Ahmedabad University

Exercise 1 (Solve in class)

Suppose that the tip of a single link travels a distance d between two points.
• A linear axis would travel the distance d
ENR506: Robotics • While a rotational link would travel through an arc length 𝒍𝜽 as shown.

Session 10: Exercise &

Position Representation
- Dr. Keyur Dineshchandra Joshi
1. Using the law of cosines, calculate the distance formula, which is less
than 𝑙𝜃.
2. With 10-bit accuracy, and the length = 1 meter, and 𝜽 = 90 degrees,
what is the resolution of the a) linear link?, and b) rotational link?

Exercise 2 (Solve in class) Exercise 3 (Solve in class)

Refer the single-link revolute arm shown above.

Refer the single-link revolute arm shown above.
If the length of the link is 50 cm and
the arm travels 180 degrees,
What is the control resolution obtained with an 8/10/12-bit encoder?
What is the implication of the results?
The length of the link is 50 cm and the arm travels 180 degrees.
Assuming that the 8-bit encoder is located on the motor shaft that is connected to
the link through a 50:1 gear reduction. (Assume perfect gears)
What is the controller resolution obtained for a) linear, & b) rotational link?
Compare the two and write advantage/disadvantage of either links.

Exercise 4 (Solve in class)

Refer Previous class notes.
Refer the two-link revolute arm shown on right.
Thank You !
The length of both links = 1 m.
(a) Find the coordinates of the tool when first
angle is Pi/6 and the second angle is Pi/2.
(b) Find the angles if tool is at (0.5, 0.5) location.
Query?
(c) If the joint velocities are constant as 1 and 2
for first and second angle respectively,
What is the velocity of the tool?
(d) Find the Jacobian for this.

Keyur D. Joshi 1