COMSATS UNIVERSITY ISLAMABAD

Lahore Campus : Defence Road, Off Raiwind Road, Lahore

UAN: +92-42-111-001-007
Department of Electrical and Computer Engineering

Final – Spring 2022

Course Title: Robotics Course EEE447 Credit Hours: 3(3,0)
Course Instructor: Dr. Mujtaba, Ms. Ayesha Ali Code:
Program BS(EE)
Semester 8 th Name:
Date:
Time Allowed: 180 Maximum Marks: 50
Student’s Name: Reg. No.
• Read the question paper carefully. All parts are compulsory.
• Exchange of calculators or any other thing is strictly not allowed.
• This is closed book/closed notes exam. No cheat sheet or formula tables are allowed.
• Clearly write each step in all questions. Clearly draw diagrams where needed/asked. Marks will not
be awarded for incomplete step.

Question 1 (10 + 10 = 20 Marks)

(CLO2 C4)
Consider a quadrotor which is being controlled by ground station where the commands are being sent to control the
quadrotor along six degrees of freedom. The quadrotor is deployed for agriculture applications and is used to deploy
seeds and pesticide spray. It is desired to control the quadrotor autonomously and to calculate the forces needed in the
dynamics, IMU sensor is installed in the system which transmits the Euler angles along Yaw, Pitch and Roll (321
sequence) axis in the body frame to Earth frame through the WIFI link. The mission manager software plots the
trajectory and velocities in the Earth frame. It is desired to perform the maneuver such that the pitch angle becomes 90
degrees. This creates singularity as a result the traditional Euler angles based rotational transfer matrix cannot be used.
Assume if body frame Euler angles are [45 90 0] degrees then, Illustrate the quaternions in body Frame using 321
rotation sequence. In order to validate the quaternions, prove that summation of the square of quaternions gives unity.

(1)
 Figure 1: Attitude Representation of Euler Angles

Question 2: (CLO2 C4) ( 10+10=20 marks)

For Unmanned Aerial Vehicles (UAV), when large operational speeds are required or direct drive actuation is employed,
the nonlinear coupling terms strongly influence system performance. Therefore, considering the effects of the
components of d as a disturbance may generate large tracking errors. In this case, it is advisable to design control
algorithms that take advantage of a detailed knowledge of manipulator dynamics so as to compensate for the nonlinear
coupling terms of the model. In other words, it is necessary to eliminate the causes rather than to reduce the effects
induced by them; that is, to generate compensating torques for the nonlinear terms. This leads to centralized control
algorithms that are based on the (partial or complete) knowledge of the manipulator dynamic model. However, before
the deployment of advanced control algorithms for improving the transient responses and reducing steady steady-state
errors, a hierarchical structure and its articulation into functional modules as per mission requirements needs to be
developed. The hierarchical structure and its articulation into functional modules allows the determination of the
requirements and characteristics of the programming environment and the hardware architecture. The architecture refers
to robot manipulators, yet its articulation in levels also holds for mobile robots.

a. Illustrate the functions which need to be supervised by Control Systems integrated in the hierarchical structure
and its articulation into function modules.
b. Draw the Diagram of the General model of the hardware architecture of an industrial robot control
architecture and modify it for closed loop implementation such that the Robot Operating System (ROS)
in Raspberry can be deployed to control the attached hardware.

Question 3: (CLO1 C2) (5+ 5 = 10 marks)

Off-line motion planning techniques are popular, because they require a priori knowledge of the geometry and
the pose of the obstacles in the robot workspace. This assumption is reasonable in many cases, e.g., when an
industrial manipulator is moving in a robotized cell. However, in service robotics applications the robot must
be able to plan its motion on-line, i.e., using partial information on the workspace gathered during the motion
on the basis of sensor measurements. A unicycle is a vehicle with a single orientable wheel. Its configuration
is completely described by q = [x y θ] T , where (x, y) are the Cartesian coordinates of the contact point of the
wheel with the ground (or equivalently, of the wheel centre) and θ is the orientation of the wheel with respect
to the x axis (see Figure 2).

Figure 2: Generalized coordinates for a unicycle

a. Consider the traditional Six Degrees of Freedom (DoF) model in which the translation (x,y,z) and
Rotational ( Roll, Pitch, Yaw) angles closed loops are interlinked with Direction Cosine Matrices.
Convert the six DoF to represent the movement of unicycle on the ground represented along the axes
shown in Figure 2
b. Explain the effects of implementing each of the Proportional, Integral and Derivative (PID)
Controller Gains for the attitude control of unicyle on Transient response ( Peak time, Settling time,
Percentage Overshoot) and Steady State errors.
c. Justify the use of quaternions for the attitude control of unicycle based mobile robot.
 Solution

Solution Final

Q1:

The angles are needed to be converted in radians and equavalent quaternion vector can be found using the equation

The unity can be calculated by taking the sum of the square of each quaternion.
Q2

Q3