Assignment 3: Week 3 Solution

Instructions:

ˆ If not explained all symbols have same meaning as in the lectures.

ˆ Use the D-H convention followed in the course wherever mentioned.

ˆ In some options to the MCQ/MSQ the text may not be adjacent to checkbox (circle or square).
Consider the text just below it for such cases.

Link to Code folder : https://drive.google.com/drive/folders/1rhiPz2V790yPupQZVcyFQ8HCsSW4NooM?

usp=drive_link

MCQ/MSQ
1. The figure below shows a schematic of a planar 3R serial manipulator. For this manipulator, in the
degree of freedom equation below,
J
X
DOF = λ(N − J − 1) + Fi
i=1

(2 marks)

X̂3 , X̂T ool

{T ool} X̂2
Link 3 θ3
ŶT ool l3

O3
{3}
Ŷ3 Link 2
Ŷ0

Ŷ1 l2
Ŷ2 {2} θ2 X̂1
{0}

{1} O2
l1 Link 1

θ1

X̂0
O1

Figure 1: The planar 3R serial manipulator

(A) λ = 3, N = 3 andDOF = 3.
(B) λ = 6, N = 4 and DOF = 3
(C) λ = 3, N = 4 and DOF = 3
PJ
(D) λ = 3, N = 4 and i=1 Fi = 3.
Answer: (C) and (D)

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2. In the inverse kinematics of the planar 3R serial manipulator, with link lengths l1 , l2 , l3 and rotation
angles θ1 , θ2 θ3 , for an end effector position and orientation given by (x, y), ϕ, respectively, the second
angle, θ2 can be obtained (2 marks)
(A) only if (l1 + l2 )2 ≤ [(x − l3 cos ϕ)2 + (y − l3 sin ϕ)2 ] ≤ (l1 − l2 )2 .
(B) only if (l1 − l2 − l3 )2 ≤ [x2 + y 2 ] ≤ (l1 + l2 + l3 )2 (Given l1 > l2 > l3 ).
(C) only if (l1 + l2 − l3 )2 ≤ [x2 + y 2 ] ≤ (l1 − l2 + l3 )2 .
(D) only if (l1 + l2 )2 ≥ [(x − l3 cos ϕ)2 + (y − l3 sin ϕ)2 ] ≥ (l1 − l2 )2 .
Answer: (B) and (D)

3. The reachable workspace of a serial manipulator is defined as all end effector position and orientation
where (1 marks)
(A) the inverse kinematics gives only one solution for the joint angles.
(B) the inverse kinematics solution for the joint angle does not exist.
(C) there exists at least one inverse kinematics solution.
(D) there exists infinite number of inverse kinematics solutions.
Answer: (C)

4. For a PUMA 560, according to the convention in this course, the Denavit-Hartenberg (D-H) Table is
given by (2 marks)

i αi−1 ai−1 di θi
degrees m m
1 0 0 0 θ1
2 −90 0 0 θ2
3 0 0.4318 0.125 θ3
4 −90 0.019 0.432 θ4
5 90 0 0 θ5
6 −90 0 0 θ6

For the joint angles given by 90◦ , 45◦ , 60◦ , −30◦ , 135◦ , 120◦ , the end-effector position is given by
(A) x = 0.125, y = 0.11687 and z = 0.21187.
(B) x = −0.125, y = −0.11687 and z = −0.21187.
(C) x = 0.125, y = −0.11687 and z = −0.21187.
(D) x = −0.125, y = 0.11687 and z = 0.21187 .
Answer: (B)
Use the equation (4) from lecture slide number 17
0
O6x = x = c1 (a2 c2 + a3 c23 − d4 s23 ) − d3 s1 = −0.125
0
O6y = y = s1 (a2 c2 + a3 c23 − d4 s23 ) + d3 c1 = −0.11687
0
O6z = z = −a2 s2 − a3 s23 − d4 c23 = −0.21187

MATLAB code: See the code at – Codes > W3 M4.m

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5. For any serial manipulator, the inverse kinematics can be decoupled (1 marks)
(A) when the last three joint axes intersect at a “wrist” point.
(B) only if the last three joint axes are parallel.
(C) when any three consecutive joint axes intersect at a point.
(D) only when there is a single inverse kinematics solution.

Answer: (A) and (C)

6. Figure below show a four degree-of-freedom SCARA robot. The inverse kinematics problem for this
robot can be solved (1 marks)
Ẑ 2

Ẑ 1 θ2

{ 2}
θ1
{ 1}

X̂ 2
X̂ 1

d3
{ 3}
O 0, O1 O2 Ẑ 3 { 4}

O3, O4 X

θ4

Figure 2: A SCARA robot

(A) since the robot operates in 3D space and there are only four joints.
(B) since the position (x, y, z) and the orientation angle about the Z axis of the end-effector are to
be used in inverse kinematics.
(C) only if orientation of the end-effector is not relevant.
(D) only for certain joint motions.
Answer: (B)

7. For a redundant serial manipulator (1 marks)

(A) there are infinitely many inverse kinematics solutions.
(B) additional constraints are required to solve the inverse kinematics problem.
(C) joint motions can be minimized.
(D) Cartesian motion of links can be minimized.

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 Answer: (A), (B), (C) and (D)

8. Given two polynomials in f (x, y) = 0 and g(x, y) = 0 of degree m and n respectively, (1 marks)
(A) a maximum of m (m > n) values of (x, y) will satisfy both the polynomials.
(B) a maximum of n (m > n) values of (x, y) will satisfy both the polynomials.
(C) a maximum of m + n values of (x, y) will satisfy both the polynomials.
(D) a maximum of mn values of (x, y) will satisfy both the polynomials.
Answer: (D)

Subjective Questions
1. For the planar 3R manipulator discussed in Lecture, with l1 = 5, l2 = 3 and l3 = 1, verify numerically
that for (x, y) = (3, 3), the inverse kinematics can be solved with arbitrary orientation angle ϕ. Write
a code in MATLAB. (5 marks)
This can be achieved by taking the point (x, y) and ϕ varying from 0 to 2π and solve for the inverse
kinematics at each point. The MATLAB code provided does this and the simulation shows the full
range of ϕ keeping (x, y) fixed.
MATLAB code: See the code at – Codes > W3 S1.m

2. For the RRR manipulator shown, find expressions for (x, y, z) with respect to {Base} in terms of the
joint variables θ1 , θ2 , θ3 and li , i = 1, ..., 5 (5 marks)

Figure 3: The RRR manipulator with coordinate systems shown

the D-H table of the above robot is given by

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 i αi−1 ai−1 di θi
1 0 0 0 θ1
2 0 l2 0 θ2
3 π/2 l3 l4 θ3

Base Base
T ool [T ] = 0 [T ] 01 [T ] 12 [T ] 23 [T ] 3T ool [T ]
 
1 0 0 0
Base
 0 1 0 0 
0 [T ] = 
 0 0

1 l1 
0 0 0 1
 
cos (θ1 ) − sin (θ1 ) 0 0
 sin (θ1 ) cos (θ1 ) 0 0 
0

1 [T ] = 

0 0 1 0 
0 0 0 1
 
cos (θ2 ) − sin (θ2 ) 0 l2
1
 sin (θ2 ) cos (θ2 ) 0 0 
2 [T ] = 
 
0 0 1 0 
0 0 0 1
 
cos (θ3 ) − sin (θ3 ) 0 l3
2
 0 0 −1 −l4 
3 [T ] =  sin (θ )
 
3 cos (θ3 ) 0 0 
0 0 0 1
 
1 0 0 l5
 0 1 0 0 
3

T ool [T ] =  0 0

1 0 
0 0 0 1
Base
T ool [T ] =
 
(c1 c2 − s1 s2 ) c3 (−c1 c2 + s1 s2 ) s3 c1 s2 + s1 c2 ((c3 l5 + l3 ) c2 + s2 l4 + l2 ) c1 − (−l4 c2 + s2 (c3 l5 + l3 )) s1
 (c1 s2 + s1 c2 ) c3
 − (c1 s2 + s1 c2 ) s3 −c1 c2 + s1 s2 ((c3 l5 + l3 ) c2 + s2 l4 + l2 ) s1 + (−l4 c2 + s2 (c3 l5 + l3 )) c1 

 s3 c3 0 s3 l5 + l1 
0 0 0 1
On simplification,
 
T11 T12 T13 T14
Base  T21 T22 T23 T24 

T ool [T ] = T =  T

31 T32 T33 T34 
T41 T42 T43 T44

where

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 1 1
T11 = cos(−θ3 + θ1 + θ2 ) + cos(θ3 + θ1 + θ2 )
2 2
1 1
T12 = − sin(θ3 + θ1 + θ2 ) + sin(−θ3 + θ1 + θ2 )
2 2
T13 = sin(θ1 + θ2 )
1 1
T14 = l5 cos(−θ3 + θ1 + θ2 ) + l5 cos(θ3 + θ1 + θ2 ) + l4 sin(θ1 + θ2 ) + l3 cos(θ1 + θ2 ) + cos(θ1 )l2
2 2
1 1
T21 = sin(θ3 + θ1 + θ2 ) + sin(−θ3 + θ1 + θ2 )
2 2
1 1
T22 = − cos(−θ3 + θ1 + θ2 ) + cos(θ3 + θ1 + θ2 )
2 2
T23 = − cos(θ1 + θ2 )
1 1
T24 = l5 sin(θ3 + θ1 + θ2 ) + l5 sin(−θ3 + θ1 + θ2 ) + l3 sin(θ1 + θ2 ) − l4 cos(θ1 + θ2 ) + sin(θ1 )l2
2 2
T31 = sin(θ3 )
T32 = cos(θ3 )
T33 = 0
T34 = sin(θ3 )l5 + l1
T41 = 0
T42 = 0
T43 = 0
T44 = 1

1 1
x = l5 cos(−θ3 + θ1 + θ2 ) + l5 cos(θ3 + θ1 + θ2 ) + l4 sin(θ1 + θ2 ) + l3 cos(θ1 + θ2 ) + cos(θ1 )l2
2 2
1 1
y = l5 sin(θ3 + θ1 + θ2 ) + l5 sin(−θ3 + θ1 + θ2 ) + l3 sin(θ1 + θ2 ) − l4 cos(θ1 + θ2 ) + sin(θ1 )l2
2 2
z = sin(θ3 )l5 + l1