Exam Review

1) Define the D-H parameters for the robot shown below. Determine all joint types. Which
joints of the presented robot manipulator should be used to control the end-effector
orientation?

x2

z2

z3

3
1000

y2

800

y4

z4
y1

z1

x4

x1

700
z0
v

x0

x5

600

x3

y5

6
500

y3

z5

1
y6

z6

x6

y0
i
1
2
3
4
5
6

di
700
0
0
0
600
500

i
0
90
90
90
90
90

ai
0
800
1000
0
0
0

i
90
0
0
90
90
0

Last three joints are used to determine the end-effector orientation.

1

2) Obtain the end-effector angular velocity and find its singular conditions for the 2DOF
manipulator shown below.

a2

z0

y0

x0

d2

z1

a1

y2

y1

z2

x2

x1
i
1
2

i
1
0

di
0

d2

ai

a1
a2

0
180

To find the singular conditions for the 2DOF manipulator we need to calculate the Jacobian
matrix and to find its determinant, which will indicate all singular conditions.

J
J v
J

z 0 pn
J 0
z 0

z1 ( 0 p n 0 p1 )
z1

z 0 p2
For RT robot: J 0
z 0

cos 1
sin
1
0
A1
0

sin 1

cos 1
0
R1 sin 1
0

sin 1

cos 1
0
0

cos 1
0

z1

0 a1 cos 1
1 0 0 a2

0 1 0 0
0 a1 sin 1 1

A
2 0 0 1 d 2
1
0

0
1

0 0 0 1

0
0
1

cos 1
p 2 R1 p 2 p1 sin 1
0
0

z 2 ( 0 p n 0 p 2 ) z n 1 ( 0 p n 0 p n 1 )

z n 1
z2

1 0 0
1
R2 0 1 0
0 0 1
sin 1
cos 1
0

a1 cos 1
0
p1 a1 sin 1
0

a2
1
p 2 0
d 2

0 a 2 a1 cos 1 cos 1 (a1 a 2 )

0 0 a1 sin 1 sin 1 (a1 a 2 )

1 d 2
0
d2

0
cos 1

0
z 0 0 , z1 R1 z 0 sin 1
0
1

sin 1

0 0 0
0 0 0
1 1 1

cos 1
0

i
j
k sin 1 (a1 a2 )
0 cos 1 (a1 a2 )

z0 0 p2 0 sin 1 (a1 a2 )
0
0
1 cos 1 (a1 a2 )
1
cos 1 (a1 a2 ) sin 1 (a1 a2 ) d 2

d2
0

z 0 p 2
JB 0
z0

sin 1 (a1 a2 )
cos (a a )
1 1
2

z1
0

0
0

sin 1 (a1 a 2 ) 0 1
v

cos 1 (a1 a 2 ) 0 d 2

0
0
1
0

0
0

0
0
1

sin 1 (a1 a 2 ) 0
det( J 22 ) det
0
cos 1 (a1 a 2 ) 0

Robot is always in a singular position.

3) A 3 DOF robot manipulator and its direct kinematic solution are shown below. Solve the
inverse kinematics problem and sketch the robot workspace.
z1

2
y1

z2
a2

x1

d1

3
y2

z0

x2

z3 t
a3

y3 b

y0

x3 n

x0

Robot TRR workspace:

nx
n
0
A3 y
nz

bx

tx

by

ty

bz

tz

p x cos( 2 3 ) sin( 2 3 )
0 a3 cos( 2 3 ) a2 cos 2

p y sin( 2 3 ) cos( 2 3 ) 0 a3 sin( 2 3 ) a2 sin 2

pz
0
0
1
d1

1
0
0
0
1

d1 p z
p x a3 cos( 2 3 ) a2 cos 2 ,
nx cos( 2 3 )

p y a3 sin( 2 3 ) a2 sin 2

n y sin( 2 3 )

p x2 a32 cos 2 ( 2 3 ) a22 cos 2 2 2a2 a3 cos 2 cos( 2 3 )

p 2y a32 sin 2 ( 2 3 ) a22 sin 2 2 2a2 a3 sin 2 sin( 2 3 )

p x2 p 2y a32 a22 2a2 a3 cos( 2 3 ) cos 2 sin( 2 3 ) sin 2

p x2 p 2y a32 a22 2a2 a3 cos 3 ,
cos 3

p x2 p 2y a32 a22
2a2 a3

p x a3nx a2 cos 2 ,

2 A tan 2

p x2 p 2y a32 a22 2a2 a3 cos 3

sin( 3 ) 1 cos 2 ( 3 ) , 3 A tan 2

p x a3 n x
cos 2 ,
a2

sin( 3 )
cos( 3 )

p y a3n y a2 sin 2 ,

p y a3 n y
a2

sin 2

sin( 2 )
cos( 2 )

4) For the 3DOF manipulator with RTR joints a complete D-H parameters table is given. The
robot is presented below. Obtain the forward kinematic equations for this robot and defined all
joint variables for the robot home position and explain the difference between zero home
position and hardware home position.
z0
1

y0

a1

d2

z1

di

ai

a1

d2

x2

d3

0
3

180

cos i sin i

sin i sin i

cos i cos i

sin i cos i

sin i

cos i

ai cos i
ai sin i
di

x0

y1

x1
z2

y2

d3
y3

cos i
sin
i
i 1
Ai
0

cos 1 sin 1
sin
cos 1
1
0
A1
0
0

0
0

z3

0 a1 cos 1
0 a1 sin 1
1
0

0
1

x3

1
0
1
A2
0

0
cos 3

sin
1 0 0 2
3
, A3
0
0 1 d2

0 0 1
0

sin 3

0 0

cos 3
0
0

0
0 0
1 d3

0 1
0

cos 1 cos 3 sin 1 sin 3 cos 1 sin 3 sin 1 cos 3 0 a1 cos 1

sin cos cos sin sin sin cos cos
0 a1 sin 1
1
3
1
3
1
3
1
3
0
A3 0 A1 1 A2 2 A3

0
0
1 d 2 d3

0
0
0
1

sin( ) sin cos cos sin , cos( ) cos cos sin sin
0 a1 cos 1
cos(1 3 ) sin(1 3 )
sin( ) cos( ) 0 a sin
1
3
1
3
1
1
0
,
A3

0
0
1 d 2 d3

0
0
0
1

nx
n
0
A3 y
nz

bx

tx

by

ty

bz

tz

px
p y
pz

In robot kinematics, the zero home position refers to the robot configuration where all the
joint variables have value of zero. In this example: 1 0 , d 2 0 , 3 0
The configuration where all the joint sensors read zero displacement is the hardware home
position.
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