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    Sheet 4 PDF

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    Karim Nasser
    This document contains instructions to draw the approximate workspaces for different robot arm configurations and a question about transforming between coordinate systems for a cylindrical robot. Students are asked to draw the workspaces of 4 different robot arms based on their base and part dimensions. They are also asked to find the matrix representing the original position and orientation of a cylindrical robot before it was restored to a given position and orientation through translations and a rotation.

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    Sheet 4 PDF

    Uploaded by

    Karim Nasser
    20 views2 pages
    This document contains instructions to draw the approximate workspaces for different robot arm configurations and a question about transforming between coordinate systems for a cylindrical robot. Students are asked to draw the workspaces of 4 different robot arms based on their base and part dimensions. They are also asked to find the matrix representing the original position and orientation of a cylindrical robot before it was restored to a given position and orientation through translations and a rotation.

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    This document contains instructions to draw the approximate workspaces for different robot arm configurations and a question about transforming between coordinate systems for a cylindrical robot. Students are asked to draw the workspaces of 4 different robot arms based on their base and part dimensions. They are also asked to find the matrix representing the original position and orientation of a cylindrical robot before it was restored to a given position and orientation through translations and a rotation.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Flag for inappropriate content
    Download as pdf or txt
    20 views2 pages

    Sheet 4 PDF

    Uploaded by

    Karim Nasser
    This document contains instructions to draw the approximate workspaces for different robot arm configurations and a question about transforming between coordinate systems for a cylindrical robot. Students are asked to draw the workspaces of 4 different robot arms based on their base and part dimensions. They are also asked to find the matrix representing the original position and orientation of a cylindrical robot before it was restored to a given position and orientation through translations and a rotation.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
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    of 2

    FCULTY OF ENGINEERING AND TECHNOLOGY

    Mechatronics Program – Level 3


    Robotics (1) - Sheet 4

    1. Draw the approximate workspace for the following robot. Assume the dimensions of the base and other
    parts of the structure of the robot are as shown.

    (a) (b)

    (c) (d)

    3
    FCULTY OF ENGINEERING AND TECHNOLOGY
    Mechatronics Program – Level 3
    Robotics (1) - Sheet 4

    8 A cylindrical coordinate system includes two linear translations and one rotation. The
    sequence is a translation of r along the x-axis, a rotation of a about the z-axis, and a
    translation of l along the z-axis, The position and restored orientation of a cylindrical robot
    are given. Find the matrix representing the original position and orientation of the robot
    before it was restored.

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