HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY

SEMESTER 1 EXAMINATION 2019-2020

ME3015 – Robotics

Jan 05, 2020 Time Allowed: 120 minutes

INSTRUCTIONS
1. This paper contains 4 questions and comprises 3 pages.
2. This is an OPEN BOOK examination (using electronic devices is not allowed).
3. Notes:
 R
TA has the same meaning as RA T (do similarly with RRA and RA𝐑)
 Frame {A} has its three orthogonal unit axes, namely XA, YA, and ZA

Question 1 (2,0 marks) (L.O.1)

Do the followings:
a. Referring to Fig. 1, give the value of 𝐵𝐴𝑻
b. Referring to Fig. 1, give the value of 𝐴𝐶𝐓
c. From a, determine the value of 𝐵𝐴𝐓.
d. From b and c, determine the value of 𝐵𝐶𝐓.

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Fig. 1

Question 2 (2,0 marks) (L.O.1)

A frame {B} is located initially coincident with a frame {A}. Implement the rotations of {B}:
a rotation of 45 degrees about XB-axis followed by 60 degrees about ZA-axis. Do the followings:

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 a. Give the rotation matrix that will change the description of vectors from 𝐵𝑃 to 𝐴𝑃 .
b. Find the final global position of a body point at 𝐵𝑃 = [10, 10, −10]𝑇
c. Determine a unique rotation about an equivalent axis for the rotations

Question 3 (4 marks) (L.O.2)

An RPP spatial robot with known frames is used to manipulate a gripper at point D as shown
in Fig. 2.

X2 X3
Fig. 2
Z2
D

Z3

X1
Z0  Z1

X0

With this manipulator, do the followings:

a. Determine three sets of D-H parameters corresponding to the three joints.
b. Derive the neighboring homogeneous transformation matrices: 0T1, 1T2, and 2T3.
c. Derive the forward-pose kinematics solution, i.e. 0xD, 0yD, and 0zD, as a function of joint
variables (dd3
d. Derive the constraint of 0xD, 0yD, and 0zD in which solutions of the inverse kinematic
problem exist. Assume that:
 there are no joint limits of 
 d2 = [0, d2max] and d3 = [0, d3max]

Question 4 (2 marks) (L.O.2)

An RPR planar robot with known frames as shown in Fig. 3 in which

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 cos(𝜃1 + 𝜃3 ) −sin(𝜃1 + 𝜃3 ) 0 𝑙3 cos(𝜃1 + 𝜃3 ) + 𝑑2 sin(𝜃1 )
0 sin(𝜃1 + 𝜃3 ) cos(𝜃1 + 𝜃3 ) 0 𝑙3 sin(𝜃1 + 𝜃3 ) − 𝑑2 cos(𝜃1 ) ]
3𝐓 = [
0 0 1 0
0 0 0 1

X2

Fig. 3 Y0 l3
X1 Y2 Y3

Z1 D
X0 X3

Do the followings:
a. Derive the Jacobian matrix 0J() for this manipulator where 0𝐕𝑫 = 0𝐉(𝜃)𝛉̇. Note that
𝛉̇ is a velocity vector of joint angles (𝜃̇1 , 𝑑̇2 , 𝜃̇3 ).
b. Consider the posture of the robot when 1 = 00, d2 = 1m, 3 = 00. It is assumed that the
links are massless and there is an external force of +10N along the axis Y3, compute the
required joint torques 1, f2, and 3 that balance the robot (under the downward
gravitational acceleration of 9.81 m/s2).

End of Paper

Head of Department Course Instructor

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