Term End Examination - November 2013

Course

: EEE410

- Robotics and Automation

Class NBR

: 1340

Time

: Three Hours

Slot: G1+TG1

Max.Marks:100
Answer ALL Questions

1.

Hartenberg (DH) parameters for the robotic arm shown below.

Write the table of Denavit-Hartenberg

Compute the homogeneous transform matrix 02T from frame 2 to frame 0. Where:

[10+10]

i 1
i

T is

si
0
ai 1
ci
s c

i i 1 ci c i 1 s i 1 s i 1 d i
si s i 1 ci s i 1 c i 1
c i 1 d i

0
0
1
0

2.

Compute the Jacobian matrix J v corresponding to the following end-effector

effector position:

c1d3 s2 s1d 2
xp = s1d3 s2 + c1d 2

c2 d3
Where the joint variables are:
q1 = 1

q2 = 2

q3 = d 3

q4 = 4

q5 = 5

q6 = 6

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[10]

3.

Derive the trajectory planning equations for continuous motion (no stop at end points).

[10]

Assume that initial and final positions and velocities are given.
4.

Discuss the application of Vision Systems in robotics.

[10]

5.

With neat diagram discuss a scheme for control of the robotic manipulator described by:

[10]

m122 2

0
m11 m12 1 m112
1 + G1 = 1
m m + 0 (1 2 ) + m112

0 2 G2 2
21 22
2
2
2

6.

A vector P = [1 2 3]T is rotated anticlockwise about the

[10]

Z axis by 30o and then translated by [1 2 1]T . Compute the final vector using the
homogeneous transform operator.
7. a)

Derive an expression for the coordinate transformation matrix that relates the coordinates

[20]

of a point P in two frames {A} and {B}. The frame {B} is rotated and translated with
respect to {A}.
OR
7. b) Describe any 5 edge detection methods and discuss their advantages and limitations.

[20]

8.

[10]

Consider the two link robotic arm shown below:

Where

l1 = l2 = 1

1 = 0 2 = 60o
Compute the torque at the joints.

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