19EEE354 – Introduction to Robotics

Periodical – 1
Answer key

1. List with brief explanation on the type of end effectors that can be used to lift the following objects.
[CO01] [BTL 1] [3 Marks]
a. Folded Towel - Ingressive – pins, needles or hackles which physically penetrate the surface of the object
b. Cardboard box - Impactive – jaws or claws which physically grasp by direct impact upon the object
c. Mirror - Astrictive – suction forces applied to the objects surface (whether by vacuum, magneto– or electro
adhesion)

2. Suggest an actuator that can be used for control of fluid flow. List the type of fluids and their
corresponding applications. [CO01] [BTL 2] [3 Marks]

Solenoid actuator [1 mark]

Fluid: air/hydraulic [1 mark]
Application: fast movement/heavy load lifting [1 mark]

3. Consider 2 frames, {XYZ} and {UVW} that are initially coincident with common origin O. The second
frame is rotated about y-axis of first frame by ϴ°. Derive the rotation matrix and draw the suitable
diagram to represent the frame rotation. [CO01] [BTL 2] [4 Marks]

[1 marks]

[1mark]

[1 mark]

[1 mark]

4. List the different types of joints that can be used in the construction of a robotic arm. Describe the
movement of the joints with respect to the axis of the links. [CO01] [BTL 1] [5 Marks]
 Translational motion(P)
Linear joint
Orthogonal joint
Rotary motion (R)
Rotational joint
Twisting joint
Revolving joint

Listing of joint [2.5 marks]

Description with respect to axis [2.5 marks]

5. Compare the serial and parallel robotic manipulators. [CO01] [BTL 1] [5 Marks]
Serial Parallel
– Large workspace – Restricted workspace
– Low stiffness – High Stiffness
– Cumulative errors from link to link
– Proximal links carry the weight and load of distal – Common link-joint configuration
links – Light construction
– Actuation of proximal joints affects distal links
– Limited load-carrying capability at end effecter – High load-carrying capacity

6. A unipolar stepper motor is required to have a step angle of 45°. Tabulate the continuous bit sequence for
the following rotations in half steps, [CO01] [BTL 3] [5 Marks]
Poles can be named with continuous number/alphabet in clockwise direction.
a. Initial position: 0°
b. Clockwise rotation of 67.5°
c. From the above position, anti-clockwise rotation of 90°
d. What is the absolute angular position of the previous step with respect to pole 1 in
clockwise direction?

1 2 3 4 5 6 7 8 Marks
a 1 0 0 0 0 0 0 0 0.5
b 1 1 0 0 0 0 0 0 1.5
0 1 0 0 0 0 0 0
0 1 1 0 0 0 0 0
c 0 1 0 0 0 0 0 0 2
1 1 0 0 0 0 0 0
1 0 0 0 0 0 0 0
1 0 0 0 0 0 0 1
d 337.5° 1

7. A 12V DC motor must be fitted as a part of robot mobile platform. The motor requires speed and
direction control. [CO01] [BTL 3]
a. Explain the interface of an 8-bit microcontroller to the 12V DC motor with suitable diagrams.
[5 Marks]

Explanation on the usage of PWM peripheral – 2 marks

H bridge circuit and working – 3 marks

b. Derive the transfer function of the actuator with suitable free body diagram. [6 Marks]
 1 mark
Derivation – 5 marks
(J) moment of inertia of the rotor
(b) motor viscous friction constant
(Ke) electro motive force constant
(Kt) motor torque constant
(R) electric resistance
(L) electric inductance

8. Orientation of an end effector is changed in such a way that it is subjected to a yaw of −𝜋⁄2 followed by
a roll of 𝜋⁄2 about the fixed axis. Determine the final 4x4 transformation matrix.
[CO01] [BTL 4] [7 Marks]
0 1 0
Rz(-90) = (−1 0 0) [2 marks]
0 0 1
1 0 0
Rx(90) = (0 0 −1) [2 marks]
0 1 0
2
R1 = Rx(90) * Rz(-90)
1 0 0 0 1 0 0 1 0
= (0 0 −1) (−1 0 0) = ( 0 0 −1) [2 marks]
0 1 0 0 0 1 −1 0 0
0 1 0 0
2 0 0 −1 0
T1 = ( ) [1 mark]
−1 0 0 0
0 0 0 1
9. Find the new location of point A, initially at A = [6 0 -2 2]T, if
a. The vector about A is rotated by π in anticlockwise direction about z-axis and then translated by
3 units along y-axis.
b. The vector about A is translated by 3 units along y-axis and then rotated by π in anticlockwise
direction about z-axis.
c. Infer the results of (a) and (b) [CO01] [BTL 4] [7 Marks]

a. A = [6 0 -2 2]T = [3 0 -1 1]T [1 mark]

𝑐𝑜𝑠𝜋 −𝑠𝑖𝑛𝜋 0 −1 0 0
Rz(π) = 𝑠𝑖𝑛𝜋 𝑐𝑜𝑠𝜋 0 = 0 −1 0 [2 mark]
0 0 1 0 0 1

Dy = [0 3 0]T

−1 0 0 0
2 0 −1 0 3
T1 = ( ) [1 mark]
0 0 1 0
0 0 0 1

−1 0 0 0 3 −3
2 0 −1 0 3 0 3
G = 2T11G = ( )( ) = ( ) [1 mark]
0 0 1 0 −1 −1
0 0 0 1 1 1

b.

−1 0 0 0 3 −3
2 0 −1 0 3 0 3
G = 2T11G = ( )( ) = ( ) [1 mark]
0 0 1 0 −1 −1
0 0 0 1 1 1
c. Rotation and translation are commutative. Provided (a) and (b) are correct. [1 Mark]