Birla Institute of Technology and Science Pilani, Hyderabad Campus

Second Semester 2018-2019

BITS F441 ROBOTICS
Close Book
Mid Semester Test 12.03.2019
90 minutes 25%weightage
Answers should be crisp and to the point, Vague or incomplete answers will not get ANY credit

Q1. For an RPR manipulator, show the line diagram of joint configuration and workspace. Consider
the motion from P-joint motion in vertical direction. [3]

Q2. The frame assignment is given here for a PRP manipulator. Obtain the homogeneous
transformation matrixes 0T1, 1T2, and 2T3 for this configuration. [9]

x3

z3 L
x2
z2 θ2
z1
d
x1
L
z0 x0
θ1

Q3. Discuss the method of ‘Inverse transform’ to solve inverse kinematic problem for a
manipulator.[4]

Q4. For A 3-dof manipulator, the homogeneous transformation matrixes are given as:

C1 0 S1 LC1 1 0 0 0 C3 0 S3 0
0 1 2
T1 = S1 0 -C1 LS1 T2= 0 0 1 0 T3= S3 0 -C3 0
0 1 0 0 0 -1 0 d 0 1 0 0
0 0 0 1 0 0 0 1 0 0 0 1

Develop the Jacobian for this manipulator and obtain the condition for singularity. [9]

Q5. (a) Write stepwise the procedure to develop a dynamic model for a manipulator using LE
formulation. [6]
(b) What are the physical interpretations of M, H and G terms and its elements in the equation of
motion? [6]
(c) Define trajectory planning and its necessity. [5]

Q6. (a) Suggest a new design for the force-torque sensor using conventional sensors. [4]
(b) Compare dynamic and static walking for legged robots. [4]

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