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 CODE: KhushRaho10Live
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Ex. IES Officer, (AIR 12, General

Category) Ministry of Railways
GATE Topper (99.96 Percentile,
General Category)
Ex. Faculty of MADE EASY and
Next IAS
Ex. Director of IES Academy
Ex. NTPC, BARC
Teaching Experience 18 years
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You will get

‘‘maa’’
for Preparation
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 This is Class-1 (YouTube Session-1)
Click on the following link, Video Lecture will start
Robotics | Samarth Batch for ESE Mains | Mech | S K Mondal |
Unacademy Accord
•
This is on Unacademy Accord Channel

A f t e r c o m p l e t i n g t h i s, at t e n d
Class-1 (Unacademy Session-1)
Link is given after some pages in this PDF, from where the lecture will
start in continuation

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 Robotics

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 IES-2021 Syllabus
• Robotics
• Robot Classification
• Robot Specification, notation
• Direct and Inverse Kinematics
• Homogeneous Coordinates and Arm Equation of
four Axis SCARA Robot
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 Example-1
Frame {1} and {2} have coincident origins and differ
only in orientation. Frame {2} is initially coincident
with frame {1}. Certain rotations are carried out
about the axis of the fixed frame {1}: first rotation
about x-axis by 45° then about y-axis by 30° and
finally about x – axis by 60°. Find the equivalent
rotation matrix 1R2. CODE: KhushRaho10Live
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 This is Class-1 (Unacademy Session-1)
Click on the following link, Video Lecture will start
https://unacademy.com/class/robo
tics-automation-for-ese-mains-
part-i/4175WUTJ
A f t e r c o m p l e t i n g t h i s, at t e n d
Class-2 (YouTube Session-2)
Link is given after some pages in this PDF, from where the lecture will start in
continuation

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 IES 2019 main
A vector 25i +10 j+20k is translated by 8 units in X
and 5 units in Y directions. Subsequent to this the
vector is rotated by 60° about Z-axis and 30° about
X-axis. Determine the final form of the vector.

[10 Marks]
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 Example-4
A point p(7, 3, 1)T is attached to a frame Fnoa and is
subjected to the following transformations. Find the
coordinates of the point relative to the reference
frame at the conclusion of transformations.

1. Rotation of 90° about the z-axis,

2. Followed by a rotation of 90° about the y-axis,

3. Followed by a translation of [4, -3, 7].

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 Example-5
In this case, assume the same point p(7, 3, 1)T, attached to
Fnoa is subjected to the same transformations, but the
transformations are performed in a different order. Find
the coordinates of the point relative to the reference
frame at the conclusion of transformations.
1. A rotation of 90° about the z-axis,
2. Followed by a translation of [4, -3, 7],
3. Followed by a rotation of 90° about the y-axis.
 Example-6
In this case, assume the same point p(7, 3, 1)T, attached
to Fnoa is subjected to the same
transformations, but the transformations are
performed in a different order.
Find the coordinates of the point relative to the
reference frame after transformations are completed
1. A rotation of 90° about the a-axis,
2. Then a translation of [4, -3, 7] along n-, o-, a-axes
3. Followed by a rotation of 90° about the o-axis.
 This is Class-2 (YouTube Session-2)
Click on the following link, Video Lecture will
start
https://youtu.be/TbA8UW9IHLk
This is on Unacademy Accord Channel

After completing this, attend

Class-2 (Unacademy Session-2)
Link is given after some pages in this PDF, from where the lecture
will start in continuation

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 Example-7
A frame B was rotated about the x-axis 90°, then it was
translated about the current a-axis 3 inches before it
was rotated about the z-axis 90°. Finally, it was
translated about current 0—axis 5 units.

a) Write an equation that describes the motions.

b) Find the final location of a point p(1,5,4)T attached to

the frame relative to the reference frame.
 Example-8

A frame F was rotated about the y-axis 90°,

followed by a rotation about the 0-axis, 30°,
followed by a translation of 5 units along the n-
axis, and finally, a translation of 4 units along
the x-axis. Find the total transformation matrix.

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 IES-2017 Main
Determine and compare the coordinates of a point P(5, 3, 1)T
attached to a moving frame FUVW which undergoes the
following two sets of successive transformation:
Set A :
1. First a rotation of (-90°) about Z-axis,
2. Followed by translation of [5 -3 4] about the X, Y and Z axes
respectively.
3. Finally a rotation of (-90°) about Y-axis.
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 IES-2017 Main
Set B :
1. First a rotation of (-90°) about W-axis
2. Followed by translation of [5 -3 4] about the U, V and
W axes respectively.
3. Finally a rotation of (-90°) about V-axis.
[15 marks]
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 This is Class-2 (Unacademy Session-2)
Click on the following link, Video Lecture will
start
https://unacademy.com/class/robotics-
automation-for-ese-mains-part-ii/OY0EYG69
After completing this, attend
Class-3 (YouTube Session-3)
Link is given after some pages in this PDF, from where the
lecture will start in continuation

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Representation of a frame Relative to a fixed
reference frame.

nx ox a x p x 
n 
oy a y p y 
F=  y

nz oz a z p z 
 
0 0 0 1 
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Representation of a Rigid body in space

nx ox a x p x 
n 
oy a y p y 
Fobject =  y

nz oz a z p z 
 
0 0 0 1 

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 Description of Object

n o a
nx ox a x d x 
n o a d  → → → → 
T=  y y y y
= n o a d 
nz oz a z d z  0 0 0 1
   
0 0 0 1 
In the transform matrix T , the vector d is the translation of end
→ → →
− effector frame from the reference frame and vectors  n , o , a 
 
describe the orientation of end − effector.
 The vectors n, o, and a represent the X, Y, Z
axes of the end − effector frame.
Matrix T is applicable to any co-ordinate
frame and any joint of the manipulator.
n is normal vector in the X axis.
o is orientation vector in the Y axis.
a is approach vector in the Z axis.
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Rotation Matrix R (For IES Only)

Orientation is specified by the submatrix R.

This is general rotation matrix.
 xˆ.uˆ xˆ.vˆ xˆ.wˆ   nx ox ax 

R =  yˆ .uˆ yˆ .vˆ  
yˆ .wˆ  =  n y oy 
ay 
 zˆ.uˆ zˆ.vˆ zˆ.wˆ   nz oz az 
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 The vectors n, o and a are in three mutually
perpendicular directions and hence the
rotation matrix R is an Orthogonal
Transformation. Because the vectors
in the dot products are all unit vectors,
it is also called Orthonormal Transformation.
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 1.The scalar dot product of two different
columns is zero, that is
n.o = 0 or nx ox + n y o y + nz oz = 0 .....(1)
o.a = 0 or ox ax + o y a y + oz az = 0 .....(2)
a.n = 0 or ax nx + a y n y + az nz = 0 .....(3)
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 2.The scalar dot product of any column with
itself is unity, that is
n.n = 1 or n + n + n = 12
x
2
y
2
z .....(4)
o.o = 1 or o + o + o = 12
x
2
y
2
z .....(5)
a.a = 1 or a + a + a = 12
x
2
y
2
z .....(6)
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 3.The vector product of two different columns
gives the third column in a cyclic order, that is
no = a .....(7)
oa = n .....(8)
an = o .....(9)
iˆ ˆj kˆ
nx ny nz = ax iˆ + a y ˆj + az kˆ
ox oy oz
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 This means that the orientation is completely
defined by any two of the three vectors n, o
and a from this three equations you may
replace first three equations. This cross product
equations are recommended because it indicate
correct Right Handed Frame but dot product
equations are scalar and same for Left hand
and Right hand frame.
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 Example-2

In the above frame, find missing elements and

complete the matrix representation of the frame.
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 Example-3

In the above frame, find missing elements and

complete the matrix representation of the frame.
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Determine the missing elements of the following frame
IES-2017 Main
representation, if the frame is attached to an object in
space. Also show the orientation and position of the
frame F with respect to OXYZ shown.

[ESE-12- Marks]
 This is Class-3 (YouTube Session-3)
Click on the following link, Video Lecture will
start
This is on Unacademy Accord Channel
h t t p s : / / yo u t u . b e / UJ 0 z U c O 9 X i 0

After completing this, attend

Class-3 (Unacademy Session-3)
Link is given after some pages in this PDF, from where the lecture
will start in continuation
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 This is Class-3 (Unacademy Session-3)
Click on the following link, Video Lecture will
start
https://unacademy.com/class/robotics -automation -
for-ese-mains -par t-iii/GNHB9F2P

After completing this, attend

Class-4 (YouTube Session-4)
Link is given after some pages in this PDF, from where the lecture
will start in continuation

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 Find 2T1

𝟏 𝟎 𝟎 𝟕
1 𝟎 𝟎. 𝟓 −𝟎. 𝟖𝟔𝟔 𝟓
If T2 =
𝟎 𝟎. 𝟖𝟔𝟔 𝟎. 𝟓 𝟕
𝟎 𝟎 𝟎 𝟏

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 What is RUR?
• RUR was a play.

• The first use of the word ‘robot’ appeared in 1921 in the play
Rossum’s Universal Robots (RUR) written by the Czech
writer Karel Capek.

• It was a fictional manufacturer of mechanical creatures

designed a robot to replace human workers.
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 Question

Make a chart showing the major industrial

applications of robots.

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 What are the four D’s of robotics?
Four D’s
Is the task
1. Dirty
2. Dull
3. Dangerous
4. Difficult
If so, a human will probably not be able to do the
job efficiently for hours. Therefore, the job is
appropriate for automation or robotic labour.
 IES-Conventional

Briefly describe some of the similarities

between a robot and an CNC machine.

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 Asimov's three laws of robotics
First law (Human safety):
• A robot may not injure a human being, or, through inaction, allow a
human being to come to harm.

Second law (Robots are slaves):

• A robot must obey orders given it by human beings, except where such
orders would conflict with the First Law.

Third law (Robot survival):

• A robot must protect its own existence as long as such protection does
not conflict with the First or Second Law.
 Question

Describe the role of arm and wrist of a robotic

manipulator.

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 Wrist Configurations
• Wrist assembly is attached to end-of-arm
• End effector is attached to wrist assembly
• Function of wrist assembly is to orient end effector
– Body-and-arm determines global position of end effector
• Two or three degrees of freedom:
– Roll
– Pitch
– Yaw
 IES 2010 Conventional

What are a manipulator, wrist and end

effectors for a robot ?

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 End Effectors
• The special tooling for a robot that
enables it to perform a specific task

• Two types:

– Grippers – to grasp and manipulate

objects (e.g., parts) during work
cycle

– Tools – to perform a process, e.g.,

spot welding, spray painting
Grippers and Tools
 Question

How many degrees of freedom are normally

provided in the arm of a manipulator?

How many degrees of freedom can a wrist have?

What is the purpose of these degrees of freedom?
 Question: What is the difference between SERIAL and
PARALLEL Robot?
Answer:
• Serial robot — A fixed base, links and joints
connected sequentially and ending in an end-
effector
• Parallel robot — More than one loop, no natural
end-effector
 IES Conventional
What are the five different types of robot systems?

Answer:
Cartesian or Gantry robot
Cylindrical robot
Spherical or Polar robot
Articulated or Revolute Robot
SCARA robot
 Question

Name the four basic arm configurations that are

used in robotic manipulators.

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 IES 2019 main

Explain briefly the following :

1) Four configurations of Robot
2) Work volume
[4 Marks]

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 IES-Conventional

Discuss some important aspects of pendant

programming in robotics.

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› For work that requires point to point, and point to point with
coordinated path, movements this is the normal method of
programming.
› It involves the programmer using a hand-held pendant which
transmits commands though a cable to the robot controller,
the robot then responds to these commands.
› In this way the programmer can lead the robot through a
task.
› Tech pendants have as many different configurations as there
robot models. Essentially they all contain sufficient controls
to send the necessary instruction to the controller.
› The robot arm is programmed by moving the end effectors to a
desired position using the joystick, and once the arm is at the
required position and orientation a key in the keyboard is
pressed to record the point in memory.
› On a six axis robot this will be recorded as a six coordinate
location x, y, z, α, β, γ.
› In this way all the points to which the robot is desired to go will
be recorded in memory within a ‘point file’.
› An ‘instruction file’ is then created using the keyboard
command. This file contains the instructions as to what the
robot should do between each point, e.g. the robot may be
instructed to move from point 1 to
 point 2 at a speed of 200 mm/s. At point 2 it may be instructed
to open its gripper, operate a spot welding gun, or open a valve
to allow adhesive to be dispensed.

› Thus two files will be constructed, one with the desired end
effector locations, and one with the instructions connecting
the robot operation and sequence and speed of movements.

› We may use a computer for on line programming, this makes

more complex programs easier to create.
 Question

• Name the four basic components of a robot

system.

• Describe the functions of four basic

components of a robot.

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 IES Conventional

Name the basic components of all robots. Write in

short about welding robot.
[5 Marks]

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 Actuators

 Transmission systems

 Power supplies & power storage system

 Sensors

 Microprocessors & controllers

 Algorithms & software (higher level & lower

level)
 Actuators are basically prime movers providing both force and
motion.
 Pneumatic cylinders, hydraulics, permanent magnet motors,
stepper motors, linear motors are some conventional
actuators.
 More advanced ones are based on hi-tech polymers, shape
memory alloys, piezo patches, and pneumatic muscles.
 Brushless servo motors also exist for low noise levels, and
printed armature motors are used for quick response.
 Question: Compare of pneumatic & hydraulic actuators
Answer:
 Air used in pneumatic actuators is clean and safe.
 Oil in hydraulic actuator can be a health and fire hazard
especially if there is a leakage.
 Pneumatic actuators are typically light-weight, portable and
faster.
 Air is compressible (oil is incompressible) and hence
pneumatic actuators are ‘harder’ to control.
 Hydraulic actuators have the largest force/power density
compared to any actuator.
 With compressors, accumulators and other components, the
space requirement is larger than electric actuators.
 The transmission system used in robot to transmit power and
motion consists of chains, timing belts, metal belts, cables and
pulleys and linkages.

 Gear boxes and harmonic drives serve to provide speed reduction.

 Ball screws are used with suitable mechanisms to convert rotary

motion to linear motion and if needed back to oscillatory motion.

 Drive stiffness is an important consideration in robotics and so also

is backlash.
 Hydraulic and Pneumatic power packs:
These consist of a motor driving a positive displacement pump
or compressor to generate the high pressure fluid flow. In using
hydraulic systems the necessity of having an oil tank increases
the weight of the system, additionally the issue of ensuring that
the oil is free of contaminants is to be handled. In pneumatics
power pack dry air is desired.
 Electric motors:
It use what are known as PWM (pulse width modulation)
amplifiers. These are electronic devices, consisting of transistors
used as switches to rapidly switch on and off the supply in a
controlled manner to control motor speeds. Such drives have
higher efficiency.
 The sensors for feedback in robots consists of tachometers and
encoders and potentiometers to sense motor motions, simple
switches, force sensors, acceleration sensors, optical systems,
special cameras and vision systems.

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 Question: What are the desirable features in sensors?
Answer:
 High accuracy.
 High precision.
 Linear response.
 Large operating range.
 Low response time.
 Easy to calibrate.
 Reliable and rugged.
 Low cost
 Ease of operation
 Electronics

There are a host of electronic circuits, motor controllers, analog

to digital converters and digital to analogue converters, frame
grabbers and so on utilized to handle sensors and vision systems
and convert the inputs from them into a form usable by the
processor for control of the entire system in conjunction with
the algorithms and software developed specifically for the
purpose.
 Analog output, need ADC for digital control.

 A digital-to-analog converter (DAC) needed so that motor

currents can be commanded to the current-driver circuits.
The current flowing through the motor is controlled in
analog circuitry by adjusting the voltage across the
armature as needed to maintain the desired armature
current.
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 The software used consists of several levels.
 Motor control software consists of algorithms which help the
servo to move smoothly utilizing the data from feed-back units.
 At the next level there is software to plan the trajectory of the end
effector and translate the same into commands to individual
motor controllers.
 The output of sensors is also to be interpreted and decisions
made.
 At the highest level there is software which accepts commands
from the user of the robot and translates it into appropriate
actions at the lower level.
 The mechanical unit, often called the "arm," that does the actual
work of the robot.
 It is composed of mechanical linkages and joints with actuators
to drive the mechanism directly or indirectly through gears,
chains, or ball screws.
 Manipulator are built as serial chains or parallel chains or
occasionally a combination of both.
 Links and joints (revolute and prismatic) that are mostly used in
manipulators.
 In spatial manipulators (open chains) adjacent axes are parallel
or perpendicular to each other.
The relationships among the five major systems that
make up an industrial robot are shown in this diagram.
 For control of the robot we have several levels:
 Control of individual motors and actuators.
 Planning trajectory & individual actuators in motion.
 Planning trajectories of end effector.
 Acting upon sensors input
 Planning tasks
 Direct and Inverse Kinematics

Will be discussed in class

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• Link Length (ai) — distance measured along xi-axis

from the point of intersection of xi-axis with zi_1-axis

(point C) to the origin of frame {i}, that is, distance

CD.

• Link twist (αi) — angle between zi_1- and zi-axes

measured about xi-axis in the right-hand sense.

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• Joint distance (di)— distance measured along zi_1 axis

from the origin of frame {i-1} (point B) to the

intersection of xi- axis with zi_1-axis (point C), that is,

distance BC.

• Joint angle (θi) — angle between xi_1- and xi-axes

measured about the zi_1-axis in the right-hand sense.

 Golden rule of D-H Parameter
Follow this 4 step
1. Frame assignment (Use Nerve )
2. D-H Parameter Table
3. Basic Link Transformation Matrix (i-1Ti)
4. Mondal’s Matrix Multiplication Method

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Step-1: Frame assignment (Use this Nerve )

𝛼𝑖

𝜃𝑖
 Step-2: D-H Parameter Table
Link i ai αi di θi qi Cθi Sθi Cαi Sαi
1
2
3
4

Where: qi is the displacement Variable

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Step-3: Basic Link Transformation Matrix (i-1Ti)

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 Step-4: Use Mondal’s Matrix
Multiplication Method

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Matrix Multiplication : Mondal’s Method

𝑎1 𝑏1 𝑐1 𝑙1 𝑙2
𝑎2 𝑏2 𝑐2 𝑚1 𝑚2
𝑎3 𝑏3 𝑐3 𝑛1 𝑛2
3×3 3×2

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Matrix Multiplication : Mondal’s Method

𝑎1 𝑏1 𝑐1 𝑎1 𝑏1 𝑐1
𝑎2 𝑏2 𝑐2 𝑎2 𝑏2 𝑐2
𝑎3 𝑏3 𝑐3 𝑎3 𝑏3 𝑐3
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Matrix Multiplication : Mondal’s Method

𝑎1 × 𝑙1 𝑏1 × 𝑚1 𝑐1 × 𝑛1 𝑎1 × 𝑙2 𝑏1 × 𝑚2 𝑐1 × 𝑛2
𝑎2 𝑏2 𝑐2 𝑎2 𝑏2 𝑐2
𝑎3 𝑏3 𝑐3 𝑎3 𝑏3 𝑐3

𝑎1 × 𝑙1 𝑏1 × 𝑚1 𝑐1 × 𝑛1 𝑎1 × 𝑙2 𝑏1 × 𝑚2 𝑐1 × 𝑛2
𝑎2 × 𝑙1 𝑏2 × 𝑚1 𝑐2 × 𝑛1 𝑎2 × 𝑙2 𝑏2 × 𝑚2 𝑐2 × 𝑛2
𝑎3 × 𝑙1 𝑏3 × 𝑚1 𝑐3 × 𝑛1 𝑎3 × 𝑙2 𝑏3 × 𝑚2 𝑐3 × 𝑛2
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Matrix Multiplication : Mondal’s Method

𝑎1 × 𝑙1 + 𝑏1 × 𝑚1 + 𝑐1 × 𝑛1 𝑎1 × 𝑙2 + 𝑏1 × 𝑚2 + 𝑐1 × 𝑛2
𝑎2 × 𝑙1 + 𝑏2 × 𝑚1 + 𝑐2 × 𝑛1 𝑎2 × 𝑙2 + 𝑏2 × 𝑚2 + 𝑐2 × 𝑛2
𝑎3 × 𝑙1 + 𝑏3 × 𝑚1 + 𝑐3 × 𝑛1 𝑎3 × 𝑙2 + 𝑏3 × 𝑚2 + 𝑐3 × 𝑛2

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 Obtain the direct kinematics model of the
given 4 DOF SCARA Robot by developing
D-H frames, D-H parameters table and
individual transformation matrices.

[20 Marks]
CODE: KhushRaho10Live Contd…
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84
 This is Class-4 (YouTube Session-4)
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h t t p s : / / yo u t u . b e / 9 6 Xu F Ze c c W 4

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Class-4 (Unacademy Session-4)
Link is given after some pages in this PDF, from where the lecture
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CODE: KHUSHRAHO10LIVE
 2

Frame assignment in SCARA robot

 This is Class-4 (Unacademy Session-4)
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for-ese-mains -par t-iv/N6KVEJJE

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Class-5 (YouTube Session-5)
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 IES-2017 Main
(a) Derive the forward kinematics equations for the given figure
of two degrees of freedom planar robot. Assign the coordinate
frames based on D-H representations, prepare the D-H parameter
table, prepare the individual transformation matrices and finally
the composite transformation matrix depicting the F-K
equations.

(b) If the link lengths are a1 = 15 units and a2 = 10 units, determine

the final position and orientation of tool point (e.e.) frame for θ1
= 45° and θ2 = 45° (measured in counter-clockwise sense).
Contd…
Fig: 2 link 2-DOF planar robot arm
[16 marks]
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Prepare the forward kinematic model for a 3- link
planar arm with link lengths a1, a2 and a3
respectively by developing

(i) Respective coordinate frames as per D-H rules.

(ii) D-H Parameters table

(iii) Individual transformation matrices , i-1Ti

Contd…
90
(iv) The transformations matrix of the last frame
with reference to the base frame
(v) Also draw the orientation and position of the
last frame with reference to the base frame , if
link lengths are
a1 = a2 = a3= 10 units, 𝜽𝟏 = 𝟎𝟎, 𝜽2 =45o and 𝜽𝟑 =45o
Given that i-1 Ti matrix form is as following
Note: angles are measured in counter clockwise
directions [20 marks]
Contd… 91
92
 This is Class-5 (YouTube Session-5)
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h t t p s : / / yo u t u . b e / n g j 6 g r Z m U d w

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 This is Class-5 (Unacademy Session-5)
Click on the following link, Video Lecture will start
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A f t e r c o m p l e t i n g t h i s, at t e n d
Class-6 (YouTube Session-6)
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 Example
Obtain the position and orientation of the tool point P with
respect to the base for the 2-DOF, RP planar manipulator shown.
For a 4 DOF, RPPR manipulator, the joint-link
transformation matrices with joint variables
𝜽𝟏, d2, d3, and 𝜽𝟒 are given as0T1, 1T2, 2T3, 3T4 .
Generate the Denavit–Hartenberg parameters
table and the frames for the manipulator as
per D-H rules. Contd…
[12 marks]
96
97
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https://youtu.be/MCZR7CqmxVk
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 IES-2017 Main
(a) Develop Forward Kinematics model for the given three
degrees of freedom RPY wrist figure. Assign the frames,
develop D-H parameters table, generate individual
transformation matrices and overall transformation
matrix. Assume a3 = d3 = 0. Determine the orientation of
the last frame with reference to the {0} frame, if θ1 = 0 and
θ2 = θ3 = 90°.

Contd…
 IES-2017 Main
(b) Determine the three joint variables for a given end
effector orientation matrix TE for the RPY wrist in the
figure above.

[10 marks]
Fig: A 3-DOF freedom roll, pitch and yaw (RPY) wrist
[10 marks]

Contd…
 IES-2018 Main
Arm of 3 DOF manipulator is shown in the figure below.
Joints 1 and 2 are perpendicular to each other and joints 2
and 3 are parallel. All joints are shown at their zero location
and positive senses of the joint angles are indicated. Assign
link frames {0} to {4} for the arm such that {0} represents
frame {S} and {4} represents {T}. Make a table of D-H
parameters and derive all the transformation matrices
relating {0}, {1}, {2) and {3} frames.
Contd…
[20 marks]
 Table: D-H parameters
Linki ai αi di θi qi Cθi Sθi Cαi Sαi
1 0 0° L1+ L2 θ1 θ1 C1 S1 1 0
2 0 90° 0 θ2 θ2 C2 S2 0 1
3 L3 0° 0 θ3 θ3 C3 S3 1 0
4 L4 0° 0 0° L4 1 0 1 0

Where: qi is the displacement Variable

C12 C3 - C12 S3 S12 C12 C3 L4 + C12 C3 L3

S12 C3 - S12 S3 - C12 S12 C3 L4 + S12 C3 L3

S3 C3 0 S3 L4 + S3 L3 + L1 + L2

0 0 0 1

107
 IES 2019 main
A 4 d-o-f manipulator of Maker Robot type is shown in the
figure given below. Prepare a D-H parameter table for this
configuration. Define the position of end wrist P in terms
of joint lengths and angles:

[10 Marks]
 Table: D - H parameters

Linki ai αi di θi qi Cθi Sθi Cαi Sαi

1 0 -90° 0 θ1 θ1 C1 S1 0 -1
2 0 -90° 0 θ2-90° θ2 S2 -C2 0 -1
3 0 90° d3 0° d3 1 0 0 1
4 0 0 0 θ4 θ4 C4 S4 1 0

Where: q is the displacement Variable

C1S2C4 + C1C2S4 C1C2C4 - C1S2S4 -S1 C1C2 d3

S1S2C4 + S1C2S4 S1C2C4 - S1S2S4 C1 S1C2 d3

C2C4- S2S4 -S4C2- S2C4 0 -S2d3

0 0 0 1

110
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 Inverse Kinematics

Will be discussed in class

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 Inverse Kinematics

SCARA Robot

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 Function atan2(y, x)

𝒙 𝒚
𝐜𝐨𝐬 𝜽 = , 𝒂𝒏𝒅 𝐬𝐢𝐧 𝜽 =
𝒙𝟐 + 𝒚 𝟐 𝒙𝟐 + 𝒚𝟐
𝒐𝒓 𝒙 = 𝒓 𝐜𝐨𝐬 𝜽 𝒂𝒏𝒅 𝒚 = 𝒓 𝐬𝐢𝐧 𝜽
𝑾𝒉𝒆𝒓𝒆, 𝒓 = 𝒙𝟐 + 𝒚𝟐
 x atan2(y, x)
Positive atan(y/x)
zero [sign(y)]π/2
Negative atan(y/x)+[sign(y)]π

𝒚 𝒚
𝜽= −𝟏𝟖𝟎∘ + 𝐭𝐚𝐧−𝟏 𝒐𝒓𝟏𝟖𝟎∘ + 𝐭𝐚𝐧−𝟏
𝒙 𝒙
𝜃 𝜃

𝜃 𝜃
Examples atan2(y, x)
 IES 2019 main

Explain briefly the following :

(1) Spatial resolution
(2) Accuracy
(3) Repeatability
[6 Marks]
Precision of Movement
Resolution
Resolution
Example
Example
Example
Accuracy
Accuracy
Accuracy
Accuracy
Joint Motion
Target
Position
Factors Affecting Robot Accuracy
Factors Affecting Robot Accuracy
Robot Repeatability
Robot Repeatability
Robot Repeatability
Robot Repeatability
Khush Raho