PRN 577: Industrial Robotics

ASSIGNMENT-3: Kinematics
1. Suppose that instead of a frame, a point P =(3,5,7,)T in space was translated a distance of
d=(2,3,4,)T. Find the new location of the point relative to the reference frame.
2. The following was moved a distance of d=(5,2,6,) T:
0 1 0 2
B= 1 0 0 4
0 0 -1 6
0 0 0 1
Find the new location of the frame relative to the reference frame.
3. For the following frame, find the values of the missing elements and complete the matrix
representation of the frame:
? 0 -1 5
F=
? 0 0 3
? -1 0 2
0 0 0 1
4. Derive the matrix that represents a pure rotation about the y-axis of the reference frame.
5. Derive the matrix that represents a pure rotation about the z-axis of the reference frame.
6. Verify that the rotations matrices about the reference frame axes follow the required
constraint equations set by orthogonality and length requirements of directional unit
vectors.
7. Find the coordinates of point P (2, 3, 4) T relative to the reference frame after a rotations of
45 about the x-axis.
8. Find the coordinates of point P (3, 5, 7) T relative to the reference frame after a rotations of
45 about the z-axis.
9. A point p in space is defined as BP= [5, 3, 4] relative to frame B and is attached to the origin
of the reference frame A and is parallel to it . Apply the following transformations to frame
B and find AP. Using the three-dimensional grid provided in this chapter, plot the
transformations and the result and verify it. Also verify graphically that you would not get
the same result if you apply the transformations relative to the current frame:
a. Rotate 90 about the x-axis.
b. Then translate 3 units about the y-axis, 6 units about the z-axis, and 5 units
about the x-axis.
c. Then rotate 90 about the z-axis.
10. A point p in space is defined as BP= [2, 3, 5] relative to frame B which is attached to the
origin of the reference frame A and is parallel to it. Apply the following transformations to
frame B and find AP. Using the three-dimensional grid, plot the transformations and the result
and verify it:
a. Rotate 90 about the x-axis.
b. Then, rotate 90 about the local a-axis.
c. Then translate 3 units about the y-axis, 6 units about the z-axis, and 5 units
about the x-axis.

11. Show that rotation materials about the y-axis and the z-axis are unitary.
12. Calculate the inverse of the following transformations materials:
T1 =

0.527 -0.574 0.628 2

0.369 0.819 0.439 5 T2 =
-0.766
0
0.643 3
0
0
0
1

0.92 0 0.39 5
0 1
0
6
-0.39 0 0.92 2
0
0
0 1

13. Write the correct sequence of movements that must be made in order to unrotate The
spherical coordinates and to make it parallel to the reference frame. About what axes are
these rotations supposed to be?
14. A spherical coordinate system is used to describe the position of the hand of a robot. In a
certain situation, the hand is later unrotated back to be parallel to the reference frame, and
the matrix representing it is described as
Tsph =

1
0
0
0

0
1
0
0

0 3.1375
0 2.195
1 3.214
0
1

(a) Find the necessary values of r, , to achieve this location.

(b) Find the components of the original matrix vectors for the hand before it was
unrotated.
15. Suppose that a robot is made of a Cartesian and RPY combinations of joints. Find the
necessary RPY angles to achieve the following:
0.527 -.574 0.628 4
T = 0.369 0.819 0.439 6
-0.766
0
0.643 9
0
0
0
1
16. Suppose that a robot is made of a Cartesian and Euler combination of joints. Find the
necessary Euler angles to achieve the following:
0.527
T= 0.369
-0.766
0

-0.574 0.628
0.819 0.439
0
0.643
0
0

4
6
9
1

17. A frame B was moved along its own n-axis a distance of 5 units and then rotated about its oaxis an angles of 60 , followed by a rotation of about z-axis; it was than translated about its
a-axis 3 unites and finally rotated about x-axis 45.
a. Calculate the total transformations performed.
b. What angles and movements would we have to make if we were to create the
same location and orientation using Cartesian and RPY configuration?
18. Frames describing the base of a robot and an object are given relative to the universe frame.

a. Find a transformations RTH of the robot configuration if the hand of the robot
is to be placed on the object.
b. By inspection, show whether this robot can be a three-axis spherical robot,
and, if so, find , , r.
c. Assuming that the robot is a six-axis robot with Cartesian and Euler
coordinates, find x, y, z, , , .
U

Tobj =

1
0
0
0

0
0
1
0

0
-1
0
0

1
4
0
1

TR=

0
1
0
0

-1
0
0
0

0 2
0 -1
1 0
0 1

19. A robot arm with three degree s of freedom has been designed for applying paints on
walls as show in figure P.2.19.
a. Assign coordinate frame as necessary based on H-D representation.
b. Fill out the parameters the table.
c. Find the UTH matrix.

flat

20. The robot show in figure P.2.20 has two degrees of freedom, and the transformation matrix T
is given in symbolic form, as well as in numerical form for a specific location. The length of
each link l1and l2 is 1 ft.
a. Derive the inverse kinematic equation for and in symbolic form.
b. Calculate the value of 1 and 2 for the given location.

21. For the SCARA-type robot show in figure P.2.21,

a. Assign the coordinate frames based on H-D representation.
b. Fill out the parameters the table.
c. Write all the A matrices.
d. Write the UTH matrix in terms of the A matrices.

22. A special three-degree-of-freedom spraying robot has been designed as show in figure P.2.22.
a. Assign the coordinate frames based on H-D representation.
b. Fill out the parameters the table.
c. Write all the A matrices.
d. Write the T matrix in terms of the A matrices.

23. For the Unimation puma 562, six-axis robot shown in figure P.2.23,
a. Assign the coordinate frames based on H-D representation.
b. Fill out the parameters the table.
c. Write all the A matrices.
d. Find the UTH matrix for the following values:
Base height =27 in, d =6 in , a = 15 in, a =1 in, d =18 in, d =5 in, 1 =0 , 2=45 , 3 =0 ,
4 = 0 , 5 = - 45 , 6 = 0 .
24. For the four-degree-of-freedom robot depicted in figure P.2.24,
a. Assign appropriate frames for D-H representation.
b. Fill out parameters table.
c. Write an equation in term of A matrices that shows how UTH can be calculated
Fig. p.2.24