FACULTY OF MECHANICAL ENGINEERING

Code Subject: MEM665

Course Title: Robotics and Automation
Semester: Mac July 2015
Assignment 1
Due Date: April 2015
Forward and Reverse Kinematics Problems:1. Consider the forward transformation of two-joint manipulator. Given that the length
of joint 1, L1 = 3m, the length of joint 2, L2 = 2m, the angle 1 = 30o and the angle 2
2= 45o, compute the coordinate position (x and y coordinates) for the end-of-the-arm
Pw.
2.

The robot arm with two degrees of freedom has been designed.
a) Assign coordinate frames as necessary based on D-H representation.
b) Fill out the parameters table
c) Find the UTH matrix.

3. For the manipulator, the end-of-the-arm robot is positioned at a point defined by x =

4m, y = 1m and z = 5m. If the pitch angle = 45o and link 4 is 1m long, the length of
link 1 is 3m, determine the position of joint 4, defined as point P4. Also determine the
values of the other manipulator parameters, length, L and angle and .
4. The coordinates of point P in frame {1} are [3.0 2.0 1.0]T. The position vector P is
rotated about the z-axis by 45o. Find the coordinates of point Q, the new position of
point P.
5. The homogeneous transformation matrices between {i} {j} and {i} - {k}are :-

Determine jTk ?

-End of QuestionsGood Luck