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Electrical & Computer Engineering Department EE4330 Robotic Control and Intelligence
TEST 2
- Clear your desk top of all papers, and everything else except your textbook, the test
paper, a calculator and a pencil.
- Read through the test completely and work the problems you can, leave the difficult ones
till last.
Keep your eyes on your own paper. Cheating will not be tolerated
Work problems on the back of the previous page if necessary.
Show your work!
NAME: ______________________________________________________________________
Electrical & Computer Engineering Department EE4330 Robotic Control and Intelligence
Question 1 (25 pts)
A two axis robot manipulator consists of a revolute joint, with variable θ 1 , and a prismatic joint, with variable d 2. The Lagrangian function has the form:
1 1 1 2 2 1
2 2 1 1 1 2 2 2
2 1 21 1 1 3
L = mLC Θ + mLS Θ d + m d + mgLC − mgd S
Apply the Euler-Lagrange method to determine the expressions for the torque/force developed at joint 1 and at joint 2.
Electrical & Computer Engineering Department EE4330 Robotic Control and Intelligence
Question 2 (25 pts)
For the multisegment linear path with quadratic blends below:
a) Show that:
1
2 2 1 1 12 12
t = td − td − and
Find a similar expression for tn where n is the index of the last point in the path
Electrical & Computer Engineering Department EE4330 Robotic Control and Intelligence
Electrical & Computer Engineering Department EE4330 Robotic Control and Intelligence
Electrical & Computer Engineering Department EE4330 Robotic Control and Intelligence
c) Calculate the actual value of the joint angles at the end of each segment.
Electrical & Computer Engineering Department EE4330 Robotic Control and Intelligence
Electrical & Computer Engineering Department EE4330 Robotic Control and Intelligence
