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=
1 0 0 0
z z z z
y y y y
x x x x
P a o n
P a o n
P a o n
F
Intersecting z-axes of two successive joints make no common normal between
them(Length is 0.).
25. Define Degeneracy
The robot looses a degree of freedom and thus cannot perform as desired.
When the robots joints reach their physical limits, and as a result, cannot move any
further.
In the middle point of its workspace if the z-axes of two similar joints becomes colinear.
26. Define Dexterity:
The volume of points where one can position the robot as desired, but not orientate it.
27. Write the Programming of inverse kinematic of robots
- A robot has a predictable path on a straight line,
- Or an unpredictable path on a straight line.
- A predictable path is necessary to recalculate joint variables.
(Between 50 to 200 times a second)
- To make the robot follow a straight line, it is necessary to break the line into many small
sections.
- All unnecessary computations should be eliminated.
28. What is meant by (D-H) model.
A commonly used convention for selecting frames of reference in robotics applications is
the Denavit and Hartenberg (D-H) conventional In this convention, each homogeneous
transformation is represented as a product of four basic transformations. The common
normal between two lines was the main geometric concept that allowed Denavit and
Hartenberg to find a minimal representation.
29. Define Jacobian
Jacobian is a representation of the geometry of the elements of a mechanism in
time.
30. List the differential motion of a frame
- Differential translations,
- Differential rotations,
- Differential transformations(translations and rotations).
31. Define Differential Translations & rotation & its representation.
Differential Translations
+ Definition: A translation of a frame at differential values.
+ Representation : Trans(dx, dy, dz)
Differential rotations
+ Definition: A small rotation of a frame at differential values.
+ Representation: Rot(k, du)
32. How to relate the jacobian and the differential operator
The differential motions of the robots joints are ultimately related to the hand frame of the
robot.
Method 1
+ Jacobian calculate [D] matrix
+ [D] contains differential motions of the hand, dx, dy, dz, ox, oy, oz.
+ Used to calculate dT
Method 2
+ Jacobian calculate [
T6
D] matrix
+ [D] contains differential motions of the hand
T6
dx,
T6
dy,
T6
dz,
T6
ox,
T6
oy,
T6
oz.
+
33. What is Lagrangian mechanics
Lagrangian mechanics is based on the differentiation energy terms only, with respect
to the systems variables and time.
34. Define Robots Equations of Motion
The Lagrangian is differentiated to form the dynamic equations of motion. The
final equation of motion for a general multi-axis robot is below.
35. What is the kinetic energy of a rigid body with motion in three dimension ?
36. Write the kinetic energy of a rigid body in planar motion?
37. What is meant by Euler angles?
Any orientation of one frame with respect to another may be written as a single rotation
about a fixed axis
38. Define Trajectory planning,
It interpolate or approximate the desired path by a class of polynomial
functions and generates a sequence of time-based control set points for the
control of manipulator from the initial configuration to its destination.
G h V m K
__
2
2
1
2
1
e + =
2
2
2
1
2
1
e I V m K + =
39. Differentiate Path Vs trajectory
Path: A sequence of robot configurations in a particular order without regard to the
timing of these configurations.
Trajectory: It concerned about when each part of the path must be attained, thus
specifying timing.
40. Compare Joint-space Vs Cartesian-space descriptions
- Joint-space description:
- The description of the motion to be made by the robot by its joint values.
- The motion between the two points is unpredictable.
- Cartesian space description:
- The motion between the two points is known at all times and controllable.
- It is easy to visualize the trajectory, but is is difficult to ensure that
singularity.
41. State Cartesian-space trajectories.
- Cartesian-space trajectories relate to the motions of a robot relative to the Cartesian
reference frame.
- In Cartesian-space, the joint values must be repeatedly calculated through the inverse
kinematic equations of the robot.
42. What is 4-3-4 trajectory?
43. Illustrate the Linear Segments with Parabolic Blends
- Linear segment can be blended with parabolic sections at the beginning and the end of the
motion segment, creating continuous position and velocity.
- Acceleration is constant for the parabolic sections, yielding a continuous velocity at the
common points A and B.
44. Sketch out the trajectory planning
45. What is the need of continuous trajectory recording?
Trajectory
Planner
Path
constraints
Path
specification
)} ( ), ( ), ( { t q t q t q
)} ( ), ( ), ( { t a t v t p
joint space
cartesian space
or
46. State the Linearization Techniique:
The most widely used are based on feedback linearization, that is,
cancellation of the known non-linearities that are replaced by a linear, time invariant and
decoupled model, for which classical control design techniques can be employed. In order
to ensure insensitivity to model uncertainties, parameter variations and external
disturbances, adaptive and robust control schemes are often employed in conjunction with
the non-linear decoupling feedback.
47. Sketch the variety of automatic and robotized system as functions of productivity level &
product demand
48. What is meant by manipulator dynamics .
It is concerned with the equations of motion, the way in which the manipulator
moves in response to torques applied by the actuators or external forces.
49. State the 2 problems relating to manipulator dynamics
Inverse Dynamics in which the manipulators equations of motion are solved for
given motion to determine the generalized forces.
Direct Dynamic in which the equations of motion are integrated to determine the
generalized coordinate response to applied generalized forces
50. What are the types of Grippers?
Magnetic Gripper
Mechanical Gripper
Hooking Gripper
Vacuum Gripper