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Problem 1
The torque-speed characteristics of a DC motor have been determined, as shown
in the figure below. Note that u is the voltage applied to the motor armature, m and
m are, respectively, the output torque and angular velocity of the motor shaft. From this
plot,
(a) Obtain the motor constant, torque constant, and armature resistance of the motor.
(b) When the motor is rotating at 100 radians per second, what is the back emf
voltage induced at the armature?
(c) When the motor is producing 2x10-3 Nm of torque, how much power is dissipated
as heat at the motor windings?
m
4 x 10-3 Nm
u = 24 volts
u = 20 volts
160 r/s
200 r/s
Robotic Arm
axis
Gearing
Im = 1.0 x 10-4 kgm2
+
_
kp
+
_
1
s (a1s + a2 )
kv s
+
_
k p (1 +
kI
)
s
+
_
1
s (a1s + a2 )
kv s
Figure 3 Block diagrams
2
Problem 4
A DC motor connected to a switching power transistor is shown in Figure 4-a. Answer
the following questions.
a). The torque constant of the motor is 5.0 x 10-2 Nm/A. What is the voltage across the motor
armature as the motor rotates at 100 rad/s with a zero torque load?
b). Figure 1-b shows profiles of the transistor voltage and current, Vce and Ic, when the transistor
turns on and off. The maximum voltage is 10 volts, and the maximum current is 0.5 A. It takes 5
s for the transistor to turn on, and 10 s to turn-off. During the turn-on and turn-off transition
periods both voltage and current vary linearly, as shown in the figure. How much heat (cal) is
generated at the transistor in one second when this transistor is used for a uni-polar PWM
amplifier of 10 kHz PWM frequency? Note that the mechanical equivalent of heat quantity is 4.2
joule/cal.
Ic
Vce
Transistor
Voltage
& Current
100 s
5 s
10 s
V
Vce
Ic
0
Turn-ON
Turn-OFF
Time
A3
Link 3
3
B
x
e
ye
Joint 3
Link 2
Link 1
Joint 2
A1
1
Link 0
Joint 1
x
Link 0
Figure 1 Construction robot with two revolute joints and one prismatic joint
(a) Obtain the kinematic equations relating the end-effecter position and orientation to the
joint displacements.
(b) Joint 1 can rotate between 45 degrees and 135 degrees, and joint 3 can rotate from 90
degrees to +90 degrees, while joint 2 can move from A1 to 2A1 . Sketch the workspace of
the end-effecter E within the xy plane.
(c) Solve the inverse kinematics problem to find joint displacements leading the end-effecter
to a desired position and orientation: xe , ye , e .
Problem 2
Shown below is the schematic of a three dof articulated robot arm. Although this arm
looks three-dimensional, its kinematic equations can be obtained in the same way as that of planar
robots. For joints 2 and 3 alone, consider a vertical plane containing links 2 and 3. As for joint 1,
consider the projection of the endpoint onto the xy plane. Answer the following questions, using
the notation shown in the figure.
(a) Obtain the kinematic equations relating the endpoint coordinates, xe , ye , ze , to joint
angles 1 , 2 , 3 .
(b) Solve the inverse kinematics problem, i.e. obtain the joint coordinates, given the endpoint
coordinates. Obtain all of the multiple solutions, assuming that each joint is allowed to
rotate 360 degrees.
(c) Sketch the arm configuration for each of the multiple solutions.
Endpoint
A2
Link 3
xe
ye
z
e
A1
Joint 3
Link 2
Joint 2
y
1
Link 1
x
Joint 1
Problem 3
Shown below is a robot arm with three revolute joints. Coordinate system O x0 y0 z0 is
fixed to Link 0. Axis x1 is fixed to Link 1. Joint angle 1 is measured about the joint axis OA (z0
axis) from x0 to x1 . The second joint axis BC is horizontal, and joint angle 2 is measured from
axis x1 to axis x2 , which is fixed to Link 2, as shown in the figure. Joint angle 3 is measured
about the joint axis CD from axis x2 to Link 3,i.e. line DE. Link dimensions are OA=1, AB=1,
BC=1, CD=0, and DE=1. (For the purpose of explaining the kinematic structure, points C and D
are shown to be different points, but they are the same, i.e. the length CD is zero.) Note also that
OAB = ABC = BCD = CDE = 90o . Answer the following questions.
Link 3
z0
Link 2
2
1
B
x1
x2
Link 0
O
x0
y0
1
Figure 3 Kinematic structure of 3 DOF robot
a). Obtain the coordinates of point C viewed from the base coordinate system O x0 y0 z0 .
b). Assuming that all the joints are allowed to rotate 360 degrees, determine the workspace of the
robot. Sketch the workspace envelope, and show the size and dimensions of the envelope in your
sketch.
Inspection x
End Effecter
Joint 3
xe
ye
A2
A1
A3
3
O
L
Object
Figure 1 Shuttle manipulator inspecting an object surface
All the angles are measured in the right hand sense. 2 in the figure is therefore negative.
Problem 2
Shown below is the same articulated robot as the one in the previous problem set. The robot
has three revolute joints that allow the endpoint to move in three-dimensional space. However, this
robot has some singular points inside the workspace. Answer the following questions.
a) Obtain each column vector of the Jacobian matrix based on its geometric interpretation,
as discussed in class. (Consider the endpoint velocity created by each of the joints while
immobilizing the other joints.)
b) Obtain the Jacobian via direct differentiation of the kinematic equations relating the endeffecter coordinates to joint displacements. Compare the result with the geometric
approach in part a).
c) For this question and the next question only, assume A 1 = A 2 = 1 for brevity. Compute
the Jacobian matrix for the arm configuration:
1 =
, 2 =
, 3 =
2
3
Endpoint
A2
Link 3
xe
ye
z
e
A1
Joint 3
Link 2
Joint 2
y
1
Link 1
x
Joint 1
Problem 3
Shown below is a planar 3 d.o.f. robotic leg standing on the ground. Three joint angles,
1 , 2 , 3 , all measured from the ground, are used as an independent set of generalized
coordinates uniquely locating the system. The second figure below shows the front view of the
robot including actuators and transmission mechanisms. Actuator 1 generates torque 1 between
link 0 and link 1. Note that the body of Actuator 1 is fixed to link 0, while its output shaft is
connected to link 1. Actuator 2 is fixed to Link 3, and its output torque 2 is transmitted to Joint
2, i.e. the knee joint, through the mass-less belt-pulley system with a gear ratio of 1:1. Actuator 3
is fixed to Link 3, while its output shaft is connected to Link 2. All actuator torques 1 , 2 , 3 are
measured in a right hand sense, as shown by the arrows in the figure. Displacements of the
individual actuators are denoted 1 , 2 , 3 , and are measured in the same direction of the torque.
The location of the hip, i.e. Link 3, is represented by the coordinates of its center of mass, xh , yh ,
and angle measured from the base coordinate system fixed to Joint 1, as shown in the figure.
a). Obtain the Jacobian matrix relating infinitesimal joint angles 1 , 2 , 3 to infinitesimal
changes to the hip position and orientation, xh , yh , .
b). Obtain the Jacobian matrix relating joint velocities 1 , 2 , 3 to actuator angular velocities
1 , 2 , 3 .
c). Obtain actuator angular velocities 1 , 2 , 3 when the hip is moving horizontally at a constant
speed, x h = V , y h = 0, = 0 .
Link 3
x
Joint 3 h
(hip) yh
Actuator 3
A2
2 2
Joint 3
Belt-Pulley
Mass-less
Transmission
Link 2
Rear
Actuator 2
Front
Joint 2
y
Link 1
A1
1 1
1
Joint 1
Ground
Actuator 1
Joint 1
Link 0
(1 cos ) tan =
mg
kA
k
B
Figure 1
mg
Problem 2
A planar robot with three revolute joints is shown below. Let i and A i be the
angle of joint i and the length of link i , respectively, and xe , ye , e be the end-effecter
position and orientation viewed from the base coordinate frame, as shown in the figure.
In performing a class of tasks, the end-effecter orientation doesnt have to be
specified. Namely, the number of controlled variables is two, while the number of
degrees of freedom is three. Therefore the robot has a redundant degree of freedom.
At an arm configuration of 1 = 135o , 2 = 45o , 3 = 225o obtain the 2x3 Jacobian
matrix relating the end-effecter position to joint displacements. We want to generate an
endpoint force of Fx = 10 N , Fy = 2 N . Obtain the equivalent joint torques needed for
A3
A2
A1
Endpoint
xe
ye
A 1 = 3m, A 2 = 2m, A 3 = 1m
Problem 3
'Text and diagram removed for copyright reasons. See Problem 4.2, description and
figure, in Asada and Slotine, 1986.'
(1) At a given configuration of 1 and 2 we want to move the endpoint at a specified
velocity, v = [vx, vy] T with reference to the base coordinate system OO - xy. Obtain the
cylinder speeds, s1 and s2, that produce the desired endpoint velocity. Hint: Use
derivatives of functions h1 (s1) and h2 (s1,s2).
(2) Let f1 and f2 be the forces exerted by the cylinders, HC1 and HC2, respectively. Each
force acts in the longitudinal direction of the cylinder, and is defined to be positive in the
direction of expanding the cylinder. We want to push an object at the arm's endpoint.
Obtain the cylinder forces, f1 and f2, required for exerting an endpoint force of Fx = 0
and Fy = F, assuming that all the joints are frictionless. Also ignore gravity.
vz
vx
vy
Blotting
Paper
E E
SusanHockfield
R
R
R
x
O
Problem 3
The planar 3 d.o.f. robotic leg considered in a previous problem set is shown
below. Three joint angles, 1 , 2 , 3 , all measured from the ground, are used as an
independent set of generalized coordinates uniquely locating the system. The second
figure below shows the front view of the robot including actuators and transmission
mechanisms. As before, Actuator 1 generates torque 1 between link 0 and link 1.
Actuator 2 is fixed to Link 3, and its output torque 2 is transmitted to Joint 2, i.e. the
knee joint, through the mass-less belt-pulley system with a gear ratio of 1:1. Actuator 3 is
fixed to Link 3, while its output shaft is connected to Link 2. All actuator torques
1 , 2 , 3 are measured in a right hand sense, as shown by the arrows in the figure.
Displacements of the individual actuators are denoted 1 , 2 , 3 , and are measured in the
same direction of the torque. The location of the hip, i.e. Link 3, is represented by the
coordinates of its center of mass, xh , yh , and angle measured from the base coordinate
system fixed to Joint 1, as shown in the figure.
In order to walk in rough terrain, the robot wants to make its knee, ankle, and hip
joints compliant so that disturbances acting on the body may be alleviated. All the
disturbance forces acting on the foot can be represented collectively with an equivalent
linear force and moment acting at the hip: F = [ Fx , Fy , M ]T . See the figure below. Using
compliance (stiffness) control, we want to support the hip with a desired stiffness defined
as:
0 xh
Fx k x
ky
Fy =
yh
M 0
k
where p = [xh , yh , ]T is linear and angular displacements of the hip, and the
elements of the stiffness matrix, k x , k y , k , are appropriate positive values. For the leg
configuration and the joint angles shown in the figure, obtain the joint feedback gain
matrix K that provides the desired stiffness given above. Also obtain the feedback gain
matrix in the actuator space.
Link 3
x
Joint 3 h
(hip) yh
Actuator 2
Actuator 3
A2
Belt-Pulley
Mass-less
Transmission
Link 2
Rear
2 2
Joint 3
Front
Joint 2
Link 1
1 1
A1
1
Joint 1
Actuator 1
Joint 1
x
Link 0
Ground
1 =
Fx
Fy
M
4
3
2 =
4
3 =
2
A1 = 1
A2 = 1
Problem 1
A two degree-of-freedom robot arm with one prismatic joint is shown below. The
direction of the prismatic joint is perpendicular to the centerline of the first link. As shown in the
figure, joint angle and distance z between the tip of the first link and the mass centroid of the
second link are used as generalized coordinates. The first actuator fixed to the base link produces
torque about the first joint, while the second actuator located at the tip of the first link generates
linear force f acting on the second link. Using the parameters shown in the figure, answer the
following questions.
Joint 2
Prismatic joint
l1
Vc1
l c1
z
I 2 , m2
f
I1 , m1
Link 1
Link 2
Vc2
,
O
Joint 1
Revolute joint
Problem 2
Figure 2 shows the schematic of a three degree-of-freedom rehabilitation bed/chair
system. The seat is tilted with Actuator 1 fixed to the base frame. The back leaf and the footrest
are driven together by Actuator 2 fixed to the seat. Note that the motor shaft of Actuator 2 is
connected to a belt-pulley mechanism to move the footrest together with the back leaf. The
headrest is moved with Actuator 3 fixed to the seat through another belt-pulley mechanism as
shown in the figure. Figure 3 shows the kinematic structure and joint variables along with
geometric and mass parameters of the individual links. Note that joint angles 2 and 3 are
measured from the seat, while angle 1 is from the base frame.
Head Rest
Actuator 3
Belt
Actuator 1
Back Leaf
Seat
Actuator 2
Belt
Foot Rest
Base Frame
lc2 C2
l1
l0
O0
lc1
C1
O1
Link 0
lc0
C0
m 0, I 0
O3
Endpoint E
C3
3
m 3, I 3
m 2, I 2
Link 2
O2
x
m 1, I 1
Link 1
(1)
Problem 1
Shown below is a vehicle similar to the 2.12 mobile robot having a pair of powered
wheels and a frictionless caster. The radius of the wheels is r=3 cm, while the distance between
the two wheels is 2b=20 cm. The angular velocity of the right wheel is
wheel is l . Each powered wheel is equipped with a shaft encoder to measure the angular
velocity. Answer the following questions.
(t f )
X (t f )
Y (t )
f
r
2b
X0
Y0
X
Figure 1 Vehicle trajectory
10
8
Angular 6
Velocities
rad/sec 4
r
l
2
0
3
tf = 10
Time sec
a). At time t = 0, the vehicle was at position X 0 = 20 cm, Y0 = 20 cm with reference to the
inertial reference frame O-XY and at orientation 0 = 0 measured from the positive X axis. See
Figure 1. Then the vehicle moved. The time profiles of the wheel angular velocities during the
movement were recorded, as shown in Figure 2. Compute the position and orientation of the
vehicle at time t f = 10 sec based on the time profiles shown in Figure 2. Assume no slip.
To go back to the initial position and orientation, X 0 , Y0 , 0 , a feedback control law is now
employed. Let us consider the following control method.
As illustrated in Figure 3, let be the angle between the direction of the vehicle, i.e. line AB, and
the direction of the destination from the current position of the vehicle, line AC.
= arctan 2 [Y0 Y (t ), X 0 X (t )] (t )
The primary goal is to reduce the distance between the current position X (t ), Y (t ) and the
destination X 0 , Y0 ,
D =
( X ( t ) X 0 ) 2 + (Y ( t ) Y 0 ) 2
To reduce this distance D the vehicle should move in the direction given by angle . At the
same time the vehicle should be oriented in the direction of 0 = 0 at the destination. Therefore,
the vehicle should reduce the difference in orientation:
= 0 (t )
v = kD D
= k + k
where v is the vehicle forward velocity and is the angular velocity of the vehicle rotation.
Answer the following questions.
X (t ), Y (t )
Destination
X 0 , Y0
(t )
A
D
Figure 3 Feedback law
b). Obtain the Jacobian relating the vehicle forward velocity v and rotation velocity to the
angular velocities of the right and left wheels, r and l .
c). Sketch an approximate trajectory of the vehicle from the final position obtained in Part a), i.e.
X (t f ), Y (t f ), (t f ) , back to the original position and orientation, X 0 , Y0 , 0 . Find appropriate
values for the feedback gains, k D , k , k .
For Extra Credit:
d). Discuss whether the vehicle can reach the exact destination when the feedback gains are
changed. What will happen if k < k D ?
e). If < / 2 , moving forward may be better than moving backward. What will happen if the
vehicle moves backward when / 2 < < ? Considering these alternative routes, how do you
modify the control law in order to move quickly towards the destination?
Problem 2
The objective of this assignment is to build the dynamic model of the 2.12 arm being
used for the final project, and obtain feedforward torques for manipulating an end-effecter in a
vertical plane. As you already know, both actuators of the 2.12 arm are fixed to the base link, and
the actuator torque of the second motor, 2 , is transmitted from joint 1 to joint 2 through a beltpulley mechanism. Actuator displacements 1 and 2 , which are absolute angles measured from
the base axis, are used as generalized coordinates, and actuator torques 1 and 2 correspond to the
d) Consider the cosine curves shown in Figure 7 for the trajectories of 1 and 2 . Compute
the angular velocities and accelerations, 1 , 2 and 1 , 2 , along the trajectories, and then
obtain the feedforward torques for tracking the trajectories from time t = 0 to t = t f .
A c2
A1
2
I 2 , m2
2 2
A c1
I1 , m1
1 1
Figure 4 Variables and
parameters of the 2.12 arm
x
Figure 5 Mechanism of the arm
0.5 kg
Link 1 230 mm
Link 2:
The same dimension
as Link 1
50 mm
0.1 kg
0.3 kg
20 mm
275 mm
1 kg
90
1
deg.
45
0
3
Time sec
tf = 4
3
Time sec
tf = 4
45
deg.
-45
Figure 7 Trajectories