Robotics 1
Displacement Vectors
Quiz
Question 2:  Shown here is a kinematic diagram.  Which displacement vector correctly shows the displacement from frame 0 to frame 1?
Question 3:  Shown here is a kinematic diagram.  Which displacement vector correctly shows the displacement from frame 0 to frame 1?
Question 4:  How can we combine displacement vectors to find the complete displacement vector from the base frame to the end-effector frame?
Question 6:  Shown here is a kinematic diagram which displacement vector correctly shows the displacement from frame 0 to frame 1?
Question 7:  Shown here is a kinematic diagram which displacement vector correctly shows the displacement from frame 0 to frame 1?
Questions 8, 9, and 10:  Shown here is a kinematic diagram.  Find the displacement vector from frame 0 to frame 1.  Then, assume that the joint angles and link lengths are as shown below.  What is the X, Y, Z position of the end-effector?  Round each answer to two decimal places.
Questions 11-13: Shown here is a kinematic diagram.  Find the complete homogeneous transformation matrix from the base-frame to the end-effector frame.  Then, assume that the joint variables and the link lengths are as shown below.  What is the X, Y, Z position of the end-effector in the base-frame? You may use any combination of hand calculations and Python computing to find the answer.  Round each answer to one decimal place.
Question 14:  Shown here is the same kinematic diagram as in questions 11-13, except now I have added an arrow showing the direction of a spray paint spray.  When both angles are set at 90 degrees, which direction will the paint spray?
Question 15: For the case in qusetions 11-13, what is the value of the projection of the X2 axis on the X0 axis?  Round to two decimal places.
Question 1: Which of these displacement vectors says that the displacement of frame 3 relative to frame 2 in the Y2 direction is 4?
None of these is correct.
None of these is correct.
None of these is correct.
None of these is correct.
Question 5:  Shown here is a kinematic diagram.  Which displacement vector correctly shows the displacement from frame 0 to frame 1?
X =
Y =
Z =
None of these is correct.
None of these is correct.
None of these is correct.
The positive X0 direction
The negative X0 direction
The positive Y0 direction
The negative Y0 direction
The positive Z0 direction
The negative Z0 direction
X =
Y =
Z =