Exam Model: 4629

Zagazig University,Faculty of Engineering Final Exam Date: 04/02/2017

Academic Year: 2016/2017 Exam Time: 3 hours
Specialization: Computer & Systems Eng. No. of Pages: 9
Course Name: Robotics No. of Questions: 5
Course Name: CSE629/CSE514/CSE513 Full Mark: [ 70 ]
Examiner: Dr. Mohammed Nour
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B Please answer all questions. Use 3 decimal digits approximation.
B Use your answer sheet as a draft for solutions. Attach last exam page to it.
B Mark your answers for all questions in the table provided in the last page.
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Question 1. [ 16 Marks ] (2 ⇥ 8)

1. Which of the following terms refers to the rotational motion of a robot arm?
a) swivel b) axle c) roll d) yaw
2. What is the name for the space inside which a robot unit operates?
a) environment b) spatial base c) danger zone d) work envelop
3. Which of the following terms is not one of the five basic parts of a robot?
a) peripheral tools b) end e↵ectors c) controller d) sensor
4. The number of moveable joints in the base, the arm, and the end e↵ectors of the robot determines
······ ?
a) degrees of freedom b) operational limits c) flexibility d) cost
5. For a robot unit to be considered a functional industrial robot, typically, how many degrees of
freedom would the robot have?
a) three b) four c) six d) eight
6. . Which of the basic parts of a robot unit would include the computer circuitry that could be
programmed to determine what the robot would do?
a) controller b) arm c) end e↵ector d) drive
7. End e↵ectors can be classified into two categories which are. . .
a) elbows and wrists b) grippers and end of arm tooling
c) grippers and wrists d) end of arm tooling and elbows
8. The amount of weight that a robot can lift is called. . .
a) tonnage b) payload c) dead lift d) horsepower
Question 2. [ 8 Marks ] (2 ⇥ 4)

!
" !

A 2-DOF planar manipulator has a rotational joint and a prismatic

joint. The two links are perpendicular to each other and their dimen- "
sions are as indicated. P is the tip (end-e↵ector) of the manipulator.
θ ! !!

CSE629/CSE514/CSE513: Robotics Final Exam–2016/2017 page 1 of 9

 Exam Model: 4629

9. This manipulator workspace is sketched as:

a) b) c) d)
10. The dimensions of the workspace can be mathematically expressed as:
a) x2 + y 2  8 a2 b) x + y  a cos ✓
2 2 2 2
p
c) a  x + y  (3a) d) x  2 2 a and y  a

Solution
The Cartesian workspace sketch is shown in the figure in shadowed area.

P
Y a

2 2a
θ

Inner boundary of
the workspace
Outer boundary of
the workspace

It can be mathematically expressed as: l2  x2 + y 2  (3l)2 .

Question 3. [ 10 Marks ] (2 + 2 + 1 + 1 + 2 + 2)

Consider the pose of the objects A and B in space, as shown on the left. The goal is to displace
object B into a new pose C on A, so that both objects are connected as shown on the right:
z0
−�
x z0
C [3,−3,2]
1

y
2
−� A z 1
z
3 −3
−�
x0 5 y0
y x

B [0,5,−1] y0
x0

11. The homogeneous transformation matrix H0B to represent B w.r.t. frame 0 is:

CSE629/CSE514/CSE513: Robotics Final Exam–2016/2017 page 2 of 9

 Exam Model: 4629

2 3 2 3 2 3 2 3
1 0 0 3 1 0 0 0 1 0 0 3 1 0 0 3
60 p1 p1 27 60 1 0 57 60 1 0 27 60 1 0 87
a) 6 2 2 7 b) 6 7 c) 6 7 d) 6 7
40 p1
2
p1
2
15 40 0 1 15 40 0 1 15 40 0 1 35
0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 1
12. The homogeneous transformation matrix H0C to represent C w.r.t. frame 0 is:
2 3 2 3 2 3 2 3
1 0 0 3 1 0 0 0 1 0 0 3 1 0 0 3
60 p1 p1 2 7 60 1 0 5 7 60 1 0 27 60 1 0 87
a) 6 2 2 7 b) 6 7 c) 6 7 d) 6 7
40 p1
2
p1
2
1 5 4 0 0 1 1 5 4 0 0 1 15 40 0 1 35
0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 1
13. A sequence of transformations that reaches the desired pose is:
⇣⇡ ⌘ ⇣⇡ ⌘
a) C = T (3, 2, 1) Rx b) C = T ( 3, 0, 1) Rx
2 2
c) C = T (3, 2, 1) Rx (⇡) d) C = T (0, 5, 1) Rx (⇡)

Consider the following homogeneous transformation matrix F and rotation matrix R:

2 3
x1 0 1 5 2 3
6x2 0 7 x1 0 1
0 3
F=64x3
7 R = 4x2 0 05
1 0 25
x3 1 0
0 0 0 1

14. We can split the transformation matrix F into:

2 3 2 3 2 3 2 3
0 1 5 x1 x1 0 1 5
a) 4 0 0 35 and 4x2 5 b) 4x2 0 0 5 and 435
1 0 2 x3 x3 1 0 2
c) translation followed by a rotation d) both b) and c)
15. In the rotation matrix R:
a) Rank(R) = 4 b) RRT = I
c) dot product of any two columns is one d) cross product of any two rows is zero
16. In the rotation matrix R, values of x1 , x2 and x3 are calculated as:
a) 1, 0, 0 b) 0, 1, 0 c) 0, 0, 1 d) 1, 1, 1

Solution
We can select an arbitrary sequence of displacements, where object B is first rotated for 180
about axis x0 . It is easy to realize, that we shall reach the final pose C using translations only.
The object is first lifted for at least 1 unit in z0 direction, in order not to collide with object
A. Afterwards we slide over object A for 3 units in the x0 direction. After displacing the object
for two units in y0 direction, the objects A and B are connected. As we are dealing with
a transformations in a reference frame, the individual transformations are written in reverse
order:
C = T (3, 2, 1) Rx (⇡)

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 Exam Model: 4629

Since R is a rotation matrix, then:

RRT = I
2 32 3 2 3
x1 0 1 x 1 x2 x3 1 0 0
4x2 0 0 54 0 0 15 = 40 1 05
x3 1 0 1 0 0 0 0 1

from which we get:

x21 + 1 = 1 ) x1 = 0
x22 = 1 ) x2 = 1
x23 + 1 = 1 ) x3 = 0

Note that x2 = 1 is rejected because for a rotation matrix |R| = 1 as R 2 SO(3) With the
above solution can verfy that:

x1 x2 = 0, x1 x3 = 0, x3 x 2 = 0

Question 4. [ 12 Marks ] (2 + 2 + 4 + 4)

Consider the slider-crank mechanism shown below with ✓1 as actuated joint and {xS , yS } is the
base frame and {xT , yT } is the tool frame:

θ3 yT
yS a2 a1
θ1 θ2
xS xT
d
a3

17. This mechanism has · · · · · · · · · degrees of freedom.

a) one b) two c) three d) four
18. Gruebler formula can not be used because:
a) the mechanism moves in one dimension (in the x–axis direction) only.
b) it is used with 2D parallel mechanisms.
c) it is used with either 3D closed chains manipulators.
d) it is applicable for inverse kinematics.
19. the manipulator forward kinematics (i.e. given ✓1 find [xT yT ] T )
a2 sin(✓1 + ✓2 ) a2 sin(✓1 + ✓2 )
a) a3 + b) c) a2 sin(✓1 + ✓2 ) d) d sin(✓1 )
sin ✓1 sin ✓1
20. the manipulator inverse kinematics (i.e. given [xT yT ]T find ✓1 )

2 a2 + a22 a21
a) cos (a + a22 a21 ) b) a22 +a2 2 a2 a cos ✓1 c) 2 a2 a cos ✓1 d) arccos
2a2 a

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 Exam Model: 4629

Solution
• This mechanism has one degree of freedom as it has only one independent joint variable (✓1 )
and all other joints depend on it.
• Gruebler formula can not be used because the mechanism moves in one dimension (in the
x–axis direction) only While Gruebler formula is used with either 2D or 3D.
• Manipulator Forward Kinematics
– Since the mechanism is restricted to move in the x–axis direction only, then:

yT = y S = 0

– in figure, let a be the length of the triangle side formed by the three joints. We get:

xT = d = a + a 3

– applying sine rule to the triangle:

sin ✓1 sin ✓2 sin(⇡ ✓3 ) sin[⇡ (✓1 + ✓2 )] sin(✓1 + ✓2 )

= = = =
a1 a2 a a a

a2 a2 sin(✓1 + ✓2 )
✓2 = arcsin sin ✓1 ) a=
a1 sin ✓1
a2 sin(✓1 + ✓2 )
x T = d = a + a3 = a 3 +
sin ✓1

• Manipulator Inverse Kinematics

– at any time:
xT = d = a + a3 ) a = xT a3
– using cosine rule:

a2 + a22 a21
a21 = a22 2
+a 2 a2 a cos ✓1 ) ✓1 = arccos
2a2 a

Question 5. [ 24 Marks ] (3 ⇥ 8)

The Stäubli robot is an anthropomorphic robot with a spherical wrist as shown with its dimensions:

CSE629/CSE514/CSE513: Robotics Final Exam–2016/2017 page 5 of 9

 Exam Model: 4629

θ#

'#

'" θ"
θ$
θ%
'&
θ&

θ!
'!

21. According to the DH conventions, we can assign frames to the first three joints as:
#! # %"
"
%" θ" θ$
θ" θ$
!! !"
!! "! ""
!" #!
"! "" #
"

## %! "#
%! "#
θ!
θ!
!#
a) !# b)
##
%"
#! #
"
θ$ %"
θ"
θ$
θ"
"! ""
!! !" "! ""
#! # !! !"
"

%! "# ##
%! !#
θ!
θ!
!#
c)
## d) "#
22. The DH parameters of the spherical wrist joints:

CSE629/CSE514/CSE513: Robotics Final Exam–2016/2017 page 6 of 9

 Exam Model: 4629

Link ai ↵ i di ✓i Link a i ↵ i di ✓i
4 0 90 0 ✓4 4 0 90 d4 ✓4
a) b)
5 0 90 0 ✓5 5 0 90 0 ✓5
6 0 0 d6 ✓6 6 0 0 d6 ✓6
Link a i ↵ i di ✓i Link ai ↵ i di ✓i
4 0 0 d4 ✓4 4 0 90 d4 ✓4
c) d)
5 0 0 0 ✓5 5 0 90 0 ✓5
6 d2 90 d6 ✓6 6 0 0 d6 ✓6
23. the homogeneous transformation matrices A3 is found as:
2 3 2 3 2 3 2 3
c 3 0 s3 0 c3 s3 0 d 3 c 3 c3 0 s3 0 s3 0 c3 0
6 s3 0 c3 077 6s3 c 3 0 d 3 s3 77 6 s3 0 c3 077 6 c3 0 s3 07
a) 6
40 1 0 b) 6 c) 6 d) 6 7
d3 5 40 0 1 0 5 40 1 0 05 40 1 0 05
0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 1

Solution
According to the DH conventions, we can assign frames to all joints as:
(" θ#
θ"
(%
('
!"
!! !# θ'
"" "# !
"! "'
θ&
θ% "% ) #
(! "& !'
"$ "
θ! !%
!&
!$

The DH parameters of the robot joints:

Link ai ↵i di ✓i
1 0 90 d1 ✓1
2 d2 0 0 ✓2
3 0 90 0 ✓3
4 0 90 d4 ✓4
5 0 90 0 ✓5
6 0 0 d6 ✓6

The matrices describing the relative poses of the neighboring coordinate frames:
2 3 2 3 2 3
c1 0 s1 0 c2 s2 0 d2 c2 c3 0 s3 0
6 s1 0 c1 0 7 7 6 s c 2 0 d 2 s2 7 6 c3 07
A1 = 6 A =6 2 7 A3 = 6s3 0 7
40 1 0 d1 5 2 4 0 0 1 0 5 4 0 1 0 05
0 0 0 1 0 0 0 1 0 0 0 1
2 3 2 3 2 3
c4 0 s4 0 c5 0 s5 0 c6 s6 0 0
6 s4 0 c4 0 7 7 6 s 0 c5 07 6 7
A4 = 6 A =6 5 7 A6 = 6s6 c6 0 0 7
40 1 0 d4 5 5 4 0 1 0 0 5 4 0 0 1 d6 5
0 0 0 1 0 0 0 1 0 0 0 1

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 Exam Model: 4629

The geometric model of the robot arm is represented by the product of first three matrices:
2 3
c1 c23 s1 c1 s23 d 2 c1 c2
6s1 c23 c1 s1 s23 d 2 s1 c 2 7
H30 = A1 A2 A3 = 64 s23
7
0 c23 d 1 + d 2 s2 5
0 0 0 1

Even more complex is the geometric model of robot wrist, represented by the product of the
last three matrices:
2 3
c 4 c 5 c 6 s4 s6 c4 c5 s6 s4c6 c4 s5 d 6 c 4 s5
6 s4 c 5 c 6 + c4 s6 s4 c 5 s 6 + c 4 c 6 s4 s 5 d 6 s4 s5 7
H63 = A4 A5 A6 = 6
4
7
s5 c 6 s5 s6 c5 d 4 + d 6 c5 5
0 0 0 1

Supplementary Material
Note: you may need some or none of these identities:

2 3 2 3 2 3
cos ✓ sin ✓ 0 cos ✓ 0 sin ✓ 1 0 0
RZ = 4 sin ✓ cos ✓ 0 5 , RY = 4 0 1 0 5, RX = 4 0 cos ✓ sin ✓ 5
0 0 1 sin ✓ 0 cos ✓ 0 sin ✓ cos ✓
2 3
cos ✓i cos ↵i sin ✓i sin ↵i sin ✓i ai cos ✓i
6 sin ✓i cos ↵i cos ✓i sin ↵i cos ✓i ai sin ✓i 7
Ai = 6
4 0
7
5
sin ↵i cos ↵i di
0 0 0 1
cos(a ± b) = cos(a) cos(b) ⌥ sin(a) sin(b)
sin(a ± b) = sin(a) cos(b) ± cos(a) sin(b)
sin(✓) = sin( ✓) = cos(✓ + 90 ) = cos(✓ 90 )
cos(✓) = cos( ✓) = sin(✓ + 90 ) = sin(✓ 90 )
cos2 (✓) + sin2 (✓) = 1
⇣ p ⌘
if cos(✓) = b, then ✓ = atan2 ± 1 b2 , b
⇣ p ⌘
if sin(✓) = b, then ✓ = atan2 b, ± 1 b2
⇣ p ⌘
if a cos(✓) + b sin(✓) = c, then ✓ = atan2 (b, a) + atan2 ± a2 + b2 c2 , c
if a cos(✓) b sin(✓) = 0, then ✓ = atan2 (a, b) + atan2 ( a, b)
sin(a) sin(b) sin(c)
For a triangle: A2 = B 2 + C 2 2BC cos(a), A
= B
= C

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‫ﻧﻤﻮذج اﻻﺧﺘﺒﺎر‬

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