1. Given a 6-DOF robot, one of the joint is commanded to move from an initial angle of25oto an intermediate angle of 115oin 5 seconds with a cruising speed ofω= 20o/sec. (a)Compute the blend timetb....

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1. Given a 6-DOF robot, one of the joint is commanded to move from an initial angle of25oto an intermediate angle of 115oin 5 seconds with a cruising speed ofω= 20o/sec. (a)Compute the blend timetb. (b)Compute the expression for initial parabolic segment, linear segmentand the final parabolic segment. (c)Using MATLAB, plot the position, velocity and acceleration as functionsof time from 0 to 5 secs. 2. One of the joints in a 6-TOF robot requires to move from an initial position of -10 degreesto a final position of 20 degrees in one second. Using the cubic (3rd order) polynomialjoint-space trajectory planning, complete the following: (a)Generate the planning functions describing the position, velocity andacceleration. (b) Using MATLAB, plot the position, velocity and acceleration as func-tions of time from 0 to 1 second. 3. Answer the following questions: (a)Express the reduction ratioNin terms of the rotation speeds of themotor ̇θmand the load ̇θl (b)Express the reduction ratioNin terms of the rotation accelerations ofthe motor ̈θmand the load ̈θl (c) Express the reduction ratioNin terms of the torque of the motorTmand the torque produced at the output after the reduction gearTl (d) Why are reduction gears used more often in electric actuation systemsthan hydraulic actuation systems. (e) A electric motor with an inertia of 0.02 Kg·m2. It is connected to arobotic arm that is 10 cm long holding a mass of 3 Kg at its end. Calculate themaximum angular acceleration that the motor can produce if a reduction gear isused to link the motor and the robotic arm with the ratios of 5 and 10, and themotor can produce maximum torque of 10 Nm. 4. Answer the following questions: (a) Using the format similar to the table below, list four advantages andfour disadvantages between the online and offline programming. (b) Give a scenario whenonline programmingbecomes a more attractivechoice than offline programming. (c) Give a scenario whenoffline programmingbecomes a more attractivechoice than online programming. 5. List and explain five important considerations in choosing a sensor of anytype. 1. Given a 6-DOF robot, one of the joint is commanded to move from an initial angle of25oto an intermediate angle of 115oin 5 seconds with a cruising speed ofω= 20o/sec. (a)Compute the blend timetb. (b)Compute the expression for initial parabolic segment, linear segmentand the final parabolic segment. (c)Using MATLAB, plot the position, velocity and acceleration as functionsof time from 0 to 5 secs. 2. One of the joints in a 6-TOF robot requires to move from an initial position of -10 degreesto a final position of 20 degrees in one second. Using the cubic (3rd order) polynomialjoint-space trajectory planning, complete the following: (a)Generate the planning functions describing the position, velocity andacceleration. (b) Using MATLAB, plot the position, velocity and acceleration as func-tions of time from 0 to 1 second. 3. Answer the following questions: (a)Express the reduction ratioNin terms of the rotation speeds of themotor θ̇mand the load θ̇l (b)Express the reduction ratioNin terms of the rotation accelerations ofthe motor θ̈mand the load θ̈l (c) Express the reduction ratioNin terms of the torque of the motorTmand the torque produced at the output after the reduction gearTl (d) Why are reduction gears used more often in electric actuation systemsthan hydraulic actuation systems. (e) A electric motor with an inertia of 0.02 Kg·m2. It is connected to arobotic arm that is 10 cm long holding a mass of 3 Kg at its end. Calculate themaximum angular acceleration that the motor can produce if a reduction gear isused to link the motor and the robotic arm with the ratios of 5 and 10, and themotor can produce maximum torque of 10 Nm. 4. Answer the following questions: (a) Using the format similar to the table below, list four advantages andfour disadvantages between the online and offline programming. (b) Give a scenario whenonline programmingbecomes a more attractivechoice than offline programming. (c) Give a scenario whenoffline programmingbecomes a more attractivechoice than online programming. 5. List and explain five important considerations in choosing a sensor of anytype. 1. Given a 6-DOF robot, one of the joint is commanded to move from an initial angle of25oto an intermediate angle of 115oin 5 seconds with a cruising speed ofω= 20o/sec. (a)Compute the blend timetb. (b)Compute the expression for initial parabolic segment, linear segmentand the final parabolic segment. (c)Using MATLAB, plot the position, velocity and acceleration as functionsof time from 0 to 5 secs. 2. One of the joints in a 6-TOF robot requires to move from an initial position of -10 degreesto a final position of 20 degrees in one second. Using the cubic (3rd order) polynomialjoint-space trajectory planning, complete the following: (a)Generate the planning functions describing the position, velocity andacceleration. (b) Using MATLAB, plot the position, velocity and acceleration as func-tions of time from 0 to 1 second. 3. Answer the following questions: (a)Express the reduction ratioNin terms of the rotation speeds of themotor ̇θmand the load ̇θl (b)Express the reduction ratioNin terms of the rotation accelerations ofthe motor ̈θmand the load ̈θl (c) Express the reduction ratioNin terms of the torque of the motorTmand the torque produced at the output after the reduction gearTl (d) Why are reduction gears used more often in electric actuation systemsthan hydraulic actuation systems. (e) A electric motor with an inertia of 0.02 Kg·m2. It is connected to arobotic arm that is 10 cm long holding a mass of 3 Kg at its end. Calculate themaximum angular acceleration that the motor can produce if a reduction gear isused to link the motor and the robotic arm with the ratios of 5 and 10, and themotor can produce maximum torque of 10 Nm. 4. Answer the following questions: (a) Using the format similar to the table below, list four advantages andfour disadvantages between the online and offline programming. (b) Give a scenario whenonline programmingbecomes a more attractivechoice than offline programming. (c) Give a scenario whenoffline programmingbecomes a more attractivechoice than online programming. 5. List and explain five important considerations in choosing a sensor of anytype.