Lilla apallellayell alllaedall INTERNATIONAL ISLAMIC UNIVERSITY MALAYSIA END-OF-SEMESTER EXAMINATION SEMESTER 1, 2013/2014 SESSION, KULLIYYAH OF ENGINEERING Programme : MECHATRONICS ENGINEERING Time : 09:00 am-12:00 noon Duration —: 3 Hrs Level of Study: UG4 % Date: 29 December, 2013 Course Code: MCT 4215 Course Title: Roboties Section(s): 1 & 2 This Question Paper Consists of 6 (Six) Printed Pages (Including Cover Page) With 5 (Five) Questions. INSTRUCTION(S) TO CANDIDATES. DO NOT OPEN UNTIL YOU ARE ASKED TO DO SO . « Answer ALL Questions. + KoE approved calculator allowed (non-programmable and non-graphical). * Marks assigned to each problem are listed in the margins. Any form of cheating or attempt to cheat is a serious offence which may lead to dismissal. . Mobile phones are prohibited in the exam hall.[20 marks} For the G-axisirobot shown in Fig. 1, assign coordinate frames to the robot arm (8 marks) using the D-H algorithm and fill out the D-H parameters table, Use the supplied paper. Fig. 1 _f) A frame is given tue etations, one about x-axis and another about y-axis both by (8 marks) 90°. Show that Ry Ry #Ry Re Also éxplain with the help of a diagram. 6 For the frame (F}, find the values of the missing elements and complete the matrix (4 marks) representation of the frame. 7 0 -15 . 70 03 Fe 2-102 00 01 Q2. [20 marks] G@) Given set of equations Y; of a set of variables xj and differential change in ¥; for a (4 marks) differential change in xp is: fi fa, of ¢ one Gent Bett By 6x; Write the matrix representation of Jacobian for Yj, i= 1,2,...dand x= 1,2,...f wy, (Bw IO hr Day ”, HT oy | L595Robotics ) r “eo we" (aa Qs. @ (b) MCT 4215 initial location and orientation of a robot’s hand is given by 7), and its new (6 location and orientation after a change is given by T. 1 Oo O1 48 _ {01 9 -1 35 P R=Vo 1 0 62 00 0 1 i. Find a transformation matrix Q that will accomplish this transform. ii. Find a differential operator A that will do the same (the change is small). ili, Find the differential translation and rotation that constitute this operator. ‘The hand frame Ty and the corresponding inverse Jacobian relative to # robot are given. The robot. += makes_—a_—sdifferential TD = [0.05 0 ~0.1 0 0.1 O.1]"relative to this freme. me of 2 motion (10 marks} 0 000 . 1000 0 000 0 010 0 100 10 0004 i, Determine which joints must make a differential motion, and by how much, in order to create the indicated differential motions. ii. Find the change in the frame. iii, Determine the new location of the frame after the differential motion. iv. How much the differential motions (given above) should have been if measured relative to the Universe, to move the robot to the same new location as in Part (iii). [20 marks} Find the expression for the derivative of the transformation of the fifth Jink of the (4 marks) Stanford Arm i.e spherical robot to the base frame with Tespect to the second and third joint variables. = POA AyAy..QyAy.Aywherej x B Kk 1 } 5 m Fig. 3 4 14Robotics MCT 421s, Q4. [20 marks} §) Figure 4 shows joint-space, nonnormalized movements of a robot with two degree (6 ma freedom. i. Explain the problems of the path and the distances travelled by the robot's end. ii, Propose new improved joint-space and Cartesian-space movement and draw the movements with appropriate angles a and B. ; a . ° : Fig. 3 LY (fifth-order polynomial js to be used to contro} the motions of the joints of a robot (14 marks) oi 103} Find the coefficients of a fifth-order polynomial that wili allow'a —= = Joint to go from an initial angle of O"to a final joint angle of 75” in 3 seconds, while « the initial and final velocities are zero and both initial acceleration and final deceleration are10°/sec?. QS. [20 marks} 4) Compare and contrast the various methods of force control. * 2 marks) = (b) Both feed forward control and feedback contip! are used in controlling a robotic (08 marks) manipulator. Discuss with the help of basic structure of position contro! loop.Lalla dzdlellayell allacalell INTERNATIONAL ISLAMIC UNIVERSITY MALAYSIA END-OF-SEMESTER EXAMINATION SEMESTER 2, 2012/2013 SESSION KULLIYYAH OF ENGINEERING Programme : MECHATRONICS ENGINEERING Level of Study : UG 4 . Time + 09:00 am-12:00 noon Date :31 May, 2013 Duration : 3 Hrs Course Code: MCT 4215 Sections) 1&2 Course Title: Robotics This Question Paper Consists of 6 (Six) Printed Pages (Including Cover Page) With 6 (Six) Questions. INSTRUCTION(S) TO CANDIDATES, DO NOT OPEN UNTIL YOU ARE ASKED TO DO SO ‘There are two sections, answer ALL Questions in Section A and ONLY TWO Questions in Section B. Any form of cheating or attempt to cheat is a serious offence which may lead to dismissal.() SECTION A Answer ALL QUESTIONS in this Section Suppose the robot in Fig. 2 is to be moved towards part P in order to drill a hole in the part. The robot’s base position relative to the reference frame U is described by a frame R, the robot’s hand is described by frame H, and the end effector (let’s say the end of the drill bit that will be used to drill the hole) is described by frame E. The part’s position is also described by frame P. To drill the hole, point E must locate on the part. Calculate the transformation matrix that can be used to find the robot's joint variables. 1000 oo -13 O.-10 0 oo12 o100 a 1000 002 U. Oo -1 0 Ol” P. Tp =I Un, = Ts=| T.= "Blo 9 13] |1 0 0 5 0.0 14) F"jo 104 ooo01 0 0 01 oo 01 0001 v MCT 4215 (8 marks)Mt (e) A frame {B} is attached to the origin of the reference frame {A} and is parallel to (6 mar] Apply the following two set of transformations to frame {B} and draw the fremes in seperate figure. @ Rotate $6 about 5 unit along x-axis. Gi). Transiate 5 unit along x-axis; then rotate 90° about z-axis. Q2. [20 marks] (@) Describe the procedure for assigning local fram: the D-H parameters. (8 marks) (b) For the PUMA 6-axis robot shown in Fig. 3, Assign coordinate frames to the (12 marks) robot arm using the D-H algorithm and fill out the D-H parameters table. Use the supplied paper. Q3. (20 marks] (@) The transformation matrices of an articulated, 3-DOF robot are given below. (12 marks) Derive the inverse kinematic equations. qo 4 0 Cz -S, 0 LCs Cy -53 0 Cy 7 C 0 LS. C0 Aa{ © ~ OL 4g |S2- Co aSal 4 |S: Ca 0 Lass 0100 0 0 1 0 oo 1 0 000 1 o oo 1 0 00 1 Gea - GSS GllsCs +1202) ogy a| Cs ~Si8an ~Gr SlsCs +1202) Ss Cy 0 Sy tha o 0 0 1 (p) Sketch the basic structure of a position control loop for a robot. Write short notes (8 marks) os on position control and force control of the robot.MCT 4215 SECTION B:-Answer any TWO QUESTIONS from this Section (20 marks} The location and orientation of a robot's hand (8 marks} location and orientation after a change is given by Tz (Finda transformation matrix Q that will accomplish this task. (i) Finda differential operator A that will do the same change. (ii) Find a differential translation and a differential rotation that constitute this, ‘operator, - oo: 19) 0 01 1 1047 0 oo 5 | 99 5] 7,-|! 0103 0 1 -01 22 : 0001 oo 0 1 (b) The transformation matrices of an RPR 3-DOF robot are given in symbolic form. (12 marks) (i) Derive the Robot Jacobian (ii) Find the singularities of the robot. 0 -s, 0 10q 0 G0 S; LC oc Of, jot 0 -C, £8) -1 0 of’? jo o 1 0 of oo 1 0 0 oo. 1 GC, -S, CS; LsGCs-S\4, C, S\Sy Ly8,C+ Cd 0 ¢ —L,S; 0 0 1(20 marks}, trices and link (Find the Dy ia symbolic form (ii) Calculate the inertia matrix of each link. (12 marks) (8 marks) Where, Cc 0 S, Oj 0 1,C,) je, -5; 8 2,0] 4 af 9 GO} 0 1,8, 5, C, 0 LS, lo 1 0 0 1 0 o o 1 of . 00 0 1 0 0 0 1 o 0 0 1 Gln -CSy 5, C(LCy +L,C,) Six -SSy Cy S\(L,Cy + 1,0) “| Sy Cy 0 LSy +L,8, 0 0 0 1 Link parameters [# [mass [length 1 |[3kg [30cm 2 |2kg [35cm _| 3 [15kg [25em_| g Fig. 420 marks} ‘A rotary joint moves from @ to in fy seconds. Determine the fifth-order polynomial for a smooth wajectory, if the initial and final velocities and accelerations are zero. To assemble two parts together, one part must be pushed into the other with a force of 10 kg along the x-axis, 5 kg along the y-axis, and be turned with a torque of 5 kg-m about the x-axis. The object’s location relative to the base frame of a robot is described by: To -0.707 0.707 4 o ap |} 0 0 6 a lo 0.707 0.707 3 0 0 01 ‘Assuming that the two parts must be aligned together for this purpose, find the necessary forces and moments that the robot must apply to the part relative to its hand frame. END MCT 4215 (10 marks) J (10 marks)