QB. for the Steeveds Stow mee AHO, P=-@ .L=lSem, psi2em, @= br, * yllong cmstraints — JP RWI5.- R= 0, where JB =[Sin(-B> —cosi-B) -Leewst-P>] , + sliding Constraint, : C(B»RO h = oO. where’ (B= eest-B> sint-8) SE sint-B Hao, B=, Lam re pom, eo Ys s volling constroint : ) RWIS, — 12 &=0, whee” J=L sink) -om®y off. sliding constraint: cRiorh =o. whee ¢ =foncd, sinBy 9), for _cavstor_wheel 12 Cie c= Bs Bz Bi), L= 38K, r=10, Ga %y. d= 15 + volling Constraint : JPR), - wea =o, where jiB> HE sin(gr pir) —coFrpun) 35/3 cvs Br) ] * Sliding constraint : CCB)Riy ds + 15 Pr =0, where cB) = Lcos¢ H+ Birr) Sin(Ft Pair) 363 smBr | For costor wheel 2: O=s-R. Bs Pew, b=3Sk, r=y0, @: ba, de B, yong constrainy ¢ JP R198. - pods 0 whee 7B) = [Sin(-3 + Buen) OOF + Botts) 35 Rews¢Banr] , + Sliding Constraint < eB Ras. + 1s prey Os where CP = Leost-F+ Bact) | sin 2+ Ben) 368 sinc Bien) | Li iii casaQe w \ For Fa > Fo: Pott Os. du. ds, OF ore wsedd. Be a Mie = Hm . os SP He RIAA , hy het Dejine Ny: WMie= Tia, Ya VT, mMib=T xb, Yee. rT”, — fm mm] um te | he | be he Ghia by tee he tatste ng aT ~- | Xe Yel 0 g oO ~XiaxXth ~ Yariv oO) 3 2 0 Hin Yin | ~via yd ii | : Stock Mjh= mj) em Mhem) Find vector h by ving Vine algehra » then weep h back into meaty. H will Tae sare 3 For Foes points Oo. Ob, Ou. Os one med, Mjc= Hm, similar as above AN cb» No. ot least ++ feotwe pelts must be matched “fom ieee a oma aac These 4 points must be coplancen mad —nongolineat. One more mostohec -fentwre pint, Sageae. Ord Scaled, “ficheTENTION The Snawcore Copyright Act oppose he use of hs document Nanyang Teemlegal UnverstyLibory E6221 NANYANG TECHNOLOGICAL UNIVERSITY SEMESTER 2 EXAMINATION 2016-2017 EE6221 ~ ROBOTICS AND INTELLIGENT SENSORS, April/May 2017 ‘Time Allowed: 3 hours STRUCTIONS ‘This paper contains 5 questions and comprises 6 pages. Answer ALL 5 questions 3. All questions carry equal marks, 4, This isa closed-book examination 1, A robotic manipulator is mounted on a ceiling as shown in Figure 1. (@) Use Denavit-Hartenberg (D-H) algorithm to obtain the link coordinate diagram. Derive the kinematic parameters of the robot. (15 Marks) Note: Question No. | continues on page 2ATTENTION: The Singapore Copyright At ape 1o heute af me cecument Nanyang Technologies! Unverety Libra E6221 (b) Suppose that the arm matrix of the robot manipulator in part (a) has been derived as T(q)$2gh and the robot end effector or gripper is now grasping an object as shown in Figure 2. Briefly discuss how the position and orientation of the tip of the object can be determined. Discuss the sources of errors in deriving the forward kinematie equations. (S Marks) 2. A two-link planar robot with joint variables 6, and 8, is shown in Figure 3. Figure 3 ‘When the robot end effector is notin contact with the environment, the dynamic equations of the robot are given as: romano) [5] = TOMO) Al +77 @0(0,6) = [i] where fe | So jose tsi.) 3+2c0s, 3 1,c0s(0,)+1,c0s(0,+0,) 1; cos(0, +6,) (any = [tA dH0g + Se80 #250008 409 aa 268 sin, +10c05(0, +0,) ‘Note: Question No. 2 continues on page 31,= 0.35 m, /;= 0.20 mare the link lengths, r, and r» are the joint torques of links 1 and 2, respectively. ‘The system possesses unmodelled resonances at 10 Hz, 20 Hz, and 30 Hz. (a) If the end effector is now.in contact with a vertical and frictionless wall that is located at a distance of 0.3 sh along the x-axis of the base frame and the stiffness of the wall i§ 25 W/m, design a hybrid position and force controller for the robot to perform the cOntact task by moving on the wall while exerting a desired contact force, The system should be overdamped with a damping ratio of 1.2 and should not excite the resonances. a (10 Marks) (b) Ifa constant disturbance force is acting on the end effector along vertical y-axis, derive the error equations of the closed-loop system. What controller should be used in this ease to achieve the same performance specifications in part (a)? (5 Marks) (©) _ Ifthe vertical wall with the same stiffness asin part (a) is now located at adistance of 0.5 m along the x-axis and friction is present on the surface, discuss the problems asso ited with the implementation of the hybrid position and force controller. (5 Marks) (@) Amobile platform withonghteered standard wheel ne astor wheelland ewpffixed standard wheels\is shown in Figure 4. The radii of all standard wheels are 0.045 m_ and the radius of the castor wheel is 0.040 m. A local reference frame is assigned as shown in Figure 4 and the stecred angle of the steered standard wheel is defined as shownin the figure. Te rotational velocities of the stered standard wheel, castor ‘wheel and fixed standard wheels are denoted by xa, de ds, and da, respectively. Derive the rolling and sliding constraints of the mobile platform. (10 Marks) castor wheel 020m 020m) {xed standard whee! 2 osm Figure 4 Note: Question No. 3 continues on page 4 4 ATTENTION The Singapore Copyiht Act apples othe use of tis document Nanyang Technolgies! Unverety UBrary E6221 x and y denote the position of the end-effector of the robot in Cartesian space, 3 } |ingapore Copyright Act ales tothe use of his document Nonyong Technological Univers Lrany E6221 (b) A robot manipulator with 4 joints q,, day dz and qy is now mounted on the mobile platform to form a mobile manipulator system, The forward kinematics equations of the robot with respect to its base are given in terms of the first 3 joint variables as: X= 0.1 + 0.3.c08(4,) c0s(q2 + 43) + 0.2c05(4,)cos(q2) y= 0.1 + 0.3sin(q,) cos(qz + 3) + 0.2sin(qy)cos(q2) 2= 0.2 + 0.3sin(qz + qs) + 0.2sin(q2) Find the position of the manipulator when q, = 0, qz = 0 and q; = 0. Solve the inverse kinematics problem to express the joint angles q,, qz and qy in terms of x, 1 ad sf the approach vector of te robe! i sgt ata, deus wheter arbitrary position and ofi€ntation can Ge specified for the mobile manipulator system, (10 Marks) 4. As shown in Figure 5, six feature points Q, 0,0, 04, Os, and O, are on three different lines in the same plane. A moving camera takes two images of the points at two poses. Two coordinate frames represented by F, and F, are attached to the projection centre of the camera at the two poses, respectively. Let Af denote the Euclidean homography matrix from F, to and let /,, denote the third row third column element of the matrix H. Fy yee NG FB, Note: Question No. 4 continues on page $ATTENTION The Singapore Copympht Act apes lo the ute of hs document Nonyang Techalogal Uneraty Library (a) (b) © E6221 Assume that four feature points O,, O,, O,, and O, can be detected in the images taken at the poses attached to F, and F,. Their corresponding normalized coordinates in F, and F, are given by me =[aoayll’s me = [anal]. m 01] 6 Ma = [aay 1)” BysboAT 5 mig, = [OysByoN] ses = [Oye eA] s mtes =[B,.0yo1]" respectively. Find us (12 Marks) Assume that only four feature points Q., O,, 0, and Q, can be detected in the image taken at the pose attached to F, and only four feature points O,, 05, Qs H and O, can be detected in the image taken atthe pose attached to F, .Can “~ be fey (4 Marks) calculated? Justify your answer. ‘Assume that all six feature points Q, O,, 0,, 0,, 0, and O, can be detected in the images taken at the pose attached to F, and at the pose attached to F, . List Hae all combinations of feature points that en be used to calculate Justify your answers. (@ Marks)ATTENTION The Singapore Copy Act ape foe use of document Nanyang Technological Livers Lin 221 Thee sensors are used to measure the state x, modelled by 44) =%,. Let yy Yay and Vy. Fepresent the outputs ofthe three sensors modelled by Jue Suet Jute where ¥,,, v3, and ¥,, are zero mean Gaussian noises with variances given by o, o and 47, respectively, A predictor is designed as below to estimate 8+ My (a 8) + Ms Can — 8) + Ma Ye = 4) where §, represents the estimate of x, and IM, represents the predictor gain Let the estimation error be denoted as = %,4)~4)- Asstume that the estimation error and the noise terms v,,, v,, and vy, are all uncorrelated, and that £[%,,,]=0. Let the estimation eror variance be Py = E[ Sy} (a) Find the update equation for p,,, and derive the update law for M, to minimize Prat (15 Marks) (b) Assume that the initial value of the estimation error variance is equal to 0? (ie., p, =07). Find the value of k, if any, so that p,,, becomes less than aa ‘Show details of your calculation to justify your answer. (5 Marks) END OF PAPER