DEPARTMENT OF MECHATRONICS & CONTROL ENGINEERING

Robotics : Midterm Examination

Total Marks : 30 Name :

Time Allowed = 90 minutes Roll No :

State your answers with the help of figures, where necessary.

Q 1. Find matrix
஻஺ ,
஼஺ and
஼஻ for the frames given in figure 1 and show that [10]

஼஺ 
஻஺
஼஻

Figure 1 – Frames at the corner of the wedge

Q 2a. Find the rotation matrix corresponding to the set of Euler angles {π/2, 0, [5+5]
π/4}. What is the direction of the x1 axis relative to the base frame?

2b. A frame {B} is rotated relative to frame {A} about X by 60 degrees CW,
translated 20 units along YA, and 15 units along ZA. Find PA, where
PB = [0 8 7]T.

Q 3. Consider the three-link, RRP manipulator shown in Figure 2. In this [10]

manipulator, joint axis 1 and 2 are revolute joints. Joint 1 can rotate through
full 360°whereas joint 2 can not.Draw link frames, on the figure 2, using the
conventions studied in the class. There may be more than one correct
answer, state only one. Multiple answers will be considered wrong. Fill in
the table of D-H parameters below:
 DEPARTMENT OF MECHATRONICS & CONTROL ENGINEERING

 ࢏
࢏ ࢏ ࢏
1
2
3
Table 1 – D-H Parameters of the RRP manipulator shown in Figure 2.

Figure2 – Three-link, RRPmanipulator