Tutorial-4

Question.1 If

C1

S1

S1 0
0
T1 =

0 1

0 0

d1

C1
0
0

C2 S2 0 a2C2

S2
1
T2 =

C2
0
0

0 a2 S2

1
0

0
1

and

C S3
3

S3 C3
2
T3 =

0
0

0
0

Find

0 a3C3

0 a3 S3

1
0

0
1

T
and 3 =
at 1 = , 2 =
2
4
3
2

Question.2 Find
T
T

,
f or SCARA at 1 =
2 =
, d3 = 10 4 = 0
2
d3
4
2
also find the Jacobian.

Question.3 At time t = 0 , t1 and t2 the configuration vector of the end effector of a manipulator are 0 1 and 2 respectively. At t=0 it starts from rest and stop at t = t2 . In
the interval [0,t2 ]it moves in a smooth trajectory consisting of two parts namely polynomial
u(t) in [0,t1 ] and polynomial v(t) in [t1 , t2 ] with the constraints that the velocity is continuous
at t = t1 . Find the piecewise trajectory in term of 0 1 and 2 .

Question.4 Consider the conveyor system as shown in figure.suppose the height of the conveyor is 200 mm. The objects(cubes) on the conveyor belt are of dimension 50 mm. The belt
is moving at a rate of 100 mm/sec. and it is situated at a distance of 400 mm from the base in
y- direction.

(a) Find the expression for the arm matrix 0 Te (base to end effector)which will allow the end
effector tool to track a cube on the belt from x=-100 mm or x=0, while grasping the part on
the front to back face.
(b)Find 0 Te which will allow the tool to pick a cube off the conveyor belt starting at x=0 and
ending at x=100 mm with a vertical motion of 80 mm/sec.
Question.5 At timet=0 the end effector of SCARA manipulator is at rest in

a position given by

1 0
0 4
1 0
0 4

0 1 0 5
0 1 0 5

w.r.t. base. At t=10 it is required to stop at a position

.

0 0 1 8
0 0 1 8

0 0
0 1
0 0
0 1
If d1 = 10 , a1 = 5, a2 = 4, d4 = 4, 0 d3 6. Find joint angle and joint velocity as a function
of t.
Question.6 T represents the homogeneous transformation of a frame M w.r.t. a frame F. If a
differential Translation d = i + j + k and a differential rotation = x i + y j + z k are
2

given
to M w.r.t. F and if dT
0
z y

z
0 x
=

y x
0

0
0
0
1

=
T then prove that