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International Journal of Mechanical, Aerospace, Industrial, Mechatronic and Manufacturing Engineering Vol:1, No:4, 2007
International Science Index, Mechanical and Mechatronics Engineering Vol:1, No:4, 2007 waset.org/Publication/6544
T.C. Manjunath
AbstractThis paper features the kinematic modelling of a 5-axis
stationary articulated robot arm which is used for doing successful
robotic manipulation task in its workspace. To start with, a 5-axes
articulated robot was designed entirely from scratch and from
indigenous components and a brief kinematic modelling was
performed and using this kinematic model, the pick and place task
was performed successfully in the work space of the robot. A user
friendly GUI was developed in C++ language which was used to
perform the successful robotic manipulation task using the developed
mathematical kinematic model. This developed kinematic model also
incorporates the obstacle avoiding algorithms also during the pick and
place operation.
arm having base, shoulder, elbow, tool pitch and tool roll and
consisting of only rotary joints [1]. The robot design consisted
of three parts, viz., mathematical modelling, mechanical
design, electronic design and the software design [14]. There
are 5 joints, 5 axis (3 major axes - base, shoulder elbow : to
position the wrist and 2 minor axis - pitch and roll : to orient
the gripper in the direction of the object). Since n = 5 ; 20
kinematic parameters are to be obtained and 6 unit frames are
to be attached to the various joints [2] as shown in the link
coordinate diagram in Fig. 2.
INTRODUCTION
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a3
L2
3 Elb
a4
L4
5
4
y2
TP
x3
y4
y3
a2
2
z
z4
5
L3
x
x
L1
d1
z
y
1
B
KINEMATIC MOEL
y5
L5
d5
Tool
Sh
International Science Index, Mechanical and Mechatronics Engineering Vol:1, No:4, 2007 waset.org/Publication/6544
x4
TR
has its own set of sprocket and chains which then determine
the joint angle precision [15]. There are three links a2 and
a3 and a4. The height of the shoulder from the base is d1
and the tool / gripper length is d5. d1 is the height of the
shoulder from the base which can be seen in Fig. 4.
L0
x0
JS R
CHCTM
Arm matrix
DKP
p,R
T0
?
To be found out
GLP
a1 to a5 , d1 to d5 ,
1 to 5
( given )
Axis
Type
dk
ak
SHP
Base
d1
/2
Shoulder
a2
/2
Elbow
a3
/2
Tool pitch
a4
/2
Tool roll
d5
/2
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International Science Index, Mechanical and Mechatronics Engineering Vol:1, No:4, 2007 waset.org/Publication/6544
5
3
4
3
5
4
3
0
and T
5
3
T 50
= T 10
T 12
T 32
T 50
T 34 T 54 .
(1)
(2)
(3)
T 30
Tool-tip
Base
1 2
f 3 4
T 53
Wrist (Pitch)
Base
(4)
T GWripper-tip
rist (P itch)
(5)
major axes
minor axes
f
f
2
3
1
4 5
T03 = T01
T12
T23
(6)
C1 0 -S1 0 C2
= S1 0 C1 0 S2
0 -1 0 d1 0
0 0 0 1 0
C1C2
S1C2
=
S
2
0
=
T 50
0 a 2 C2
a 2 S2
1
0
0
1
-S2
C2
0
0
C1S2
S1
S1S2
C1
C 2
C3
S3
0
a1 C1 C2 C3
a1 S1 S2 S3
d1 a 2 S2 0
0
1
-S3
C3
0
0
S3
0 a 3 C3
a 3 S3
1
0
0
1
0
0 a 3 C3
0 a 3 S3
1
0
0
1
C3
0
0
0
0
0
1
C1 C23
S C
T03 = 1 23
S23
C1 S23
S1
S1 S23
C1
C23
0
0
0
C1 ( a 2 C2 +a 3 C23 )
S1 ( a 2 C2 +a 3 C23 )
d1 a 2 S2 a 3 S23
(7)
1
0
T03 (home) =
0
0
R11
R
T03 = 21
R 31
197
0
0
0
1
1
0
0
0
R12
R 22
R13
R 23
R 32
0
R 33
0
scholar.waset.org/1999.8/6544
a3
0
d1 +a 2
1
p1
p 2
p3
(8)
C 4 C5
S C
4 5
S5
International Science Index, Mechanical and Mechatronics Engineering Vol:1, No:4, 2007 waset.org/Publication/6544
T45
C4
S
T35 = 4
0
S4
C4
1
0
0
0
a 4 C4
a 4 C4
0
C 4 S5
S4
(9)
C5
S
5
0
S5
C5
0
0
in the computed
T35
0
0
T35 (home) =
1
0
R11
R
T35 = 21
R 31
R12
R 22
R 32
0
1
0
0
0
0
1
0
0
R13
R 23
R 33
0
a3
d 5
0
R11
R
T05 = 21
R 31
C23
0
C5
0
0
0
R12
R 22
R 32
0
R13
R 23
R 33
0
p1
p 2
p3
(12)
that the norms of the rotation matrix of T05 . They are all
p1
p 2
p3
(11)
S1 S23
C4
T05
C1 S23
S4 S5
a 4 C 4 d 5 S4
a 4S4 +d 5 C 4
unity. This arm matrix T05 given by Eqn (12) is the output
of direct kinematics of the designed five axes articulated robot
arm, thus giving the position and orientation of the gripper
w.r.t. base . The 1st three columns gives the orientation of
the frame L5 w.r.t. base, while the last column gives the
position of the tip of the gripper p w.r.t. base, thus obtaining
a unique direct kinematic model of the designed robot [1], [27].
C1 C23
S1 C23
=
S23
S4
C5S234
S234S5
C234
0
0
0
0
0 0
1 d5
0 1
0
a 4 C 4 d 5 S4
S4 S5 C4 a 4S4 +d 5 C 4
(10)
C5
0
0
0
0
1
5
This matrix T3 gives the position and orientation of the
tip coordinate frame L5 w.r.t. the wrist coordinate frame L3.
To check this whether the matrix obtained is correct or
not, evaluate it at the Soft Home Position [ SHP ] by
putting the values of the angles given in the last column
of KP table in T35 , i.e., put q = { 0 , 90}T = {q4 , q5 }T
C 4 C5
S C
= 4 5
S5
C 4 S5
S1 C1 ( a 2 C2 +a 3 C23 )
C1 S1 ( a 2 C2 +a 3 C 23 )
0 d1 a 2 S2 a 3 S23
0
1
x5
x 0 0
0
T05 (SHP) = y 1
z0 0
z5
0
0
0
1
d1 +a 2 d 5
a3 + a4
y5
198
C1C234C5 + S1S5 = 0
S1C234C5 C1S5 = 1
C5S234 = 0
scholar.waset.org/1999.8/6544
International Science Index, Mechanical and Mechatronics Engineering Vol:1, No:4, 2007 waset.org/Publication/6544
R21
R22
R32
R31
R32
R33
p1
p2
p3
=
=
=
=
=
=
=
=
=
C1S5C234 + S1C5 = 1
S1S5C234 C1C5 = 0
S234S5 = 0
C1S234 = 0
S1S234 = 0
C234 = 1
C1 (a2C2 + a3C23 + a4C234 d5S234) = a3 + a4
S1 (a2C2 + a3C23 + a4C234 d5S234) = 0
d1 a2S2 a3S23 a4S234 d5C234 = d1 + a2 d5
OF THE
LC DIAGRAM
= { 1 , 2 , , 3 , 4 , 5}T
= { 0, 90, 90 , 0 , 90 }T.
(9) Joint distances : Put k = 1 , 2 , 3 , 4 , 5 ;
Compute d1 , d2 , d3 , d4 , d5 as the translation along zk 1
needed to make xk 1 intersect / aligned with xk.
Vector of joint distances :
d = { d1 , d2 , d3 , d4 , d5}T
= {25 , 0 , 0 ,0 , 15}T cm.
(10) Link lengths Put k = 1 , 2 , 3 , 4 , 5 ;
Compute a1 , a2 , a3 , a4 , a5 as the translation along xk
needed to make zk 1 intersect / aligned with zk.
Vector of link lengths :
a = { a1 , a2 , a3 , a4 , a5}T
= {0 , 23 , 22 , 8 , 0}T cm.
(11) Link twist angles Put k = 1 , 2 , 3 , 4 , 5 ;
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= { 1 , 2 , 3 , 4 , 5}T
= { /2 , 0 , 0 , /2 , 0 }T rads .
Since n = 5 , we get 20 KPs . Tabulate all the KPs neatly
in the form of a table called as KPT. The KP Table is
shown in Table 1. From this KPT, we see that 8 out of
20 KPs are zeros and hence, the robot what we have
designed has become a kinematically simple robot [1].
E
a2
International Science Index, Mechanical and Mechatronics Engineering Vol:1, No:4, 2007 waset.org/Publication/6544
P
a3
a4
d1
R
d5
Fig. 5 One line diagram depicting the kinematic chain in the soft
home position of the robot
VII. CONCLUSIONS
A unique 5-axes articulated system was used to obtain the
kinematic model of the same and was used to perform a
successful pick and place task using a user-friendly developed
graphical user interface and real time implementation. The
simulated results were exactly verified with implementation
results, thus demonstrating a effective PNP manipulation.
Figs. 7 (a) and 7(b) Simulation and real time implementation of
the pick and place operation
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REFERENCES
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[4].
[5].
[6].
[7].
International Science Index, Mechanical and Mechatronics Engineering Vol:1, No:4, 2007 waset.org/Publication/6544
[8].
[9].
[10].
[11].
[12].
[13].
[14].
[15].
[16].
[17].
[18].
[19].
[20].
[21].
[22].
[23].
[24].
[25].
[26].
[27].
[28].
[29].
[30].
[31].
[32].
[33].
[34].
T.C.Manjunath,
born
in
Bangalore,
Karnataka, India on Feb. 6, 1967 received the
B.E. Degree in Electrical Engineering from the
University of Bangalore in 1989 in First Class
and M.E. in Electrical Engineering with
specialization in Automation, Control and
Robotics from the University of Gujarat in
1995 in First Class with Distinction and Ph.D.
from the Interdisciplinary Programme in
Systems and Control Engineering Department of Indian Institute of
Technology Bombay in the year 2007, respectively. He has got a
teaching experience of 17 long years in various engineering colleges
all over the country (Karnataka, Tamil Nadu, Gujarat, Maharashtra)
and is currently working as Professor and Head of the Department of
Electronics and Communication Engineering in East West Institute of
Technology in Bangalore, Karnataka, India. He also worked as a
Research Engineer in the Systems and Control Engineering (IIT
Bombay, India) for nearly a year and worked on control of space
launch vehicles using FOS feedback technique. He has published 90
papers in the various National, International journals and Conferences
and published two textbooks on Robotics, one of which has gone upto
the fourth edition, titled, Fast Track to Robotics and the other, which
has gone upto the fifth edition, titled, Fundamentals of Robotics in 2
volumes, Vol.-1 and Vol.-2 along with a CD which contains about
150 C / C++ programs for performing various simulations on robotics.
He also published a research monograph in the International level
from the Springer-Verlag publishers based on his Ph.D. thesis topic
titled, Modeling, Control and Implementation of Smart Structures,
Vol. 350, LNCIS, costing 79.95 Euros. He was a student member of
IEEE for 6 years, SPIE student member and IOP student member for
4 years, life member of ISSS (India), life member of the ISTE (India),
life member of ISOI (India), life member of SSI (India) and life
member of the CSI (India) and a fellow of IETE (India). He has
visited Singapore, Russia, United States of America and Australia for
the presentation of his research papers in various international
conferences. His biography was published in 23rd edition of Marquiss
Whos Who in the World in 2006 issue. He has also guided more than
2 dozen robotic projects. Many of his guided projects, interviews
have appeared in various national newspapers and magazines. He has
also presented a number of guest lectures and various seminars and
participated in more than a dozen CEP / DEP courses, seminars,
workshops, symposiums in the various parts of the country in
different institutions and also conducted a few courses. His Ph.D.
research work was based on the mathematical modeling, control and
implementation of smart structures and its applications. His current
research interests are in the area of Robotics, Smart Structures,
Control systems, Network theory, Mechatronics, Process Control and
Instrumentation, Electromagnetic fields and waves, MATLAB,
Signals and systems (CT and DT), Industrial automation, Artificial
intelligence, Digital signal processing, Digital Image Processing,
Periodic output feedback control, Fast output feedback control,
Sliding mode control of SISO and multivariable systems and many of
the control related subjects and its allied labs and their various
applications.
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