Subject: Robotics

Maximum Marks: 20

Instructions: The last date for submission is 15.4.2023 (Saturday). After this date, if submitted, no
marks will be added.

Q2. Can the DH convention always give a unique attachment of frames to the link or a given
manipulator? [2]
Q3. Consider a case of multiple DOF revolute joint manipulator in which, at a particular situation, two
of the z-axes coincide with both frames having only translation mapping. What will happen to the
total DOF in this situation, and what is the name of this situation? [2]
Q4. A rotary joint moves in a two-segment cubic spline with continuous acceleration at its via point.
Sketch the graphs of position, velocity, and acceleration for which θ 0 = 30.0◦, θv = 90.0◦, and θg = 0.0◦,
where the first and second segments last for 2.0 and 3.0 seconds, respectively. [5]
Q5. Given

if the velocity vector at the origin of {A} is

find the 6 × 1 velocity vector with reference point the origin of {B}. [3]
Q6. Find the Jacobian of the manipulator with three degrees of freedom shown in figure. Write it in
terms of its frame {4} located at

[5]