INDIAN INSTITUTE OF TECHNOLOGY ROORKEE, ROORKEE

IMA-303 (ROBOTICS AND CONTROL)

Tutorial Sheet-1

1. OAB is a two arm robot manipulator if OA=4 and AB=3. Find 1 and 2 when the
end-effector B is at (1, 2).

2. Find the workspace of the robot in Fiq-1 if OA = L1 and AB = L2 such that (i) L1 > L2
(ii) L1 < L2 (iii) L1 = L2 and /2 1 , 2 /2.
3. If the end-effector B is at (1, 2) initially, and if it has to move along the line 2x + y = 4.
Find the corresponding joint angles 1 , 2 by taking OA = 5 and AB = 3. Find the values
of x and y for which the point B is in the workspace.
4. OABC is a three axis manipulator shown in Fiq-2 which moves on a plane. Solve the
inverse Kinematic problem of OABC.

5. If OA=3, AB=2, BC=1. Find 1 , 2 , 3 when C is at (3, 1).

6. Fig-3 shows a three arm manipulator which moves in 3-D space. If OA = L1 , AB = L2
and BC = L3 then write the direct Kinematic equations and solve the inverse Kinematic
problem.

7. If the end-effector C is initially at (1, 2, 1) and it should move along the line
x1 y2 z1
=
=
2
1
3
then find the values of 1 , 2 , 3 for such a motion.