AIN SHAMS UNIVERSITY

FACULTY OF ENGINEERING
MECHATRONICS ENGINEERING DEPARTMENT

Summer course

MCT 455: Industrial Robotics

Sheet 5- Differential Motions And Velocities

1. Suppose the location and orientation of a hand frame is expressed by the following
matrix. What is the effect of a differential rotation of 0.15 radians about the z-axis,
followed by a differential translation of [0.1, 0.1, 0.3]? Find the new location of the
hand. Hint (Find Tnew)

2. As a result of applying a set of differential motions to frame T shown, it has changed an

amount dT as shown. Find the magnitude of the differential changes made (dx, dy, dz, x,
y, z) and the differential operator with respect to frame T.

3. The hand frame of a robot and the corresponding Jacobian are given. For the given
differential changes of the joints, compute the change in the hand frame, its new
location, and corresponding operator .

4. A camera is attached to the hand frame T of a robot as given. The corresponding inverse
Jacobian of the robot relative to the frame at this location is also given. The robot makes
a differential motion, as a result of which, the change dT in the frame is recorded as
given.
a) Find the new location of the camera after the differential motion (Find Tnew)
b) Find the differential operator (Find )
c) Find the joint differential motion values Dassociated with this move

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5. For the 6-DOF robot shown below, the forward kinematics solution is given as follows:
Calculate the T6J21 element of the Jacobian for this revolute robot

6. In problem 5, calculate the T6J16 element of the Jacobian for the revolute robot.

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Note:

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