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ECE 470: Introduction to Robotics Homework 5
Question 1.
Consider the single-link manipulator arm in Figure 1(a) as shown also in Figure 10.4
(Craig, Introduction to Robotics 3rd Ed.).
a) Given that the revolute joint moves the link over 2 cubic segments in 6s from
an initial angle π½π = ππ πππ to rest at a final position π½π = ππ πππ through
a via point π½π = ππ πππ at ππ = ππ with a velocity of π½Μ
π = ππ πππ /π¬,
obtain the 8 parameters of the 2-segment cubic polynomial. (10 Points)
Figure 1
b) Imagine you decided to create a prismatic-revolute (PR) 2-dof robotic
manipulator and mounted the single-link on a horizontally moving cart as
shown in Figure 1(b),
I. Illustrate the configuration space of this PR manipulator with a sketch
given that the joint limits are π₯ ⊂ [−π, π] and π ⊂ [−π, π].
(2 Points)
II. Describe a possible path in the configuration space if a vertical straight
path is desired from point (0, −π) to (0,π) in the workspace
(Hint: circular motion projects to orthogonal axes as sinusoidal motion)
(3 Points)
III. Assuming the motor at ππ rotates at a constant speed of π, suggest a
trajectory for ππ (2 Points)
IV. Suggest a control scheme if the manipulator is tasked to performance
ultrasound imaging over a region by sliding the probe along the π
direction at a vertically downward controlled contact force with the
surface. You may assume an additional joint ππ to orientate the
ultrasound transducer as shown.in Figure 2 (3 Points)
Figure 2
Question 2 (Optional Bonus Question)
Find the new equation of motion relating π and π to πΜ, πΜ, π,π½Μ, π½Μ and π½ if the singlelink manipulator is mounted on a horizontally moving cart as shown in Figure 1(b).
(10 Points)