Correction de l’EXAMEN DE ROBOTIQUE ET COMMANDE MMTR22

Let us consider the structure of the

robot shown in the following figure.

1) Draw the frames using the

modified Denavit-Hartenberg
method.(3pts)
2) Find the DH parameters(3pts)

θ α r d
0→1 θ1 0 L1 0
1→2 θ2 Pi/2 L2 L3
2→3 θ3 -pi/2 0 L4

3) Determine the expression of the direct geometric model of the robot.(5pts)

c1  s1 0 0 c 2  s 2 0 L3   c 3  s 3 0 L 4

 s c1 
0 01  0 0 
 1  L 2 2  0 0 1 0 
0
T1   1 T2   T3  
 0 0 1 L1  s 2 c 2 0 0   s 3  c 3 0 0
     
 0 0 0 1  0 0 0 1   0 0 0 1

c 2 c 3  c 2 s 3  s 2 L3 + L4c 2 
 s c 3 0  L2 
1
T3   3

 s 2 c 3  s 2 s 3 c 2 s 2 L4 
 
 0 0 0 1 

 c1c2c3 - s1s3 - c3s1- c1c2s3 - c1s2 L2s1 + c1(L3 + L4c2)

c1s3 + c2c3s1 c1c3 - c2s1s3 - s1s2 s1(L3 + L4c2) - L2c1 
0
T3   
 c3s2 - s2s3 c2 L1 + L4s2 
 
 0 0 0 1 

 px  L5  L2s1 + c1(L3 + L4c2) - L5(s1s3 - c1c2c3) 

 py    
   0T3  0    s1(L3 + L4c2) - L2c1 + L5(c1s3 + c2c3s1)
 pz  0  L1 + L4s2 + L5c3s2 
     
1 1  1 
Correction de l’EXAMEN DE ROBOTIQUE ET COMMANDE MMTR22

4) Find the inverse geometric model if q1=0.(4pts)

Px - L3 - L4c2
 c3 - - - 5
  
px L3 + L4c2 + L5c2c3    (1) L5c2
 py   L5s3 - L2   (2)  Pz - L1 - L4s2  c3 - - - 6
    L5s2
 pz   L1 + L4s2 + L5c3s2  (3)
Py  L2
s3  - - - - - - - -7
L5


A


 Px - L3 - L4c2   Py  L2   Py  L2 
2 2 2
 Px - L3 - L4c2  Px - L3
(5) 2  (6) 2      1     L5 1 -     c2 - - - 8
 L5c2   L5   c2   L5  A  L4
 A
 
 Pz - L1 - L4s2   Py  L2   Py  L2 
2 2 2
 Pz - L1 - L4s2  Pz - L1
(6)  (7)  
2 2
   1     L5 1 -     s2
 L5s2   L5   s2   L5  A  L4
 Pz - L1 
  2  tg 1  
 Px - L3 
 
 
Px - L3  Py  L2 
2
Py  L2  Py  L2 
 c2 - - - 9 so c3  A  L5 1 -    tg 3    3  tg 
1

L4  L5 c3  L5   Py  L2 
2
  Py  L2 
2

1-    1-   
 L5    L5  

5) Give the expression of the Direct cinematic model of the robot if q3=0. (5pts)
 px L2s1 + c1(L3 + L4c2) + L5c1c2  (1)
 py   s1(L3 + L4c2) - L2c1 + L5c2s1   (2)
   
 pz   L1 + L4s2 + L5s2   (3)

 p x   L2c1 - s1(L3 + L4c2) - L5s1c2 - c1L4 - L5c1s2

 p y  c1(L3 + L4c2)  L2s1 + L5c2c1 - s1L4 - L5s1s2 
  
 p z   0 L4 + L5c2  1 
    
 x   0 s1   2 
 y   0  c1 
   
 z   1 0 

We give: