270 views

Uploaded by Genfreak

- 1a - Transformations Notes
- FANUC 200iB Robot Description
- Robotics
- 123d Tutorial
- Pick Up Current Current Setting Plug Setting Multiplier And
- IAI CT4 Cartesian Specsheet
- Lab 1
- Yearly Lesson Plan Math F2
- 2012-2013-homework-alg
- chapter 1
- Robot Assist Users Manual.pdf
- Robotics
- Assestment Form 4 2012
- optimizing pg1
- AADE-07-NTCE-10 Modeling of the Effects of Cutting Structure, Impact Arrestor, And Gage Geometry on PDC Bit Steerability
- Mechanics Control of Robotic Manipulators
- tensiuni remanente (eng)
- 2012-2013-homework-alg
- SolidEdge8-vol1.pdf
- IGCSE Math 2006

You are on page 1of 45

Basic Coordinates

Rotation and Translation in basic of Robot Coordinates, Homogeneous

g Transform

Euler Angles, Denavit-Hartenberg Notation

E-mail : biocontrolsys@hotmail.com

H P : 011 – 9455 - 5277

H.P

한국 IT직업전문학교

Topics

p

Basic Coordinates

Coordinate Frames & Denavit-Hartenberg

Denavit Hartenberg Notation

Forward and Inverse Kinematics of Robot Manipulators

Manipulator

p Jacobian

Review of Lagrangian Dynamics

Lagrangian Dynamics of Robot Manipulators

Newton-Euler Equations of Robot Manipuators

Forward and Inverse Dynamics

Robot Statics

Robot Trajectory Planning

Robot Control

로봇공학개론 2

한국 IT직업전문학교

Basic Coordinates

- Translation - Rotation

로봇공학개론 3

한국 IT직업전문학교

Basic Coordinate

Coordinate Frames

- Translation - Rotation

로봇공학개론 4

한국 IT직업전문학교

Basic Coordinate

- Translation - Rotation

로봇공학개론 5

한국 IT직업전문학교

Basic Coordinate

- A single rotation after a single translation:

translation and rotation:

good way of simplifying notation and computations.

homogeneous transform

로봇공학개론 6

한국 IT직업전문학교

Basic Coordinate

Rotation Matrix R

two different coordinates, i.e., coordinate A and B

components of p along the x, y, and z axes of

coordinate A.

로봇공학개론 7

한국 IT직업전문학교

Basic Coordinate

Rotation Matrix R

- Noting that x_A,

x A, y_A

y A and z_A

z A represent the components of p along the x, y, and z

axes of coordinate A.

- Therefore,

로봇공학개론 8

한국 IT직업전문학교

Basic Coordinate

Rotation Matrix R

- Therefore,

- Similarly,

- Thus, Therefore,

로봇공학개론 9

한국 IT직업전문학교

Basic Coordinate

Homogeneous Transform

- In homogeneous transforms, translation and orientations have identical

characteristics.

- Position vector [x y z]T is represented by an augmented vector [x y z 1]T .

- Translation is represented by a matrix:

로봇공학개론 10

한국 IT직업전문학교

Basic Coordinate

- Rotation is represented by a matrix:

로봇공학개론 11

한국 IT직업전문학교

Basic Coordinate

- If translation and rotation are combined

로봇공학개론 12

한국 IT직업전문학교

Basic Coordinate

- If translation and rotation are combined

Therefore,

로봇공학개론 13

한국 IT직업전문학교

Basic Coordinate

- Many different sets of Euler angles exist

- Z-Y-Z, Z-Y-X, and etc,

- Example : Z-Y-X : Rotate around z-axis, and then around y-axis, and finally

around x-axis

x axis.

로봇공학개론 14

한국 IT직업전문학교

Basic Coordinate

로봇공학개론 15

한국 IT직업전문학교

Basic Coordinate

- X-Y-Z

X Y Z Fixed Angles (Pitch-Yaw-Roll)

(Pitch Yaw Roll)

- Note

(Pre-multiplicatin)

multiplicatin)

로봇공학개론 16

한국 IT직업전문학교

Basic Coordinate

Equivalent Angle-Axis

- Represented by a unit vector that indicates the axis of rotation and an angle to

rotate.

- If the axis of rotation is k = [K_x K_y K_z]^T,

로봇공학개론 17

한국 IT직업전문학교

Basic Coordinate

Denavit-Hartenberg Notation

- Conventions

Joint i moves link i

Frame i is fixed at (attached to) link i and located at the distal joint, which means

that frame i is located at joint i+1.

Z-axes are aligned with joint axes.

로봇공학개론 18

한국 IT직업전문학교

Basic Coordinate

4 Link Parameters

- Link Length(L_n):

Length(L n): the shortest distance between two joint axes at both

ends of Link n.

- Link Twist(alpha_n): "twist" angle of two z-axes at both ends of Link n

in the direction of x_n

x n -axis

axis.

- Link Offset (d_n): distance from the origins of Frame n-1 to Frame n in

the direction of Z_n-1-axis.

- Joint

i Angle(Thetat_n):

l h angle

l ffrom x_n-1-axis

1 i to x_n -axis

i iin the

h direction

di i

of z_n-1-axis.

로봇공학개론 19

한국 IT직업전문학교

Basic Coordinate

Miscellaneous Conventions

- If z-axes

z axes meet each other,

other x_n

x n – axis,

axis in general,

general is defined to be zz_n

n-

1Ⅹz_n.

로봇공학개론 20

한국 IT직업전문학교

Basic Coordinate

Miscellaneous Conventions

- The origin of frame 0 is usually coincide with that of frame 1.

1

- Z-axis of frame 0 is aligned with z-axis of joint 1.

- For a prismatic joint, z-axis is aligned with the sliding direction of the

j i IIn this

joint. hi case, link

li k offset

ff d iis the

h jjoint

i variable.

i bl

- Homogeneous transform :

coordinates

d in most cases.

로봇공학개론 21

한국 IT직업전문학교

Basic Coordinate

Example :

로봇공학개론 22

한국 IT직업전문학교

Basic Coordinate

Example :

Note that

h T^0_1 can be

b directly

d l determined

d d

로봇공학개론 23

한국 IT직업전문학교

Forward Kinematics

orientation can be calculated. (Forward Kinematics)

Inverse Kinematics

- For a given set of end-effector position

and orientation, joint displacements are

computed.

- We have to solve nonlinear equations;

however, we may not able to solve for

solutions analytically.

로봇공학개론 24

한국 IT직업전문학교

Forward Kinematics

로봇공학개론 25

한국 IT직업전문학교

F

Forward

d Kinematics

Ki ti

로봇공학개론 26

한국 IT직업전문학교

E d Eff t P

End-Effector Position

iti End-Effector Orientation

로봇공학개론 27

한국 IT직업전문학교

Inverse Kinematics

- For a given tip position [x y]^T, the joint displacement [theta_1 theta_2]^T

is to be determined.

Geometric Method

(Using cosine rule)

로봇공학개론 28

한국 IT직업전문학교

Inverse Kinematics

로봇공학개론 29

한국 IT직업전문학교

Inverse Kinematics

로봇공학개론 30

한국 IT직업전문학교

Inverse Kinematics

Sign: "+", if -p < theta_2 < 0, i.e., at "elbow up“ configuration "-", otherwise.

로봇공학개론 31

한국 IT직업전문학교

Algebraic Method

left-hand-side:

right-hand-side: a matrix whose elements are functions of joint angles

로봇공학개론 32

한국 IT직업전문학교

Algebraic Method

로봇공학개론 33

한국 IT직업전문학교

Algebraic Method

Let

Then

로봇공학개론 34

한국 IT직업전문학교

Algebraic Method

Similarly,

Using

g

로봇공학개론 35

한국 IT직업전문학교

Algebraic Method

where

Therefore,

로봇공학개론 36

한국 IT직업전문학교

Kinematic Decoupling

If the final 3 consecutive axes meet at a point, the process of solving inverse

kinematics is simplified.

meet at a wrist center

center.

by q1, q2 , and q3 only.

로봇공학개론 37

한국 IT직업전문학교

Kinematic Decoupling

- From the target tool position d and orientation R, wrist center

position can be computed:

where

h

- Once the wrist center is known, the first 3 joint variables, q1, q2, and q3 , can

be computed.

- The orientation matrix R^0_3 can be computed after q1, q2 , and q3 are

d t

determined.

i d

which in turn can be computed by

로봇공학개론 38

한국 IT직업전문학교

SCARA Robot

로봇공학개론 39

한국 IT직업전문학교

SCARA Robot

로봇공학개론 40

한국 IT직업전문학교

SCARA Robot

- Rotation matrix R can be in the form of

로봇공학개론 41

한국 IT직업전문학교

SCARA Robot

- Using a geometry formed by projecting the manipulator configuration

upon a horizontal plane, which forms a 2-link manipulator,

- and

로봇공학개론 42

한국 IT직업전문학교

SCARA Robot

- Solvability : A manipulator is defined to be solvable, if all the sets of joint variables

for a given position and orientation can be determined by an algorithm. Many

manipulators have multiple solutions for a single configuration. For example,

PUMA 560 has 8 solutions.

-W

Workspace

k : The

Th volume

l off space that

h the

h end-effector

d ff off a manipulator

i l can reach.

h

Within the workspace, inverse kinematics solutions exist.

- Closed Form Solution : Inverse kinematic solutions can be grouped into closed form

solutions and numerical solutions.

solutions Closed form solutions are noniterative such as

algebraic expressions; whereas numerical solutions are iterative. Numerical

solutions are computationally more expensive and slower.

p

- Pieper's work : A g

general 6 d.o.f. manipulator

p does not have a closed form solution.

If the three consecutive axies intersect at a point, a closed form solution exists. For

most commercial manipulators, the last consecutive axes intersect at a point.

- Notes: Even if inverse kinematic solutions are found, they may not be physically

realizable due to joint angle limitations

limitations.

로봇공학개론 43

한국 IT직업전문학교

HW 6

139p, 연습문제 1

로봇공학개론 44

한국 IT직업전문학교

REFERENCE

기초로봇 공학

- 제 2편 : 로봇 제어의 시작

g

- Ch 2. Spatial descriptions and transformations

- Ch 3. Manipulator kinematics

- Ch 4. Inverse manipulator kinematics

로봇공학개론 45

- 1a - Transformations NotesUploaded byMorpho23
- FANUC 200iB Robot DescriptionUploaded byAnurag Kesari
- RoboticsUploaded byAmaren
- 123d TutorialUploaded byCART11
- Pick Up Current Current Setting Plug Setting Multiplier AndUploaded byJitendra Gajerao Mulik
- IAI CT4 Cartesian SpecsheetUploaded byElectromate
- Lab 1Uploaded byBonnoi Free
- Yearly Lesson Plan Math F2Uploaded byHafiz
- 2012-2013-homework-algUploaded bygregmcginnis
- chapter 1Uploaded byapi-171445363
- Robot Assist Users Manual.pdfUploaded byIvan Avramov
- RoboticsUploaded byAsh5367
- Assestment Form 4 2012Uploaded byThiyaku Marutha
- optimizing pg1Uploaded byapi-316207472
- AADE-07-NTCE-10 Modeling of the Effects of Cutting Structure, Impact Arrestor, And Gage Geometry on PDC Bit SteerabilityUploaded bydrilling moneytree
- Mechanics Control of Robotic ManipulatorsUploaded byArun
- tensiuni remanente (eng)Uploaded byGabriel Marius
- 2012-2013-homework-algUploaded bygregmcginnis
- SolidEdge8-vol1.pdfUploaded bypedro
- IGCSE Math 2006Uploaded byrajdeepghai5607
- -Chap3maths for Bus MathUploaded byMichelle Ouyang
- 11886_kinamaticsUploaded byManish Shukla
- 34Uploaded byPhan Van Quyet
- Action - ReactionUploaded byrandhir.sinha1592
- GyrosccUploaded byAnonymous 2xjDjAcZ
- Zaman-ROVISP-2007Uploaded byAndreea Haiduc
- Activity#3(Baflor)Uploaded byJoevelleBaflor
- lesson12-Sketching.pdfUploaded byluisorlandocass
- Mathematics 2012 Unsolved Paper Outside Delhi.pdfUploaded bysagar
- rpt f2 2012Uploaded bynorhasmiza

- TEST_NCERT1.pm.pdfUploaded bysuhail ahmad
- 06_CRTUploaded byt1377912
- Perceptron MultilayerUploaded byIonut Stanciu
- Applied Electronics & Instrumentation Engineering Syllabus OldUploaded byraghvendrm
- Job Duties and Tasks ForUploaded bychanus92
- Fem ConvergenceUploaded byDivanshu Seervi
- KRR SlidesUploaded byMonica Voinescu
- s7 Symbol Table Data TypeUploaded bySandip Dhakal
- 323_47Uploaded byMichiel Veldhuis
- Guidi Rhetoric and Conceptual Problems in Economics the Case of General Equilibrium TheoryUploaded byEleutheros1
- Significant FiguresUploaded byJnn Katemb
- Why is the Integrated Difference of Kinetic and Potential Energy MinimizedUploaded byahsbon
- Time Series EconometricsUploaded byfenomanana
- mcmc-A comparative studyUploaded byNishant
- eviewsUploaded byrfb1986
- Boethius NumerologyCreationUploaded byDaniel G.G.
- Statistics Final ExamUploaded byHisham Essa
- Lecture 0Uploaded byJiyoun Kim
- SequencesUploaded byAde Nia
- 14403888 Model of Conventional EncryptionUploaded byMohabath Mohaunix
- Samuelson 1969Uploaded byKyle Tseng
- EARTH AND ATMOSPHERIC SCIENCESUploaded byOrlando Dunst
- Problem Set 1Uploaded byrfmoudle
- Math Jan 2005 Exam S1Uploaded bydylandon
- jafa07vol-2.pdfUploaded byAgus Rahmat
- Applied GIS and Spatial Analysis 1Uploaded bysoran-civel
- ila0601Uploaded byFlorence Cheang
- Problem Set 3Uploaded byReemALMousawi
- 15. MathematicsUploaded byAruna Vijayan
- 10_InverseKinematicsUploaded byAland Bravo