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Robotics Spring 2025 Exam 1

The document outlines the instructions for Test 1 in an Introduction to Robotics course for Spring 2025. Students must solve specific problems based on the last digit of their L number, submit their solutions in a single PDF including MATLAB code, and avoid collaboration. Each problem involves computing rotation matrices and deriving forward kinematic equations for a 5-Link robot manipulator using the D-H convention.

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msparan681
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14 views6 pages

Robotics Spring 2025 Exam 1

The document outlines the instructions for Test 1 in an Introduction to Robotics course for Spring 2025. Students must solve specific problems based on the last digit of their L number, submit their solutions in a single PDF including MATLAB code, and avoid collaboration. Each problem involves computing rotation matrices and deriving forward kinematic equations for a 5-Link robot manipulator using the D-H convention.

Uploaded by

msparan681
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Introduction to Robotics

Spring 2025

Test 1

Instructions:

From the table below find what problems you have to solve based on your L number.

Submit your solutions by the due date, in a single PDF. Your MATLAB code should be included in the PDF
file including the results.

Collaborations among students is not allowed and any similarities in the solutions is considered as
cheating.

Your Name and L# must be printed on top of all the pages of the submitted pdf.

Last digit of L
Problem Numbers
Number
0 or 1 1,3
2 1,4
3 1,5
4 1,6
5 2,3
6 2,4
7 or 8 2,5
9 2,6

1
1- Compute the rotation matrix given by product
𝑅𝑅𝑧𝑧,𝜃𝜃 𝑅𝑅𝑥𝑥,𝜙𝜙 𝑅𝑅𝑦𝑦,𝜋𝜋 𝑅𝑅𝑦𝑦,𝜙𝜙 𝑅𝑅𝑧𝑧,𝜃𝜃 (10pts)

2- Compute the rotation matrix given by product

𝑅𝑅𝑥𝑥,𝜃𝜃 𝑅𝑅𝑦𝑦,𝜙𝜙 𝑅𝑅𝑧𝑧,𝜋𝜋 𝑅𝑅𝑥𝑥,𝜙𝜙 𝑅𝑅𝑥𝑥,−𝜃𝜃 (10pts)


2

2
3- Consider a 5-Link robot manipulator shown below. Derive the forward kinematic equations
using the D-H convention. (Note: this is not a planar robot) (60pts)
• Assign appropriate frames for the D-H representation
• Fill out the parameters table
• Calculate 𝑇𝑇50 (Use MATLAB and submit the code and resulted equations)

3
4- Consider a 5-Link robot manipulator shown below. Derive the forward kinematic equations
using the D-H convention. (60pts)
• Assign appropriate frames for the D-H representation
• Fill out the parameters table
• Calculate 𝑇𝑇50 (Use MATLAB and submit the code and resulted equations)

4
5- Consider a 5-Link robot manipulator shown below. Derive the forward kinematic equations
using the D-H convention. (Note: this is not a planar robot) (60pts)
• Assign appropriate frames for the D-H representation
• Fill out the parameters table
• Calculate 𝑇𝑇50 (Use MATLAB and submit the code and resulted equations)

5
6- Consider a 5-Link robot manipulator shown below. Derive the forward kinematic equations
using the D-H convention. (Note: this is not a planar robot) (60pts)
• Assign appropriate frames for the D-H representation
• Fill out the parameters table
• Calculate 𝑇𝑇50 (Use MATLAB and submit the code and resulted equations)

Good Luck!

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