-hH2 7y780914

Name _______________________________________________ RFOO

ID _______________________

1. For the Fig.1 shown below, find the 4x4 homogenous transformation matrices
" " " ! #
!! , #! , $! , #! , #$% $! , (10 points)

Fig. 1
-

o ↓into...
o
-
1 0
7
T 2 oo
I 2 oo

b
-

Y
o 01 o - -

oo
<T2
% -Tc Δ

8!.1a
-

o
o 1 · - b
-
12 00
3

=
6. 282.
 54H7 gyp5*1 *
Name _______________________________________________ RFOO
ID _______________________

2. The Fig.2 that shows the three links cylindrical (RPP) manipulator

jini"poi
↑z

Fig. 2
⑤ *
Determine:
a. Attach the frame coordinates and create the DH Table from DH-parameter using
the classical method (5 points)
b. Derive the neighboring homogeneous transformation matrices , for i =
1,2,3,.. as functions of joint variables and implement the homogeneous
transformation matrix from base frame to the end-effector frame ( ) based on
the classical method (10 points)
c. Determine the target position (xp, yp, zp) from the homogeneous transformation
matrix from base frame to the end-effector frame ( ) if &1 = 30 degrees, d2 = 0.2
m and d3 = 0.25 m (5 points)
xp
= -
d35,
2 -
0.255430

0.125
Xp M
-

10.3
=

c,dy
yp
=

⑤ z(eus30) (0.25)
yp = 0.216515

zp 0.3 +
= d2
= 0.3 + 0.2
03 0.5M
2p
=

⑤
 batt] 5y(*<1 * R=00
Name _______________________________________________ ID _______________________

3. From SCARA manipulator is shown in Fig.3 and the forward kinematics is defined by
Eq.1. If the target position of the end effector that shows in Eq.2. Determine &1, &2, d3
and &4 ;where d1 = 0.5 m, a1 = 0.5 m, a2 = 0.5 m and d4 = 0.1 m (20 points)

~
(ii) je -

p= 0 +0p
R es Isa -
220

h
d,d -

zp- du
-
a,5- =,xp yp
+
↑
* z 21 2 4 81+2-40
(xpyp)
+ -

Onde.........
· (R 91 2 2,+ 2-40
-
-

A2Sc = + -
3

↑
Fig. 3 d 1
①
④ -
&

Eq.1
&hynic lp
+

-
0 1 0 0.2
1 0 0 0.2 -yp
!%" = ) / Eq.2
0 0 −1 0.2 - 2p
0 0 0 1
 6, +02-84 atanz(ric,MrL
o
= x =

4
From Eg. - 0 +02-0) atanz(1,0) 90· = =

Use cosine law COSO2 x8 +yp-a, az 0.2 0.2 0.7-0. +

-

-
-
= =

2a,92 2(0 - 5)(0-5)

COSO =
-0.84;si02:11 -e05) 1.1
=
-
2
-
0.84)
j sin0z = 0.5426
tan" - 0.5426
- . . .- 149.1401
a 0.84
:O2 atana(sion, cao)
-

->
a
tan 0.5475=.147.140;
-
0.84

From
B 0 +0
= ->
pcatanc(gp,xp)
6. p-8 -vc ataneTas2,a 92(c); +

·
p-atanc(0.2,0.23 a5
:

"S 0= -
149. 1401
⑧
if 0z +
=
147.1401
⑧
8 =

7
atung 10.5c(sin:147.1407),
10.5) + (0.5) COS(- 147. 1401)
1 ·
v atane 0.5(Sin 149.
=

I
1402),
(0 i) + (0 520S147
-
- +
1901)
I
8 z -
13.59005 8=73.57005

·80, 45 1 73.57005) ⑦ 45 93.57005

= -
-
- -

0 1 118.57005
=
· 6 = -
28.57005 &
0,402-90" :On
=
G +02-90
On =

90 84 147.1401 900
On 118.51005 1 147.1407) 28.57005
= - + -
= +
- -

04 =-
115.57005 & 1 04 =
28.51005" &
db d,-2p-dp &
·

= =
0.5-0.2-01 =0.2u