INDIAN INSTITUTE OF TECHNOLOGY ROORKEE, ROORKEE

IMA-303 (ROBOTICS AND CONTROL)

Tutorial Sheet-1

1. OAB is a two arm robot manipulator if OA=4 and AB=3. Find θ1 and θ2 when the

end-effector B is at (1,2).

2. Find the workspace of the robot in Fiq-1 if OA = L1 and AB = L2 such that (i) L1 > L2

(ii) L1 < L2 (iii) L1 = L2 and −π/2 ≤ θ1, θ2 ≤ π/2.

3. If the end-effector B is at (1,2) initially, and if it has to move along the line 2x+ y = 4.

Find the corresponding joint angles θ1, θ2 by taking OA= 5 and AB= 3. Find the values

of x and y for which the point B is in the workspace.

4. OABC is a three axis manipulator shown in Fiq-2 which moves on a plane. Solve the

inverse Kinematic problem of OABC.

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5. If OA=3, AB=2, BC=1. Find θ1, θ2, θ3 when C is at (3,1).

6. Fig-3 shows a three arm manipulator which moves in 3-D space. If OA = L1, AB = L2

and BC = L3 then write the direct Kinematic equations and solve the inverse Kinematic

problem.

7. If the end-effector C is initially at (1,2,1) and it should move along the line

x−12

=y−2−1

=z−1

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then find the values of θ1, θ2, θ3 for such a motion.

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