Addis Ababa University

Addis Ababa Institute of Technology

School of Electrical and Computer Engineering
Introduction to Robotics: ECEG-5372
Test 10-Points
Examiner: Nebiyu Tenaye 2017/18AY
AAU/AAiT/SECE Time Given: 30 Minutes May 8, 2018
Name: ID NO.: Section:
Instructions
• This test has a value of 10-points.
• Do not forget to write your name on the question/answer paper.
• Attempt all questions.
• Your answers should be brief, neat and clear. And give your answer on the space provided.
• If necessary, use the following D-H Homogeneous transformation matrix.
 
Cθi −Cαi Sθi Sαi Sθi ai Cθi
i−1
 Sθi Cαi Cθi −Sαi Cθi ai Sθi 
Ti = 
 0

Sαi Cαi di 
0 0 0 1
• If necessary, use the following formulas for calculating the angular and linear velocities, respectively.
i+1
ωi+1 =i+1 Ri i ωi + θ̇i+1 i+1 Ẑi+1
i+1
Vi+1 =i+1 Ri (i Vi + iωi ×i Pi+1 ) + d˙i+1 i+1 Ẑi+1

1. The figure below shows a 3-degree of freedom manipulator

(a) Follow the DH rules and complete the link coordinate frames. [3]
(b) Determine the link-joint table for the manipulator. [3]
(c) Determine the DH transformation matrices. [2]
(d) Determine the coordinates of point P as functions of the joint coordinates. [2]

Figure 1: A 3 degree of freedom manipulator.

Answer:

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