end-effector in the 3-D
workspace. The configuration shown below is when q1=0. the inertia tensor of links 1 and 3
are:

a) Select a set of operational space coordinates for this task.

b) Find the Jacobian matrix.
c) Find the jacobian matrix in frame {3}.
d) Derive inertia matrix M and the gravity vector G.
f) Find the configuration where the kinetic energy of the manipulator is minimum for given
q& .
Problem #5)
Compute the 6X3 Jacobian matrix for the arms shown below. Discuss the location of any
singular configurations in each case.

a) A three link cylindrical arm

b) A three link Cartesian arm

Problem #6)
To elaborate the redundancy resolution techniques for serial robotic manipulators, consider a
planar 3R manipulator, which should perform a 2D motion task in an x-y plane with one degree
of redundancy. This means that the orientation of the end effector is not important for the tasks
that should be performed. Assume that the link lengths of the robots are l1=l2=1.0 m and l3= 0.3
m, and there is no limits on the joint angle rotations.

a) For the first redundancy resolution technique, consider that the end effector must follow a
given path in the x-y plane, while avoiding the obstacle shown in the following figure.
Start with the initial condition of the joint angles as: q0=[20o, 30o, 20o]T, which cause the
end effector lie on [xo, yo]T=[1.69, 1.39]T and generate a path for the end effector to move
on a vertical line to [xf, yf]T=[1.69, 0]T, on t=1 sec. with no link collisions to the obstacle.
y

Desired
Trajectory

x
Obstacle

For this reason chose the desired trajectory of the robot to be as the following:

⎡ x0 ⎤
pd = ⎢ ⎥ 0 ≤ t ≤ 1.
(⎣⎢ 1 − (3 − 2t )t ) y0 ⎦⎥
2

Formulate the obstacle avoidance requirement into an optimization formulation and solve
for the given condition and generate the joint space variable trajectories as the solution to
this optimization problem. Show the motion of the robot for each 0.2 seconds to verify
that the robot don’t collide with the obstacle.

b) For the second scenario, consider that there is no obstacle in the workspace, but the robot
is initially close to a singular condition. The redundancy resolution technique is used in
here such that the end effector follows a given path in the x-y plane, while avoiding
singularities. Start with the initial condition of the joint angles as: q0=[180o, 170o, -10o]T,
which cause the end effector lie on [xo, yo]T=[0.28, 0.17]T and generate a path for the end
effector to move on a vertical line to [xf, yf]T=[0.28, -0.1]T, on t=1. For this case chose the
desired trajectory of the robot to follow:

⎡ x0 ⎤
pd = ⎢ ⎥ 0 ≤ t ≤ 1.
⎣ y0 − (3 − 2t )t ( y0 + 0.1) ⎦
2

Formulate the singularity avoidance requirement into an optimization formulation and

solve for the given condition and generate the joint space variable trajectories as the
solution to this optimization problem. Show the motion of the robot for each 0.2 seconds
to verify how the robot moves out from the singularity.
c) For both the above cases draw also the usual pseudo-inverse solution, to compare how
effective you are performing on the required task of obstacle or singularity avoidance.

«Good Luck»
Problem #1

For the 2R link manipulator, shown below:

a) Find the equation of motion using a Lagrange approach.
b) How would you modify the equations if viscous friction at the joints is
present? (Damping coefficients b1, b2)
c) Identify the mass matrix, the Coriolis/Centrifugal vector, the gravity vector
and the dissipative torques.
Problem #2

Consider the PRR manipulator shown below

m1, m2 and m3 are the masses of links 1, 2 and 3, respectively. The inertia tensor of link 2 at
the center of mass expressed with respect to frame {2}, the inertia tensor of link 3 at the
center of mass expressed with respect to frame {3}, and the position vector of the center of
mass of link 3 with respect to frame {0} are given as
ª l3 º
«l 2 c 2  c 23 »
ª I xx 2 0 0 º ª I xx 3 0 0 º 2
« l3 »
2 «
I c 2 « 0 I yy 2 » 3 «
0 » I c 3 « 0 I yy 3 »
0 » pc30
« l 2 s 2  s 23 »
« 2 »
«¬ 0 0 I zz 2 »¼ «¬ 0 0 I zz 3 »¼ « d1 »
« »
¬ ¼

Using the Lagrange formulation, find the equation of motion for this manipulator in the form:

W  
M q q  Bq qq   C q  q 2  G q 
Where
q >d1 T1 T 2 @T W >f1 W 1 W 2 @T

Problem #3

Two motors sharing the same axis of rotation drive the five bar mechanism manipulator,
shown below. The first motor drives link 1, shown in dark gray, while the second motor
drives link 2, shown in light gray. Link 3 is parallel to link 1, and link 4 is parallel to link 2.
Link i has mass mi, and inertia about an axis passing from its CM and perpendicular to the
plane, Ii. Note that since a closed loop of links exists, this is not a serial manipulator.
However, with some modifications, the theory developed in class still holds.

(a) For this planar manipulator, find a Jacobian relating q [q1 , q2 ]T to x [x E , y E ]T

(b) By differentiation, find JL(i) which relates q [q1 , q2 ]T to vci, (i = 1,2,3,4). By
inspection, find JA(i) which relates q [q1 , q2 ]T to Ȧi, (i = 1,2,3,4). Using JL(i)
and JA(i), find the mass matrix M(q) of the manipulator.
(c) To simplify the control of this manipulator, it is desired to select its
geometric/mass parameters so that its mass matrix becomes invariant, i.e. its
elements should not be configuration dependent, and uncoupled, i.e. its off-
diagonal terms should be zero. Find the conditions under which these
requirements can be met.

(d) Using the conditions identified in step (c), and following a Lagrangian approach,
find the manipulator’s equations of motion.

I4 m (x , y E )
l c4 4 E
l2 l 4
l2

l1 l3
g
I1m
1

l3 q q

I m l c1
3 3

l c3

I2 m 2

l c2
l2

«Good Luck»
 ‫داﻧﺸﻜﺪه ﻣﻬﻨﺪﺳﻲ ﺑﺮق‬
‫ﻛﺮوه ﻛﻨﺘﺮل‬ ‫ﺑﻪﻧﺎم آﻧﻜﻪ ﺟﺎﻧﺮا ﻓﻜﺮت آﻣﻮﺧﺖ‬

‫ﻧﻴﻤﺴﺎل دوم ‪87-86‬‬ ‫روﺑﺎﺗﻴﻚ‬

‫ﻣﻮﻋﺪ ﺗﺤﻮﻳﻞ‪ :‬دوﺷﻨﺒﻪ ‪87/3/20‬‬

‫ﺗﻤﺮﻳﻦ ﺳﺮي ﭘﻨﺠﻢ‬ ‫ﻣﺪرس‪ :‬ﺣﻤﻴﺪرﺿﺎ ﺗﻘﻲ راد‬
 ‫دانشکده مهندسی برق‬
‫کروه کنترل‬ ‫بنام آنکه جانرا فکرت آموخت‬

‫تاریخ آزمون‪ :‬شنبه ‪87/2/14‬‬ ‫رباتیک‬

‫زمان آزمون‪1:45 :‬‬
‫‪ 1/5‬ساعت‬ ‫آزمون میانی‬ ‫مدرس‪ :‬حمیدرضا تقی راد‬
‫نوع آزمون‪ :‬کتاب باز‬

‫سؤال ‪ %20( )1‬نمره)‬

‫‪screw‬‬ ‫موقعیت و جهت گیری یک جسم را که توسط تبدیل همگن زیر معین شده است‪ ،‬با استفاده از نمایش‬
‫تعبیر نمایید‪ .‬صحت محاسبات خود را در تعیین راستای ‪ screw‬و زاویه معادل دوران‪ ،‬با استفاده از مقادیر و‬
‫بردارهای ویژه ماتریس دوران مربوطه راست نمایی کنید‪.‬‬

‫‪ 0.8047 0.3106 0.5059‬‬ ‫‪1‬‬

‫‪ 0.5059 0.8047 0.3106‬‬ ‫‪0 ‬‬
‫‪1‬‬
‫‪T2  ‬‬ ‫‪.‬‬
‫‪ 0.3106 0.5059 0.8047‬‬ ‫‪0‬‬
‫‪‬‬ ‫‪‬‬
‫‪ 0‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪1‬‬

‫سؤال ‪ %20( )2‬نمره)‬

‫محورهای مختصات الزم را روی محورهای حرکتی یک روبات ‪ SCARA‬که در شکل زیر نشان داده شده است‬
‫نصب نموده و جدول پارامترهای ‪ Denavit-Hartenberg‬را تکمیل نمایید و تبدیالت همگن ‪ 2T1 , 4T2‬را بدست‬
‫آورید‪.‬‬

‫‪H2‬‬ ‫‪H3‬‬

‫‪q2‬‬

‫‪q1‬‬
‫‪d3‬‬
‫‪H1‬‬
‫‪q4‬‬ ‫‪H4‬‬
‫‪z0‬‬

‫‪y0‬‬
‫‪x0‬‬
 ‫سؤال ‪ %30( )3‬نمره)‬
‫بر روی روبات ‪ RPR‬زیر که به منظور هدایت عنصر نهایی به نقطه ) ‪ ( xe , ye‬با جهت گیری ‪  e‬طراحی شده‬
‫است‪:‬‬
‫الف) فضای کاری قابل دسترسی و ‪ dexterous‬را برای شرایط ‪ 0  d 2  d max‬و ‪ l1 , l2  l3‬بدست آورید‪.‬‬
‫ب) سینماتیک مستقیم و معکوس را حل نمایید‪.‬‬
‫ج) ماتریس ژاکوبین و نقاط تکین آنرا تعیین کنید و از لحاظ فیزیکی محدودیت حرکتی عنصر نهایی را‬
‫در این حالت توضیح دهید‪.‬‬

‫‪l3‬‬
‫‪θ3‬‬ ‫‪d2‬‬
‫)‪(xe,ye,φe‬‬ ‫‪.‬‬
‫‪l1‬‬
‫‪y‬‬

‫‪θ1‬‬

‫‪x‬‬

‫سؤال ‪ %30( )4‬نمره)‬

‫برای روبات ‪ PRP‬که در شکل زیر نشان داده شده است‪ ،‬ماتریس ژاکوبین را با استفاده از روش ‪ screw‬و به‬
‫صورت ماتریس ‪ 3×3‬زیر تعیین کنید‪ .‬با فرض اینکه متغیرهای مفصلی ربات محدودیتی در حرکت نداشته‬
‫باشند‪ ،‬نقاط تکین ربات را تعیین نموده و از لحاظ فیزیکی محدودیت حرکتی عنصر نهایی را در این حالت‬
‫توضیح دهید‪.‬‬

‫‪ xe ‬‬ ‫‪ d1 ‬‬

‫‪ y   J   ‬‬
‫‪ e‬‬ ‫‪33  2 ‬‬

‫‪e ‬‬ ‫‪ d3 ‬‬

‫‪ ‬‬

‫)‪( x e, y e, φ e‬‬

‫‪y‬‬ ‫‪d3‬‬

‫‪x‬‬ ‫‪θ2‬‬

‫«پیروز باشید»‬
‫‪d1‬‬
 ‫دانشکده مهندسي برق‬
‫کروه کنترل‬ ‫بنام آنکه جانرا فکرت آموخت‬

‫تاريخ آزمون‪ :‬چهارشنبه ‪87/3/22‬‬ ‫رباتیک‬

‫زمان آزمون‪2:30 :‬‬
‫نوع آزمون‪ :‬کتاب باز‬ ‫آزمون پاياني‬ ‫مدرس‪ :‬حميدرضا تقي راد‬

‫سؤال ‪ %20( )1‬نمره)‬

‫براي روبات ‪ PRP‬زير که به منظور هدايت عنصر نهايي به نقطهً ) ‪ ( xe , ye‬با جهت گيري ‪  e‬طراحي شده است‪:‬‬
‫ب) ماتريس ژاکوبين و نقاط تکين آنرا تعيين کنيد‪.‬‬ ‫الف) سينماتيک مستقيم را حل نماييد‪.‬‬
‫‪‬‬
‫‪E‬‬ ‫) ‪(xE , yE‬‬

‫‪d3‬‬

‫‪y‬‬
‫‪0‬‬
‫‪2‬‬
‫‪x0‬‬ ‫‪l‬‬
‫‪2‬‬

‫‪d1‬‬

‫سؤال ‪ %15( )2‬نمره)‬

‫معادالت سينماتيک مستقيم روبات سؤال اول را با استفاده از روش ‪ successive screw‬بدست آوريد‪.‬‬

‫سؤال ‪ %20( )3‬نمره)‬

‫معادالت حرکت ربات ‪ RP‬که در شکل زيرنشان داده شده است را با استفاده از روش الگرانژ بدست آوريد‪.‬‬
‫بازوهاي ربات به ترتيب ‪ m1 , m2‬و ممان اينرسي آنها حول مرکز جرم ‪ I1 , I 2‬مي باشند‪ .‬شتاب جاذبه در‬
‫راستاي محور )‪ (-y‬ميباشد‪ .‬نيروهاي محرکها را به ترتيب ‪ τ1‬و ‪ 𝑓2‬در نظر گرفته و از اصطکاک مفاصل‬
‫صرفنظر کنيد‪.‬‬

‫‪s‬‬ ‫‪R‬‬

‫‪g‬‬

‫‪y‬‬ ‫‪d‬‬
‫‪L‬‬
‫‪θ‬‬ ‫‪x‬‬
 ‫سؤال ‪ %20( )4‬نمره)‬
‫ربات ‪ RP‬که در شکل فوق نشان داده شده است توسط محرکهاي الکتريکي و جعبه دنده درايو شده است‪ .‬به‬
‫منظور طراحي کنترل کنندة خطي براي سيستم‪ ،‬آزمايش کاليبراسيوني صورت پذيرفته و نتايج زير براي‬
‫بازوي اول بدست آمد ه است‪ .‬گشتاور اعمالي و سرعت زاويه اي بازو با زمان نمونه برداري ‪Ts  0.1 sec‬‬
‫تعيين شده است‪.‬‬
‫‪1   0 0.3894 0.7174 0.9320 0.9996 0.9093‬‬
‫‪T‬‬
‫)‪(rad / sec‬‬
‫‪ 1   - 11.9518 12.0417 11.8485 11.2557 10.5731‬‬
‫‪T‬‬
‫)‪( N .m‬‬

‫و با‬ ‫‪  J e  Be  Ge‬‬ ‫الف) با استفاده از داده هاي شناسايي پارامترهاي مدل خطي ربات را بر حسب مدل‬
‫فرض معين بودن ‪ Be  1.0‬تعيين کنيد‪.‬‬
‫ب) بلوک دياگرام کنترل موقعيت ربات را با مشخص کردن محل اعمال ‪ Ge‬به صورت اغتشاش نمايش‬
‫دهيد‪ .‬کنترل کنندة ‪ PI‬براي سيستم فوق را به گونه اي طراحي کنيد که خطاي ماندگار به ورودي سهمي‬
‫کمتر از ‪ 0.01‬گردد و نسبت استهالک سيستم حداقل برابر ‪   0.707‬گردد‪ .‬اثر اغتشاش شناسايي شدة فوق‬
‫‪ ، Ge‬در خطاي ماندگار خروجي چه ميزاني است‪.‬‬

‫سؤال ‪ %25( )5‬نمره)‬

‫‪R‬‬ ‫ربات ‪ RP‬که در شکل قبل نشان داده شده است را در نظر بگيريد که عالوه بر طي مسير دايره اي به شعاع‬
‫مي خواهد نيرويي فشاري‪ ،‬عمود بر مسير حرکت خود به محيط استوانه اي مجاور خود اعمال کند‪.‬‬
‫الف) توپولوژي مناسب کنترل ربات را براي اين کاربرد پيشنهاد داده‪ ،‬و با فرض استفاده از کنترل کنندة‬
‫سؤال (‪ )4‬به عنوان بخشي از سيستم کنترلي ربات‪ ،‬آنرا به صورت کامل طراحي نماييد‪ .‬کلية بلوکهاي‬
‫استفاده شده را معين نموده‪ ،‬به صورتيکه ديناميک خطاي نيروي سيستم به صورت يک سيستم درجة دو با‬
‫مشخصات فيلتر باترورث عمل نمايد‪.‬‬
‫ب) سيستم کنترلي ربات را در کاربرد فوق‪ ،‬با استفاده از روش کنترل امپدانس طراحي کرده‪ ،‬با معرفي‬
‫امپدانسهاي مطلوب سيستم در هر دو درجه آزادي‪ ،‬بلوک دياگرام سيستم کنترل را با مشخص نمودن کلية‬
‫سيستمهاي کنترلي تعيين نماييد‪ .‬معادله ديناميکي خطاي رديابي در سيستم فوق را به دست آوريد و اثر‬
‫اعمال نيروهاي خارجي را در پايداري مجانبي آن تحليل نماييد‪ .‬کلية فرضهاي الزم مهندسي را که براي حل‬
‫مسئله مورد نياز است را با تحليل الزم در نظر بگيريد‪.‬‬

‫«موفق و پيروز باشيد»‬