Worksheet
1. For a 2R planar robot having links of equal length L1 = L2 = 0.5[m], consider the rest-to-
rest motion defined by the joint velocity profiles 𝑞̇ (𝑡) = [𝑞1 (𝑡) 𝑞2 (𝑡)] 𝑇 shown in Fig.
1. The motion starts at t = 0 from 𝑞(0) = [−30𝑜 60𝑜 ] 𝑇 and ends at t = T. The trajectory
parameters are:
T = 2[s], Ts,1 = 0.5[s] Ts,2 = 1[s] Vmax,1 = 50[𝑜⁄𝑠] Vmax,2 = -90[𝑜⁄𝑠]
a. Determine the displacement of both joints at the end of the motion and the Cartesian
distance between the initial and final position p of the robot end-effector. Does the
robot cross a singular configuration?
b. Compute the velocity 𝑝̇ and acceleration 𝑝̈ of the robot end-effector at 𝑡1 = 𝑇⁄10
and 𝑡2 = 𝑇⁄2.
2. Suppose we desire a joint space trajectory for the revolute joint that begins at rest at position
q0 at time t0 and reaches position q1 in 2 seconds with a final velocity of 1 radian/sec.
Compute a cubic polynomial satisfying these constraints.
3. Find the dynamic equations the three link robot show in the figure below, if the mass of the links
are concentrated at the end of each link
a. Find the position of the center of mass
b. Compute the velocity of the center of mass
c. Find the kinetic energy of the three links
d. Compute the potential energy applied by the actuator
e. Find the Lagrangian equation
f. Find the equation of motion
4. Find the dynamic equations the two link robot show in the figure below.
a. Find the position of the center of mass
b. Compute the velocity of the center of mass
c. Find the kinetic energy of each link
d. Compute the potential energy applied by the actuator
e. Find the Lagrangian equation
f. Find the equation of motion
