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Introduction to Robotics Homework 5

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 𝜽𝟎 = πŸπŸ“ 𝐝𝐞𝐠 to rest at a final position πœ½π’‡ = πŸ—πŸŽ 𝐝𝐞𝐠 through
a via point πœ½π’— = πŸ‘πŸŽ 𝐝𝐞𝐠 at 𝒕𝒗 = πŸ‘π’” with a velocity of πœ½Μ‡
𝒗 = πŸπŸ“ 𝐝𝐞𝐠/𝐬,
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‘₯ ⊂ [−𝑑, 𝑑] and πœƒ ⊂ [−πœ‹, πœ‹].
(2 Points)
II. Describe a possible path in the configuration space if a vertical straight
path is desired from point (0, −𝒍) to (0,𝒍) in the workspace
(Hint: circular motion projects to orthogonal axes as sinusoidal motion)
(3 Points)
III. Assuming the motor at π’’πŸ rotates at a constant speed of 𝝎, suggest a
trajectory for π’’πŸ (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 𝒙
direction at a vertically downward controlled contact force with the
surface. You may assume an additional joint π’’πŸ‘ 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 𝒇 and 𝝉 to π’™Μˆ, 𝒙̇, 𝒙,𝜽̈, πœ½Μ‡ and 𝜽 if the singlelink manipulator is mounted on a horizontally moving cart as shown in Figure 1(b).
(10 Points)

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