COLLEGE OF ENGINEERING

DEPARTMENT OF COMPUTER ENGINEERING

2017/2018 SECOND SEMESTER EXAMINATION (MSC)
COE 519 : ROBOTICS AND AUTOMATION UNIT: 3
INSTRUCTIONS: Answer four (4) Questions only TIME ALLOWED: 1hr 30 min

QUESTION 1
(a) Differentiate between path and trajectory (3 marks)
(b) It is desired to have the first joint of a 6-axis robot go from an Initial joint angle of 50
degree to a final angle of 80 degree in 3 seconds. Calculate the co-efficient for a third-
order polynomial joint space trajectory. Determine the joint angles, velocities and
accelerations at 1, 2,3 seconds. It is assumed that the robot starts from rest to stop.
(8 marks)
(c) Differentiate between trajectory planning in Joint space and cartesian-space
(3 marks)

QUESTION 2
(a) Using the D-H convention, derive the x and y component of a planar two-link arm in
Figure 2. (7 marks)

Figure 2: Two-link planar manipulator

(b) Using a well labelled diagram identify and define the four-basic parameter using the
D- H Convention (5 marks)
 (c) What is the advantage of D-H convention over the traditional approach for solving
forward and inverse kinematics problem (3 marks)
QUESTION 3

(a) With the aid of a suitable diagram, differentiate between forward and inverse Kinematics.
(5 marks)

(b) A frame F was rotated about the y- axis at an angle of 90 degrees, with a translation of 5
units along the y axis, followed by a rotation about x-axis at 30 degrees, with a
translation of 4 units along the x-axis. Calculate (i) the total transformation matrix (ii)
what is the current position of the frame? (8 marks)
(c) State reasons why Inverse Kinematics problems are difficult to solve. (2 marks)
QUESTION 4
(a) Discuss the significance of Jacobian representation in the analysis of joint position of a
robot manipulator
(b) Derive the Jacobian relationship of a two-link mechanism shown in figure 1

(c) The hand frame of a robot

QUESTION 5

(a) Name and briefly describe the essential components needed to design a robot.
(5 marks)
(b) For an Engineer to design a robot there some essential characteristics that needs to put
into consideration, list and briefly explain them. (5 marks)
(c) Give three majors why robots are needed in our daily life and identify three areas of
applications of each. (5 marks)

QUESTION 6
(a) A point (7, 3, 1) attached to the frame and is subjected to the following
transformations
i. Rotation of 45° about the z-axis
ii. Followed by a rotation of 60° about the y-axis
iii. Followed by a translation of [4, 5, 8]
Find the co-ordinates of the point relative to the reference frame at the conclusion of
transformations
(b) In the 2-DOF robot shown in Figure 3, the transformation matrix is given in symbolic
form, as well as in numerical form for a specific location. The length of each link and
Is 1ft. Calculate the value and for the given location.
=

Figure 2: Two Degree of freedom mechanism