Department of Mechanical Engineering, BMSCE, Bengaluru – 19

Fundamental of Robotics[16ME6DEROB] – 6th Sem 2nd Test (27/03/2018)

Max Marks: 40 Duration: 75 mins
Note: 1) Answer any 2 full questions. 2) Sharing of calculators, drawing instruments and any other such things is
strictly prohibited. 3) Assume any missing data suitably.

Q. Question Marks
No.
1a) A planar 3R manipulator’s forward (10)
transformation matrix is as given (on the right).
Perform inverse kinematics for this manipulator.
Show the parameters thus obtained on a neat
illustration. {CO: 1,2; PO: 1,2; B.L: 3}

b) A non-planar 3R manipulator’s wrist-to-base (10)

transformation matrix is as given below. Using
algebraic method, perform the inverse
kinematics for the same. Discuss points of
singularities in this manipulator. {CO: 1,2; PO: 1,2; B.L:
3}

2a) An arm with 2R d.o.f is as shown in Figure 1. (10)

Using the method of velocity propagation from
base to tip, derive the velocity of the tip of the
arm (in terms of frame {3}) as a function of joint
rates. {CO: 2; PO: 1,2; B.L: 3}

b) A 3R manipulator has kinematics that Figure 1 (10)

correspond exactly to the set of Z-Y-Z Euler
angles (i.e., forward kinematics are given by the
matrix given besides with α =  1, β =  2 & γ =
 3). Determine the Jacobian relating joint
velocities to angular velocity of the final link.
{CO: 2; PO: 1,2; B.L: 3}

3a) A single link robot with a rotary joint is motionless at  = -5°. It is desired to move the joint in a (08)
smooth manner to  = 80° in 4 seconds. Determine the coefficients of a cubic which
accomplishes this motion and brings the arm to rest at the goal. {CO: 3; PO: 1,2; B.L: 3}

b) Sketch the graphs of position, velocity and acceleration for a two-segment spline for a joint (12)
where 0 = 5°, v = 15° and g = 40°. Assume that each segment has a duration of 1 second and
the velocity at the via-point is to be 17.5 degrees/second. {CO: 3; PO: 1,2; B.L: 3}