My Lord! Advance me in Knowledge and true understanding .

Dec. 12, 2012, IIUM, Malaysia.

My Lord! Advance me in Knowledge and true understanding .
ROBOTICS
MCT 4215
Tutorial Question Set 1
Tutor
Md. Akhtaruzzaman
akhter900@yahoo.com

Lecturer
Assoc. Prof. Dr. Amir A. Shafie


Department of Mechatronics Engineering, Kulliyyah of Engineering,
International Islamic University Malaysia (IIUM)
53100 Kuala Lumpur, Malaysia
3 Dec. 12, 2012, Kulliyyah of Engineering, IIUM, Malaysia
Ans:
1. Assign the Z-axis to each joint.
a) Revolute joint: Z-axis is the axis of rotation
(using right hand rules).
b) Prismatic joint: Z-axis is along the direction of
movement.
c) End effector: Z-axis always points away from the
end effector.

2. X-axis for each joint.
a) X-axis is in the direction of the common normal
between the previous Z-axis, and the current Z-
axis.
4 Dec. 12, 2012, Kulliyyah of Engineering, IIUM, Malaysia
Ans (Con.) :

1. Exceptions

1. Z-axes are parallel: There exists infinite number
common normals. X-axis is co-linear with the
common normal of the previous joint.

2. Z-axes are intersecting: X-axis is perpendicular
to the plane made by the Z-axes (perpendicular
to both Z-axes).
5 Dec. 12, 2012, Kulliyyah of Engineering, IIUM, Malaysia
(n-1)
(n)
(n+1)
6 Dec. 12, 2012, Kulliyyah of Engineering, IIUM, Malaysia
Pre analysis: (Four Steps; , d, a, )
1. Rotate an angle of
(n+1)
about Z
n
axis so that X
n

comes at the parallel of X
(n+1)
.

2. Translate with the distance of d
(n+1)
along the Z
n

axis so that the X
n
and X
(n+1)
becomes collinear.

3. Translate with the distance of a
(n+1)
along the X
n
axis
so that both the origins of the X
n
and X
(n+1)
comes
on the Z
(n+1)
axis.

4. Rotate an angle of
(n+1)
about X
(n+1)
axis to align
the Z
n
axis with the Z
(n+1)
axis.
7 Dec. 12, 2012, Kulliyyah of Engineering, IIUM, Malaysia
5/18/2011 8
9 Dec. 12, 2012, Kulliyyah of Engineering, IIUM, Malaysia
Ans (a):
x
0
Z
0
x
1
x
2
x
3
x
4
Z
1
Z
2
Z
3
Z
4
d a
1.
2.
3.
4.
0 d
1
0 0

2
0 a
2
0

3
0 a
3
180
0 d
4
0 0

3
d
4
10 Dec. 12, 2012, Kulliyyah of Engineering, IIUM, Malaysia
Ans (b):
# u d a o
1
1
0

a
1
0
2

2

0 a
2
0
3 0 -d
3
0

180
4
4
d
4
0 0
x
0
x
1
x
2
x
3
Z
0
Z
1
Z
2
Z
3

4
d
3
x
4
Z
4
11 Dec. 12, 2012, Kulliyyah of Engineering, IIUM, Malaysia
Ans (c):
# u d a o
1
1
0

a
1
0
2
2
0 a
2
0
3 0 -d
3
0

180
4
4
0 0 0
x
0
Z
0

1
x
1
Z
1

2
x
2
Z
2
d
3
x
3
Z
3

4
x
4
Z
4
12 Dec. 12, 2012, Kulliyyah of Engineering, IIUM, Malaysia
Ans.: (Analysis)
13 Dec. 12, 2012, Kulliyyah of Engineering, IIUM, Malaysia
Ans. (a):
d a
1.
2.
3.
4.
0 d
1
0 0

2
0 a
2
0

3
0 a
3
180
0 d
4
0 0
14 Dec. 12, 2012, Kulliyyah of Engineering, IIUM, Malaysia
Ans. (b):
# u d a o
1
1
0

a
1
0
2
2
0 a
2
0
3 0 -d
3
0

180
4
4
d
4
0 0
15 Dec. 12, 2012, Kulliyyah of Engineering, IIUM, Malaysia
# u d a o
1
1
d 0 90
2
2
0 e

0
3
3
0

f -90
4 -90

0

0 -90
x
0
Z
0
x
1
Z
1
x
2
Z
2
x
3
Z
3
x
4
Z
4
(a) Assign coordinates frames to the robot arm using the D-H algorithm.
(b) Fill out the parameters table of the robot arm.
16 Dec. 12, 2012, Kulliyyah of Engineering, IIUM, Malaysia
(a) Derive the inverse kinematic equations for 1, 2and 3 in symbolic form.
(b) Calculate the values of u
1
, u
2
and u
3
for the given location.
Ans:
(
(
(
(

=
(
(
(
(

+
+
+
=
1 0 0 0
77 . 2 0 422 . 0 906 . 0
023 . 1 866 . 453 . 0 211 . 0
772 . 1 5 . 0 785 . 0 366 . 0
1 0 0 0
0
) (
) (
2 2 23 3 23 23
2 2 23 3 1 1 23 1 23 1
2 2 23 3 1 1 23 1 23 1
0
S L S L C S
C L C L S C S S C S
C L C L C S S C C C
T
H
(
(
(
(
(

=
1 0 0 0
p
a o n
p
a o n
p
a o n
z
z z z
y
y y y
x
x x x
17 Dec. 12, 2012, Kulliyyah of Engineering, IIUM, Malaysia
(a) Derive the inverse kinematic equations for 1, 2and 3 in symbolic form.
(b) Calculate the values of u
1
, u
2
and u
3
for the given location.
Ans: (Con.)
(
(
(
(
(

=
(
(
(
(

+
+
+
=
1 0 0 0
1 0 0 0
0
) (
) (
2 2 23 3 23 23
2 2 23 3 1 1 23 1 23 1
2 2 23 3 1 1 23 1 23 1
0
p
a o n
p
a o n
p
a o n
z
z z z
y
y y y
x
x x x
H
S L S L C S
C L C L S C S S C S
C L C L C S S C C C
T
Su
1
= a
x
& Cu
1
= -a
y

So, tan(u
1
) = -(a
x
/a
y
)
u
1
= tan
-1
(-a
x
/a
y
)
= atan2(-a
x
, a
y
)
u
1
= tan
-1
(-0.5/-0.866)
= 30.00073
u
2
= 69.537373
u
3
= -123.33325
18 Dec. 12, 2012, Kulliyyah of Engineering, IIUM, Malaysia