Chapter 1 Solutions for Introduction to Robotics

1. do t he f o l l o w i n g s e v e n t i m e s {
playerCounter = 1

do t h e f o l l o w i n g f o u r t i m e s {
open g r i p p e r
move t o P_deck
close gripper
move t o P_playerCounter
playerCounter = playerCounter + 1

} // end f o u r −t i m e s l o o p
Th d co of y th
is is p urs an e
an eir le tro

w ro es y p int
th sa es

or v
or ill d

k ide an art egr

} // end seven−t i m e s l o o p
is
w

pr d s as f th y o
ot ole se is f t
ec ly s w he
te fo sin or w

2. Mechanical manipulators: welding robots on automotive assembly lines, wafer-handling

d
d o it

by r th g s (in ork
U e u tud clu an

robots in semiconductor manufacturing, parallel-platform robots for flight simulators

ni s en d d
te e
d of t le ng is n
St in ar on ot

Fixed automation machines: container filling at bottling plant; automatic car wash; printing,
at st ni t p
es ru ng he er
k

co cto . D W mit

cutting, and folding of newspapers

py rs is or ted
rig in se ld .
i

ht te min Wi
la ach at de

3. A rigid body in space has six degrees of freedom. It’s free to translate in three directions and
w
s ing ion We

to independently rotate about each of those three axes.

4.
b)

     
3 2 2.5
A
P3 = sin(π/6) 1 + cos(π/3) 6 = 3.5
     
5 9 7.0

5. Below are some possible considerations when using motors at joints

Pros:

• Simple design
• Low maintenance requirement

Cons:

• More moving mass → larger motors required

• Greater inertia effects

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