Full exam for Industrial Automation, Communication and Data Management in the Management Engineering degree programme at Politecnico di Milano. The document covers: Industrial Automation, Communication and Data Management Prof. Cesana, Rocco, Tanca January xx, 2020 name: university ID number: signature: Warnings • This file consists of 8 pages (including cover). • During the exam you are not allowed to exit the room for any other reason than
Full exam for Industrial Automation, Communication and Data Management in the Management Engineering degree programme at Politecnico di Milano. The document covers: Industrial Automation, Communication and Data Management Prof. Cesana, Rocco, Tanca January xx, 2020 name: university ID number: signature: Warnings • This file consists of 8 pages (including cover). • During the exam you are not allowed to exit the room for any other reason than
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Industrial Automation, Communication and Data Management Prof. Cesana, Rocco, Tanca January xx, 2020 name: university ID number: signature: Warnings • This file consists of 8 pages (including cover). • During the exam you are not allowed to exit the room for any other reason than handing your work or withdrawing from the exam. • You are not allowed to withdraw from the exam during the first 30 minutes. • During the exam you are not allowed to consult books or any kind of notes. • You are not allowed to use calculators with graphic display. • Solutions and answers can be given either in English or in Italian . • Solutions and answers must be given exclusively in the reserved space . Only in the case of corrections, or if the space is not sufficient, use the back of the front cover. • The clarity and the order of the answers will be considered in the evaluation. • At the end of the test you have to hand this file only . Every other sheet you may hand will not be taken into consideration. Consider the robot carrying a glass with liquid sketched in the picture: The robot should be moved in such a way to avoid spilling of the liquid from the container. In a first approximation, the sloshing dynamics of the liquid can be modelled with a pendulum, see the following picture: For simplicity, assume that the pendulum moves on a vertical plane. 1. Explain what are the direct and the inverse kinematics problems for a robotic manipulator. How many solutions does the inverse kinematics for an anthropomorphic manipulator have? 2. Write the equations of a dynamic system that describes the motion of the pendulum (when the robot is still). 3. Write the general equation that allows to find the equilibrium states in a dynamic system. Apply such formula to find the equilibrium states for the…
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