Isik University Faculty of the College of Engineering Mechanical Engineering Department
ME 427 INTRODUCTION TO ROBOTICS
HW No. 3 SOLUTION NOTE: EXTRA EXAMPLES ARE INCLUDED THAT WERE NOT PART OF HOMEWORK PROBLEMS SET ARE INCLUDED Students Name:_ Students N
Isik University Faculty of the College of Engineering Mechanical Engineering Department
ME 427 INTRODUCTION TO ROBOTICS
HW No. 3 Date: Wednesday,April 14, 2011 Due Date: April 14, 2011 Students Name:_MNR MERT KIRA_ Students No._207ME2117_ Scoring Box Ques
Isik University Faculty of the College of Engineering Mechanical Engineering Department
ME 427 INTRODUCTION TO ROBOTICS
HW No. 3 Date: Thursday, April 07, 2011 Due Date: April 14, 2011 Students Name:_ Students No._ Scoring Box Question Number Q1 Q2 Q3 Q4
Isik University Faculty of the College of Engineering Mechanical Engineering Department
ME 427 INTRODUCTION TO ROBOTICS
HW No. 1 Date: Wednesday, March 23, 2011 Due Date Monday, March 31, 2011
Students Name:_
Students No._ Scoring Box Question Number Q1 Q
Rotations and Translations
Representing a Point 3D
A point in space defined by vector P in frame A is given by
px
A
P
py pz
A is a reference coordinate system here
Representing a Point 3D (cont.)
Once a coordinate system is fixed, we can locate any point
M8427 Introduction to Robotics Projects Proposal
Guidelines:
1. Divide yourself into two groups each group will do one project
2. Your simulation can be done using MATLAB or any other software of programming languages you might like to use 3. Your submitt
ME 427 INTRODUCTION TO ROBOTICS
Suppose R is defined by the following sequence of basic rotations in this order: Rotation of about current x axis Rotation of phi about current z-axis Rotation of about fixed z-axis Rotation of about current y-axis Rotation
Isik University Faculty of the College of Engineering Mechanical Engineering Department
ME 427 INTRODUCTION TO ROBOTICS
MIDTERM EXAMINATION Date: Saturday, April 23, 2011 Time Allowed: 120 Minutes Students Name:_ Students No._ Scoring Box Question Number
Kinematics Frame Assignment using Denavit-Hartenberg Convention ME 427 INTRODUCTION TO ROBOTICS
Coordinate Transformations
Endeffector
Obstacle Base
Z
Supply
Table
X
Y
Supply pick-up and loading
Goal
Coordinate Transformations
Endeffector
Base Supply
Goal
Isik University Mechanical Engineering Department Sile, Istanbul, Turkey Course Identification Semester Course Number Course Title Lecture Hours Tutorial Hour Instructor Information Instructor Contact Information Assist. Prof. Dr. Saad Yasin Mechanical En
Isik University Faculty of the College of Engineering Mechanical Engineering Department ME 427 Spring/2011 Introduction to Robotics Quiz No. 1
Students Name:_ Master_Solution Students No._
Scoring Box Question Number 50 Questions Total Score
Maximum Score
Kinematics Frame Assignment using Denavit-Hartenberg Convention ME 427 INTRODUCTION TO ROBOTICS
Coordinate Transformations
Endeffector
Obstacle Base
Z
Supply
Table
X
Y
Supply pick-up and loading
Goal
Coordinate Transformations
Endeffector
Base Supply
Goal
Movie Segment
The Hummingbird, IBM Watson Research Center, ICRA 1992 video proceedings
Manipulator Kinematics
Link Description Denavit-Hartenberg Notation Frame Attachment Forward Kinematics
Manipulator
Link i -1 Joint axis i -1 Joint axis i Link 1
Link
Movie Segment
Passive Walking, Tad McGeer, Fraser Univ, British Columbia, ICRA 1991 video proceedings
Spatial Descriptions
Task Description Transformations Representations
Kinematics
Configuration Parameters
Manipulator
Revolute Joint Prismatic Joint
A s