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    rahbi malek
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    This document contains a mid-term exam for a robotics course. It has 3 questions: 1. For a 6 joint robot manipulator, establish the link frame origins and coordinate systems using Denavit-Hartenberg parameters. 2. For a 2 link planar robot, find the joint angles to move the wrist to a given transformation matrix position and orientation. 3. For a robot delivering an object to a CNC machine, calculate the transformation matrices between frames, the position of a point P in different frames, and the new position of P if the object is rotated about one of the frames.

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    This document contains a mid-term exam for a robotics course. It has 3 questions: 1. For a 6 joint robot manipulator, establish the link frame origins and coordinate systems using Denavit-Hartenberg parameters. 2. For a 2 link planar robot, find the joint angles to move the wrist to a given transformation matrix position and orientation. 3. For a robot delivering an object to a CNC machine, calculate the transformation matrices between frames, the position of a point P in different frames, and the new position of P if the object is rotated about one of the frames.

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    © All Rights Reserved
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    44 views2 pages

    Robot Exam2

    Uploaded by

    rahbi malek
    This document contains a mid-term exam for a robotics course. It has 3 questions: 1. For a 6 joint robot manipulator, establish the link frame origins and coordinate systems using Denavit-Hartenberg parameters. 2. For a 2 link planar robot, find the joint angles to move the wrist to a given transformation matrix position and orientation. 3. For a robot delivering an object to a CNC machine, calculate the transformation matrices between frames, the position of a point P in different frames, and the new position of P if the object is rotated about one of the frames.

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    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
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    of 2

    Taiz University

    Mechatronics and Robotics Dept.


    Robotics ǁ mid-term Exam.
    First semester 2018/2019

    Answer all questions


    Q1 : For the robot manipulator shown in figure below the axes of each joint is indicated
    where axes 2 , 3 and 5 are in parallel. Using the Denavit Hartenberg representation,
    establish the link frame origin and coordinate systems and derive the corresponding
    D-H parameters for all joints of the manipulator .
    𝑖 𝛼𝑖−1 𝑎𝑖−1 𝑑𝑖 𝜃𝑖

    Q2 : For the following two links planar robot find the joint angles required
    to move the robot wrist to the position and orientation given by ⬚𝐵𝑇𝑤
    transformation matrix.
    Q3 : an object needs to be processed in 3 dimensions by a CNC machine, so the
    robot in figure below is used to deliver object into the CNC machine and also
    orient it. The axes XA , YB and ZC are in parallel .
    Find:
    a- The transformation matrices ⬚𝐴𝑇𝐵 and ⬚𝐴𝑇𝐶 .
    b- the position of point P relative to frames {A }and {C}.
    c- If the object is rotated (-90) degrees about ZB , find the new position of
    point P relative to frame { C}

    Wish you the best,,,,,,

    Eng. Malek Alrahbi

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