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Exam in Robotics - Copie

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13 views2 pages

Exam in Robotics - Copie

Uploaded by

adam
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Exam in Robotics

Second year GITN


Timing : 1h30min

Course questions
1. What are the principal components of a robot?
2. What would are the future uses of Robotics?
3. Why do we need to use models in Robotics?

Problems
Establish the Deavit-Hartenberg parameters of the following robots:

x1
z3

x2 x3
 Establish the direct geometric model of the three degree of freedom planar
robot: 𝑋 = 𝑓 𝜃 𝑤𝑖𝑡ℎ 𝑋 = 𝑥, 𝑦, 𝜑 𝑇 𝑎𝑛𝑑 𝜃 = 𝜃1 , 𝜃2 , 𝜃3 𝑇

(x,y)

Figure 1: Three degree of freedom planar robot.

 Establish also the inverse geometric model of this robot 𝜃 = 𝑓 𝑋

The direct geometric model of the following robot (figure 2) is given by:

Establish the Denavit-Hartenberg table of this robot and deduce the inverse
geometric model.

x0

Figure 2: Three degree of freedom robot.

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