Oct

28, 2019, Intro to Robotics

Name: ________________________________________

PeopleSoft ID: __________________________________________________
Problem Score Possible
1 15
2 25
3 15
4 25
5 15
6 10
Totals 105
You may have on your desk:
• Your student ID card
• 1 handwritten 8.5”x11” double-sided crib sheet
• This exam (provided by Professor)
2 for trying
Grading: (problem difficulty) × # 3 if partially correct
5 if correct
As in Appendix A, 𝜃 = Atan2(cos(𝜃) , sin(𝜃)) = Atan2(𝑥, 𝑦) !

Concepts: Covers chapters 1—4, 11.1—11.2
Rotations & transformations
• Composition of rotations about world or current frame
• Construct a homogenous transform
Kinematics
• Assign DH parameters
• Given DH parameters, construct A matrix
• Given two A matrices, construct T matrix
Inverse Kinematics
• Two-argument arc tangent function
• Solve inverse position kinematics for a 3-link arm
Jacobian
• Construct Jacobian given sketch and T matrices
Computer Vision
• Move from camera frame to world frame, reason from image coordinates

Midterm 2019 fall, Version B 1

 Problem 1: ______/15
I. (5 pt) Write the matrix product that will give the resulting rotation matrix
(DO NOT perform the matrix multiplications, DO simplify):
a. Rotate by α about the current z-axis
b. Rotate by β about the world y-axis
c. Rotate by γ about the world z-axis
d. Rotate by Φ about the current z-axis
e. Rotate by q about the current x-axis
f. Rotate by ψ about the world y-axis




II. (5 pt) Suppose the three coordinate frames 𝑜> 𝑥> 𝑦> 𝑧> , 𝑜@ 𝑥@ 𝑦@ 𝑧@ , and 𝑜A 𝑥A 𝑦A 𝑧A are
given, and suppose
1 0 0
⎡ √A >⎤ −1 0 0
@
𝑅> = ⎢ 0 @
− @⎥, 𝑅> = M 0
A
0 1N. Find the matrix 𝑅A@
⎢ > √A ⎥ 0 1 0
⎣0 @ @ ⎦







2
III.(5 pt) Consider diagram at right. The cube front right xe
bottom corner is (1.5,2,-2) meters from the robot base. ye
ze
The cube has 1-meter sides. A frame 𝑜> 𝑥> 𝑦> 𝑧> is fixed to 1.5
z0
the side of the cube as shown. A second coordinate frame y0
𝑜@ 𝑥@ 𝑦@ 𝑧@ is centered on the top of the cube as shown. A x0 z3
y3 x
camera is situated 2 meters right and ½ meter above z2 x2 2 3 ½
2
frame 2 with frame 𝑜A 𝑥A 𝑦A 𝑧A attached as shown. Find the y2

homogenous transform relating the camera frame to 1

1.5
the frame 𝑜O 𝑥O 𝑦O 𝑧O , that is, 𝐻AO : z1 x1
y1
1
2

Midterm 2019 fall, Version B 2

Problem 2: ______/25 Rotation matrices
𝑐W 𝑐X −𝑐Y 𝑠W + 𝑐W 𝑠Y 𝑠X 𝑠W 𝑠Y + 𝑐W 𝑐Y 𝑠X 𝑟>> 𝑟>@ 𝑟>A
𝑠 𝑐
Let 𝑅RST =U W X 𝑐 𝑐
W Y + 𝑠 𝑠 𝑠
W Y X −𝑐 𝑠
W Y + 𝑐 𝑠 𝑠 𝑟
Y W X \ = M @> 𝑟@@ 𝑟@A N
−𝑠X 𝑠Y 𝑐X 𝑐Y 𝑐X 𝑟A> 𝑟A@ 𝑟AA
@
If 𝑟>> and 𝑟@> are not both zero, then 𝑟A> ≠ ±1 , −𝑠X = 𝑟A> , and 𝑐X = ±`1 − 𝑟A> .
If 𝒄𝜽 >0 ( 𝒄𝜽 positive), then

a. (5 pt) 𝛼 =


b. (5pt) 𝛽 =


c. (15 pts) Matrix Identification, state Yes or No. +1 for each correctly listed
valid so(k) valid SE(n) valid SO(n)
0 −1 0 0
1 0 0 0
e f
0 0 0 1
0 0 −1 0

⎡√3 − 1 0⎤
⎢2 2 ⎥
⎢ 1 √3 ⎥
⎢2 0⎥
2
⎣0 0 1⎦

0 −1 0
⎡ √A >⎤
⎢ − @
0 − @ ⎥
⎢ > √A⎥
⎣ @ 0 − @⎦


1 1
⎡ − 0⎤
⎢√2 √2 ⎥
⎢1 1
0⎥
⎢√2 √2 ⎥
⎣0 0 1⎦


0 0 0 −1
0 0 1 0
e f
−1 0 0 0
0 −1 0 0

Midterm 2019 fall, Version B 3

Problem 3: ______/15, Forward Kinematics
a.) (5 pt) For the 3-link robot below, draw and label the z and x-axes according to
the DH convention


𝑧A

𝑥A





origin

b.) (5pt) Give the DH parameters for this PRR robot.
1/3
𝑥A
2/3 * indicates variable
𝑧A 3/4 Link 𝑟g 𝛼g 𝑑g 𝜃g
𝑦A
𝑦> 𝑧@ 1
𝑥@
𝑥> 2
𝑧>
variable

𝑧o 4/5 3
1
𝑥o



c.) (5pt) Compute the transformation matrix A2 using the DH parameters:

* indicates variable

Link 𝑟g 𝛼g 𝑑g 𝜃g
1 3 45° 5 𝜃>∗
2 5 90° 2 𝜃@∗
3 7 90° 4 𝜃A∗
4 9 −90° 𝑑m∗ −90°

Midterm 2019 fall, Version B 4

 −𝜋/2 ≤ 𝜃A∗ ≤ 𝜋/2
𝑥@
Problem 4: ______/25 1 2
RPR robot for inverse kinematics. 𝑧o
p qp 1
Shown: (𝜃> , 𝑑@ , 𝜃A ) = ( m , 1, A@ ) 𝑥> 𝑥o 1
1 ≤ 𝑑@∗ ≤ 2 𝑦> 0 ≤ 𝜃>∗ ≤ 𝜋

4
4

2 2

y0 ⟶
y1 ⟶

0 0

-2 -2

-4 -4
-4 -2 0 2 4 -4 -2 0 2 4

x1 ⟶
x0 ⟶


a.) (2pt) draw & shade 𝑥> , 𝑦> cross-section of b.) (8pt) draw & shade 𝑥o , 𝑦o cross-section of

manipulator’s workspace at 𝑧> = 1. Label all radii. manipulator’s workspace at 𝑧o = 2. Label all radii.


What joint variables place the end-effector at the point [xc,yc,zc] specified in the

frame 𝑜o 𝑥o 𝑦o 𝑧o ? Assume the point is reachable and that 0 ≤ 𝜃A∗ ≤ 𝜋/2.

c.) (5pt) 𝜃A∗ =



d.) (5pt) 𝑑@∗ =





e.) (5pt) 𝜃>∗ =

Midterm 2019 fall, Version B 5

Problem 5: ______/15
Calculate the manipulator Jacobian of the 2-link RR arm at the position o2 = oc.
c> −𝑠> 0 4c> c>u@ 0 −s>u@ 4c> + 2 𝑐>u@
s 𝑐> 0 4s> s 0 c>u@ 4s> + 2 𝑠>u@
𝑇>o = e > f , 𝑇@o = e >u@ f
0 0 1 4 s@ 0 0 9
0 0 0 1 0 0 0 1
a. (3 pts) Write out the J matrix in terms of zi and oi.






b. (2 pt) Write out the zi and oi values needed for part a.







c. (10 pts) Write out the J matrix. Calculate the cross products.

Midterm 2019 fall, Version B 6

Problem 6: ______/10 Computer Vision
a. (5 pt) frames 𝑜> 𝑥> 𝑦> 𝑧> and 𝑜o 𝑥o 𝑦o 𝑧o are related by 0 0 1 −8
>
homogenous transformation 𝐻o . A particle has position −1 0 0 2
𝐻o> = e f
y
[4,2, − 6] relative to frame 𝑜o 𝑥o 𝑦o 𝑧o . What is the position of 0 −1 0 5
the particle in frame 𝑜> 𝑥> 𝑦> 𝑧> ? 0 0 0 1














b. (5 pt) For a camera with focal length 𝜆 = 4, suppose the optical axis is
parallel with the world y-axis, the camera x-axis is parallel to the negative world z-
axis, (and thus camera y-axis parallel to negative world x-axis) and the center of
projection has world coordinates [3, −9,6]y .

Compute [18,3, 18]| à ( , , )C

And convert these to image plane coordinates à (u,v)=

Midterm 2019 fall, Version B 7