All Chapters Covered
SOLUTION MANUAL
,Contents
Solutions Manual
Chapter 1- Introduction
Chapter 2- Spatial Descriptions and Transformations 3
Chapter 3-Manipulator Kinematics 14
Chapter 4- Inverse Manipulator Kinematics 21
Chapter 5-Jacobians: Velocities and Static Forces 28
Chapter 6- Manipulator Dynamics 38
Chapter 7-Trajectory Generation 49
Chapter 8-Manipulator Mechanism Design 54
Chapter 9-Linear Control of Manipulators 59
Chapter 10 - Nonlinear Control of Manipulators 63
Chapter 11- Force Control of Manipulators 68
Chapter 12 - Robot Programming Languages and Systems 72
Chapter 13- Off-line Programming Systems 73
Solutions to the Programming Exercises (Parts 2-7, 9-11) 75
Matlab Exercises - Solutions 107
MATLAB EXERCISE 2A 109
MATLAB EXERCISE 2B 112
MATLAB EXERCISE 3 119
MATLAB EXERCISE 4 123
MATLAB EXERCISE 5 127
MATLAB EXERCISE 6A 131
MATLAB EXERCISE 6B 135
MATLAB EXERCISE 6C 137
MATLAB EXERCISE 7 139
MATLAB EXERCISE 8 143
MATLAB EXERCISE 9 146
, Chapter 1
Introduction
Exercises
1.1) Here's just an example of a reasonable response:
(ref. [8] in Chap. 1)
1955 Denavit & Hartenberg developed
methodology for describing linkages.
1961 George Devol patents design of rst robot.
1961 First unimate robot installed.
1968 Shakey Robot developed at S.R.I.
1975 Robot institute of America formed.
1975 Unimation becomes rst Robot Co. to be
protable.
1978 First Puma Robot shipped to GM.
1985 Total U.S. market exceeds 500 million
dollars (annual revenue).
Developments might be split into a technical list
and a business list.
1.2) (Based on 1981 numbers)
Source:
L. Conigliaro, "robotics presentation, institutional
■ Other-32.2%
IIJ
■
investors conf. ", May 28, 1981, Bache Newsletter Palletize/Packaging - 2.8%
81-249.:
■
Machining - 6.8%
Material Handling -I 1.8%
[us«»-22.«
■ Welding - 23.9%
1.3)
People Are Flexible,
But More Expensive Every Year
U.S. Automotive
1074 141 1411 1945
, 1.4) Kinematics is the study of position and derivatives
of position without regard to forces which cause
the motion. Workspace is the locus of positions
and orientations achievable by the end-effector of
a manipulator. Trajectory is a time based function
which specifies the position (and higher deriva-
tives) of the robot mechanism for any value of
time.
1.5) Frame is a coordinate system, usually specified in
position and orientation relative to some imbed-
ding frame. Degrees of freedom is the number
of independent variables which must be specified
in order to completely locate all members of a
(rigid-body) mechanism. Position control implies
the use of a control system, usually in a closed-
loop manner, to control the position of one or
more moving bodies.
1.6) Force control is the use of (usually closed-loop)
algorithms to control the forces of contact gener-
ated when a robot touches its work environment.
A robot programming language is a programming
language intended for use in specifying manipu-
lator actions.
1.7) Structural stiffness is the "K"in F = KAX (A.K.A
"Hooke's law") which describes the rigidity of
some structure. Nonlinear control refers to a closed
loop control system in which either the system
to be controlled, or the control algorithm itself is
nonlinear in nature. Off line programming is the
process of creating a program for a device without
access to that device.
1.8) See references. For example, in 1985 average labor
costs of $15 to $20 per hour are reasonable (depending
how fringe benefits are calculated).
1.9) Obviously it has increased dramatically. Recently
(1988-1990) the ratio doubles or even triples each
year.
1.10) See Figure 1.3, but use latest data you can find.
SOLUTION MANUAL
,Contents
Solutions Manual
Chapter 1- Introduction
Chapter 2- Spatial Descriptions and Transformations 3
Chapter 3-Manipulator Kinematics 14
Chapter 4- Inverse Manipulator Kinematics 21
Chapter 5-Jacobians: Velocities and Static Forces 28
Chapter 6- Manipulator Dynamics 38
Chapter 7-Trajectory Generation 49
Chapter 8-Manipulator Mechanism Design 54
Chapter 9-Linear Control of Manipulators 59
Chapter 10 - Nonlinear Control of Manipulators 63
Chapter 11- Force Control of Manipulators 68
Chapter 12 - Robot Programming Languages and Systems 72
Chapter 13- Off-line Programming Systems 73
Solutions to the Programming Exercises (Parts 2-7, 9-11) 75
Matlab Exercises - Solutions 107
MATLAB EXERCISE 2A 109
MATLAB EXERCISE 2B 112
MATLAB EXERCISE 3 119
MATLAB EXERCISE 4 123
MATLAB EXERCISE 5 127
MATLAB EXERCISE 6A 131
MATLAB EXERCISE 6B 135
MATLAB EXERCISE 6C 137
MATLAB EXERCISE 7 139
MATLAB EXERCISE 8 143
MATLAB EXERCISE 9 146
, Chapter 1
Introduction
Exercises
1.1) Here's just an example of a reasonable response:
(ref. [8] in Chap. 1)
1955 Denavit & Hartenberg developed
methodology for describing linkages.
1961 George Devol patents design of rst robot.
1961 First unimate robot installed.
1968 Shakey Robot developed at S.R.I.
1975 Robot institute of America formed.
1975 Unimation becomes rst Robot Co. to be
protable.
1978 First Puma Robot shipped to GM.
1985 Total U.S. market exceeds 500 million
dollars (annual revenue).
Developments might be split into a technical list
and a business list.
1.2) (Based on 1981 numbers)
Source:
L. Conigliaro, "robotics presentation, institutional
■ Other-32.2%
IIJ
■
investors conf. ", May 28, 1981, Bache Newsletter Palletize/Packaging - 2.8%
81-249.:
■
Machining - 6.8%
Material Handling -I 1.8%
[us«»-22.«
■ Welding - 23.9%
1.3)
People Are Flexible,
But More Expensive Every Year
U.S. Automotive
1074 141 1411 1945
, 1.4) Kinematics is the study of position and derivatives
of position without regard to forces which cause
the motion. Workspace is the locus of positions
and orientations achievable by the end-effector of
a manipulator. Trajectory is a time based function
which specifies the position (and higher deriva-
tives) of the robot mechanism for any value of
time.
1.5) Frame is a coordinate system, usually specified in
position and orientation relative to some imbed-
ding frame. Degrees of freedom is the number
of independent variables which must be specified
in order to completely locate all members of a
(rigid-body) mechanism. Position control implies
the use of a control system, usually in a closed-
loop manner, to control the position of one or
more moving bodies.
1.6) Force control is the use of (usually closed-loop)
algorithms to control the forces of contact gener-
ated when a robot touches its work environment.
A robot programming language is a programming
language intended for use in specifying manipu-
lator actions.
1.7) Structural stiffness is the "K"in F = KAX (A.K.A
"Hooke's law") which describes the rigidity of
some structure. Nonlinear control refers to a closed
loop control system in which either the system
to be controlled, or the control algorithm itself is
nonlinear in nature. Off line programming is the
process of creating a program for a device without
access to that device.
1.8) See references. For example, in 1985 average labor
costs of $15 to $20 per hour are reasonable (depending
how fringe benefits are calculated).
1.9) Obviously it has increased dramatically. Recently
(1988-1990) the ratio doubles or even triples each
year.
1.10) See Figure 1.3, but use latest data you can find.
