Semester Two 2022

Assessment Notice
Faculty of Engineering
ASSESSMENT DETAILS

Unit code(s) TRC4800

Title of assessment Robotics

Assessment type Take Home Exam

Assessment duration 2 hours 10 min + scanning/loading time 30 min

Materials required Calculators

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There are 6 questions for a total of 60 Marks.

Attempt all questions.

If you need to make assumptions, please write it down clearly.

An equation sheet is attached to the end of this paper.

Question-1 (5 Marks)

In a 6-DOF robotic system, a camera is attached to the fifth link of the robot. The sixth link is the
end-effector. The camera observes an object and determines its frame relative to the camera's frame.
Four frames, F5, FE, Fcam and Fobj, are attached to the fifth link, the end-effector, the camera, and the
object, respectively.

Using the above information, determine the transformation matrix between FE and Fobj

Question-2 (5 Marks)

Figure 1 shows the 5 DOF manipulator schematically. The end effector is attached with θ5 and begins
to rotate at 20o and reach 60o at 3 seconds, and arrive at 120o at 6 seconds, with zero velocities. Use
the cubic polynomial approach to generate a trajectory for this actuator satisfying the above
requirements.

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 Figure 1. 5 DOF manipulator

Question-3 (10 Marks)

For the given RPR robot, all link frames are attached as shown in Figure 2. Find the transformation
matrix which relates {4} to {2} that is 24 𝑇.

Figure 2. RPR Robot

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Question-4. (10 Marks)

A serial link manipulator with 3 revolute joints is shown in Figure 3. The Base (zero) frame {B}
and end-effector frame {E} and the length of the links, L1, L2, L3 and L4, are shown in the Figure.
Assignment of the link frames i.e. attachment of the frames (Z and X axis of each frame) to the
moving links of the mechanism are shown in Fig-1.
Find 1 PE

Figure 3. The serial mechanism

Question-5. (15 Marks)

The robot in Figure 4 is an example of a robot that has been used in hip and knee replacement surgery.
In these systems, high-speed cutting tools are attached to the end effector. For this robot, all frames
are attached as shown in Figure 4

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 Figure 4. Orthopedic surgery Robot.

(a) Using direct differentiation method, find the point velocity of the drill bit in Frame 2 i.e.
find 2v5
(8 Marks)
(b) Obtain the manipulator’s Jacobian matrix at the end effector in Frame 2, i.e. J2
(7 Marks)

Question 6 ( 15 Marks)

Derive the dynamic equations for the three-link manipulators shown in Figure 5 by means of Lagrangian
formulation. Assume only point masses (no inertia tensors, therefore no angular velocity component of K).
Point masses, 𝑚1and 𝑚2, lie at the middle-point of each link.

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Figure-5. 3R Manipulator.

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Formula sheet: TRC 4800 Robotics:
Rotation matrices:
1 0 0 
R X ( )  0 C  S ;
0 S C 
 C 0 S 
RY ( )   0 1 0 ;
 S 0 C 
C  S 0
R Z ( )   S C 0.
 0 0 1
Transformation matrix:
iT  R X ( i 1 ) D X (ai 1 ) RZ ( i ) DZ (d i )
i 1

;
 C i  S i 0 ai 1 
 S C  S i 1 d i 
i 1
iT 
 i i 1 C i C i 1  S i 1
 S i S i 1 C i S i 1 C i 1 C i 1 d i 
 
 0 0 0 1 

The Jacobian Matrix

0 
V 0J ()

 0 Z ( 0 PE  0 PiORG ) ;
0
Ji   i 
 Zi 
for revolute joint i

 0Z 
0
Ji   i  ;
 0 
for prismatic joint i.

i 1
i 1  i i1R ii  i 1 i 1 Zˆ i 1 .
i 1
vi 1  i i1R ( i vi  i i i Pi 1 )  di 1 i 1 Zˆ i 1.

Lagrangian Dynamics:

The Lagrangian:

L (q, q )  k (q, q )  u(q)

The equation of motion:
d L L
 
dt q q

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Polynomial for Trajectory Generation

For a quintic polynomial

θ(t) = a0 + a1 t + a2 t2 + a3 t3

𝑎0 = 𝜃0
𝑎1 = 𝜃0̇
3 2 1
𝑎2 = 2 (𝜃𝑓 − 𝜃0 ) − 𝜃0̇ − 𝜃𝑓̇
𝑡𝑓 𝑡𝑓 𝑡𝑓

2 1
̇ ̇
𝑎3 = − 3 (𝜃𝑓 − 𝜃0 ) + 2 (𝜃𝑓 + 𝜃0 )
𝑡𝑓 𝑡𝑓

Parabolic blends:

k   j
jk  ,
t djk
k  SGN( kl  jk ) | k |,
  jk
t k  kl ,
k
1 1
t jk  t djk  t j  t k .
2 2

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