EMl 6281 Robot Geometry I
Exam 3 Fall 2013
open book and notes
2 hours
1. (30 pts.) A planar representation of a group 2 spatial
mechanism is shown in the figure.
4
C
R
3
a) List the constant mechanism parameters.
a12, a23, a34, a45, a56, a61
5
R
R
12, 23
EMl 6281 Robot Geometry I
Exam 3 Fall 2011
open book and notes
2 hours
1. (20 pts.) A rigid body is rotated from its starting position (position 0) to its final position
(position 1) by a rotation of about the fixed reference frame X axis followed by a ro
EMl 6281 Robot Geometry I
Exam 3 Fall 2012
open book and notes
2 hours
1. (25 pts.) A body is rotated from its initial pose by a rotation of 30 about an axis that passes
through the origin and which is parallel to i+j followed by a rotation of about an ax
EML 6281 Robot Geometry 1
Final Exam, Fall 2010
Open book and notes.
2 hour exam.
1. Explain how to determine all the possible solution sets for the variables x and y for the
following two equations
(a1 x2 + a2 x + a3) y + (a4 x2 + a5 x + a6) = 0
(b1 x2 +
EML 6281 Robot Geometry 1 Final Exam
16 December 2004 2 hours ; Open book and notes.
1. (25 pts.) A coordinate system is attached to the end effector of a serial robot manipulator which will be referred to as the 6th coordinate system. The 6th coordinate
EML 6281 Robot Geometry 1 Final Exam
15 December 2006 2 hours ; Open book and notes.
1. (20 pts.) A rigid body was rotated 70 about an axis through the origin that is parallel to the vector m1 = 3i+4j. Second, it was rotated an angle about an axis through
EML 6281 Robot Geometry I Final Exam 11 December 2001 1. (20 pts.) Determine the axis and angle of rotation about which the object shown in the figure can be moved from position 1 to position 2 in one rotation. The object can be moved from position 1 to p
EML 6281 Robot Geometry 1 15 December 2003 1. A planar representation of a spatial CRCR closedloop chain is shown in the figure. (a) Determine the mobility of the device and of the equivalent spherical device. The mobility of the closedloop device is eq
EML 6281 Robot Geometry 1 Final Exam
13 December 2002 open book and notes
1. A rigid body is rotated an angle of 60 about an axis parallel to 3i 2j that passes through the origin. A second rotation is then performed. A third rotation of 220 about an axis
EML 6281 Robot Geometry I
16 December 2008
Exam 3
2 hours; open book and notes
1. (30 pts.) A six axis manipulator is mounted on a ground vehicle. The vehicle coordinate system is
attached to the vehicle frame. The manipulator coordinate system is also at
EML 6281 Robot Geometry 1
Exam 2
25 Oct 2013
55 min., open book and notes ; computer allowed
1. A planar representation of a spatial mechanism is shown in the figure. Link 71 is fixed to
ground.
4
(a) What group mechanism is this and why?
The mobility of
EML 6281 Robot Geometry 1
Exam 2 24 Oct 2012
Open book and notes.
Calculator, but no computer.
1. (60 pts.) You have a serial openloop RPPCR manipulator. The first joint is a revolute joint,
the second and third are prismatic joints, the fourth is a cyli
EML 6281 Robot Geometry 1
open book and notes ; calculator and computer allowed
Quiz 1 Chaps 2 & 3
20 Sep 2013
z1
y1
z2
x1
zF
x2
y2
yF
xF
1. (75 pts.)
You wish to move a quadcopter from position 1 to position 2 in two steps. First you will
translate the o
EML 6281 Robot Geometry 1
open book and notes ; calculator and computer allowed
Quiz 1 Chaps 2 & 3
19 Sep 2014
1. (75%) An autonomous vehicle is navigating on the highway. The coordinates of point A,
the center of the green light of the traffic light, are
9.
Coordinate systems A and B are initially aligned and coincident. Coordinate system B is
then rotated by an angle of 35 degrees about its X axis. It is then rotated 120 degrees
about its new Y axis. You wish to return coordinate system B to its origin o
EML 6281 Robot Geometry 1
open book and notes ; calculator but no computer
Quiz 1 Chaps 2 & 3
21 Sep 2012
1. (75 pts.)
zF
point 1
yF
zV
xF
d
yV
2
1
xV
A fixed coordinate system is shown together with a vehicle that has a coordinate system
attached to it.
EML 6281 Robot Geometry I
open book and notes; no computer ; 55 minutes
Exam 2
25 Oct 2010
1. A planar representation of a spatial RPPRPRR mechanism is shown in
the figure. Link 71 is fixed to ground.
a) List the names of the constant mechanism parameters
EML 6281 Robot Geometry 1
Exam 2
24 Oct 2014
55 min., open book and notes ; computer allowed
1. A planar representation of a spatial mechanism is shown in the figure. Link 61 is fixed to
ground.
(a) What group mechanism is this and why?
The mobility of th
EML 6281 Robot Geometry I Final Exam
15 December 1998 open book and notes
This equation is quadratic in the variable (x2). Thus
x2 = 23 232 + 200 2 23 27 2 x= 2
1) (15 pts) Evaluate the function f(x,y) = 2x3y + 4exy2 when x=32, and y=1+3,.
f (3 2,1 + 3)
EML 6281 Robot Geometry I Two hours open book and notes
Final Exam 14 December 1999
1. (15 pts.) Write the determinant of the following 66 matrix as the sum of products of 33 determinants.
2. (20 pts.) A rigid body is to be rotated three times. After the
EML 6281 Robot Geometry 1
Quiz 1
open book and notes ; calculator
23 Sep 2011
1. (40 pts) The Mitsubishi PA107C is a seven degree of freedom seriallinked manipulator
(shown below). Directions for the joint axis vectors S1 through S7 are shown.
Indicate
EML 6281 Robot Geometry 1
open book and notes ; 55 min.
Exam 1
20 Sep 2010
1) (70 pts)
1
Xcam
You are trying to determine the exact location of
a television camera in terms of the fixed coordinate system which is shown in the drawing of the
football field
EML 6281 Robot Geometry I Exam #1
24 September 1999 2 hours, open book
1)
(25 pts.) Coordinate system B is initially aligned with coordinate system A. It is then rotated an angle about an axis m that passes through a point p. The final relationship betwee
EML 6281, Fall 1998
Exam 1 Solution
1.
Coordinate system xyz is initially aligned with coordinate system XYZ. It is then rotated
an angle î about its z axis followed by an angle ø about its y axis. The rotation matrix that
relates the xyz and XYZ coordina
EML 6281 – Robot Geometry I
One hour – open book and notes
Exam #1
25 September 1998
2. (40 pts.) Coordinate system B is initially aligned with coordinate system A.
It is rotated 35º about an axis parallel to the vector [3, 2, 2]T where the axis
passes th
EE 422G Notes: Chapter 7
Instructor: Cheung
Use State Variable to represent circuits
Lets start with a simple example:
L=1H
R=2
+
u(t)
a
y(t)
C=1F
i
+


NOTE: in this chapter, we will use u(t) (not to be confused with the step function)
to denote the in