EML 6281 Robot Geometry 1
Exam 1
1 October 2004
55 minutes ; Open book and notes.
1. A reference coordinate system is attached to ground. Two aircraft are flying overhead that
each have a coordinate s
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 open-loop RPPCR manipulator. The first joint is a revolute joint,
the seco
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)
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 vehi
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
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 i
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
(
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 referr
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
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
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) W
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.
EML 6281 Robot Geometry 1
open book and notes ; calculator and computer allowed
Quiz 1 Chaps 2 & 3
18 Sep 2015
1.
(a) Coordinate system B is initially aligned with coordinate system A. It is translate
EML 6281 Robot Geometry 1
Exam 1 24 Sep 2008
Open book and notes.
55 minutes
1) (20 pts) Two six axis manipulators, each comprised of six revolute joints, have grasped a
rigid object as shown in the f
EML 6281 Robot Geometry 1
Exam 1
1 October 2004
55 minutes ; Open book and notes.
1. A reference coordinate system is attached to ground. Two aircraft are flying overhead that
each have a coordinate s
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 mechanis
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
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,
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.
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
EML 6281 Robot Geometry 1 15 December 2003 1. A planar representation of a spatial CRCR closed-loop chain is shown in the figure. (a) Determine the mobility of the device and of the equivalent spheric
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
EML 6281 – Robot Geometry I
open book and notes; 2 hours
Exam #2
30 October 1998
2. (25 pts.) A planar representation of spatial closed-loop heptagon is shown in
the accompanying figure. The link a34
EML 6281 Robot Geometry 1
Quiz 1
open book and notes ; calculator
23 Sep 2011
1. (40 pts) The Mitsubishi PA10-7C is a seven degree of freedom serial-linked manipulator
(shown below). Directions for th
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 sys
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
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. Th
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 par