HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY

SEMESTER 2 EXAMINATION 2017-2018 (June 15, 2018)

ME3015 – Robotics

Time Allowed: 120 minutes

INSTRUCTIONS
1. This paper contains 4 questions and comprises 3 pages.
2. This is an OPEN BOOK examination (using electronic devices is not allowed).
3. Notes:
 RTA has the same meaning as RA T (do similarly with RRA and RA𝐑)
 Frame {A} has its three orthogonal unit axes, namely XA, YA, and ZA

Question 1 (2,0 marks) (L.O.1)

The following frame definitions are given as known:

√2 √2
− 0 1
2 2

 𝑈 √2 √2 0 −1
𝐴𝐓 =
2 2
0 0 1 0
[ 0 0 0 1]

1 0 0 0
√2 √2
0 −2 1
 𝐵
𝐴𝐓 = 2
√2 √2
0 −2
2 2
[0 0 0 1 ]

√2 √2 √2
0 −2
2 2

 𝐶 0 1 0 −3 Fig. 1
𝑈𝐓 =
√2 √2 √2
−2 0 2 2
[ 0 0 0 1 ]

a. Draw a frame diagram (like that of Fig. 1) to show their arrangement qualitatively.
b. Solve for 𝐵𝐶𝐓.

Question 2 (2,0 marks) (L.O.1)

Figure 2 illustrates the initial posture of a unit cube (edge length is 1 unit) assigned with frame
{0}. Determine coordinates of the corners (A  H) after 3 steps of rotation: rotation of 300
about X0, then 300 about YR, and then 300 about Z0.

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 ZR

Z0
Fig. 2

X0 Y0
YR
XR

Question 3 (4 marks) (L.O.2)

An RPR spatial robot, as shown in Fig. 3, is designed to manipulate a gripper at point P as seen
in the figure. Frames {0}, {1}, {2} and {3}, which are assigned to link 0, link 1, link 2 and link
3 respectively.
(2)
(5)
(3) (6) Fig. 3

(4)

(7)
l1
Y0
l3 Z3

X3
(1)
Do the followings:
a. Complete frame components at (1), (2), (3), (4), (5), (6), and (7).
b. Derive the D-H parameters.
c. Derive the neighboring homogeneous transformation matrices: 0T1, 1T2, and 2T3.
d. Derive the forward-pose kinematics solution, i.e. 0xP, 0yP, and 0zP, as a function of joint
variables (d).
e. Derive the constraint of 0xP, 0yP, and 0zP in which solutions of the inverse kinematic
problem exist. Assume that:
 there are no joint limits of and 
 d2 = [l3, 2l3] and l1 > l3

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Question 4 (2,0 marks) (L.O.2)
An RPR planar robot with known frames as shown in Fig. 4 in which

cos(𝜃1 + 𝜃3 ) −sin(𝜃1 + 𝜃3 ) 0 𝑙3 cos(𝜃1 + 𝜃3 ) + 𝑑2 sin(𝜃1 )

0 sin(𝜃1 + 𝜃3 ) cos(𝜃1 + 𝜃3 ) 0 𝑙3 sin(𝜃1 + 𝜃3 ) − 𝑑2 cos(𝜃1 ) ]
3𝐓 = [
0 0 1 0
0 0 0 1

X2

Fig. 4 Y0 l3
X1 Y2 Y3

Z1 D
X0 X3

Do the followings:
a. Derive the Jacobian matrix 0J() for this manipulator where 0𝐕𝑫 = 0𝐉(𝜃)𝛉̇. Note that
𝛉̇ is a velocity vector of joint angles (𝜃̇1 , 𝑑̇2 , 𝜃̇3 ).
b. Consider the posture of the robot when 1 = 1200, d2 = 1m, 3 = -1500. It is assumed that
the links are massless and there is an external force of +10N along the axis Y3, compute
the required joint torques 1, f2, and 3 that balance the robot (under the downward
gravitational acceleration of 9.81 m/s2).

End of Paper

D. Head of Department Course Instructor

Phạm Công Bằng

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