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Spring 2010
Arun Dayal Udai
ME 8209
Course objective
The objective of this course is to introduce the student
to the modeling, simulation, and control of spatial
multi-degree-of-freedom robotic manipulators. In
particular it covers the kinematics, dynamics and
control of robotic manipulators. This course is
designed to provide undergraduate engineers
budding in robotics with a comprehensive, well
organized and up-to-date account of basic principles
underlying the design, analysis and synthesis of
robotic manipulators.
Course Description
• Introduction and mathematical background for robotics: Introduction to
Robotics, Classification of Robotics, Robot components, Robot degree of freedom,
Robot Reference frames and coordinate system, Robot languages, Robot
application.
• Robotic Kinematics: Robot as Mechanisms Representation of Transformation and
Inverse of Transformation Matrices, Forward and Inverse kinematics of Robot.
• Denavit–Hartenberg Representation of linkages, Inverse kinematic solution &
programming of Robots, Degeneracy and Dexterity.
• Differential Motions and velocities: Differential Relationships, Jacobian,
Differential changes between frames. Differential Motions of Robot and its Hand
frame.
• Dynamic Analysis and Forces: Dynamic equations for Multi-degree of freedom
robots, Static Force Analysis of Robots, Transformation of forces and moments
between design project.
• Trajectory Planning: Path Vs Trajectory, Joint space Vs Cartesian space
Descriptions, Basics of Trajectory planning, Joint-space Trajectory planning,
Cartesian space trajectory.
• Actuators & Sensors: Characteristics of Actuating system, Comparison of
Actuating systems, Hydraulic Devices, Pneumatic Devices, Electrical motor,
Microprocessor control of Electric Motors, Sensor Characteristics, position velocity,
acceleration, Force & pressures, Torque, Micro switches, Touch and Tactile, light
and infra red, proximity sensors.
Prerequisites
Secondary:
Introduction to Robotics,
John J. Criag
Pearson Education Publications
Others:
Reference books, Tutorial Sheets, Class
Discussions, Handouts and Technical
Articles
Lab. Facilities
• 8 DOF Biped Structure with Steppers
• 10 DOF Biped Structure with Servos
– Forward/inverse kinematics
– Velocity kinematics
– Control
– Path planning
– Manipulation
• Wheeled Robot by TRI, Mumbai
– Line follower
– Various Sensors
– Obstacle Avoidance etc.
• MATLAB /SimMechanics and Related Software for
soft computing skill development
• Various other hardware on FMS and Robotic Arm at
Production Engineering Lab.
• CAD packages for simulation, analysis and design
• Vision Systems
– Stereoscopy
Problem sets and exams
• Problem sets: approximately every second week
– Will Include Tutorial Sheets, Book marks
– May include MATLAB /SimMechanics problems
• One online midterm exam (objective) and one final exam
(subjective)
• Quizzes for PG Students
• No class assignments and attendance marks (although 75%
attendance is required to appear for end semester exam)
Lecture 01
Introduction
Current Objectives
• State space
– Current configuration (joint positions q) and velocities q
• Work space
– The reachable space the tool can achieve
• Reachable workspace
• Dextrous workspace
Common configurations:
01_06 wrists
• Many manipulators will be a sequential chain of links and joints
forming the ‘arm’ with multiple DOFs concentrated at the ‘wrist’
Example end-effector:
01_07 Grippers
• Anthropomorphic or task-specific
– Force control v. position control
Common configurations:
01_09 elbow manipulator
• Anthropomorphic arm: ABB IRB1400
• Very similar to the lab arm
Workspace:01_10
elbow manipulator
Common configurations: Stanford arm
01_12
(RRP)
• Spherical manipulator (workspace forms a set of concentric
spheres)
Common configurations:
01_14 SCARA (RRP)
Common configurations:
01_15cylindrical robot (RPP)
• workspace forms a cylinder
xˆ ⋅ xˆ yˆ 2 ⋅ xˆ 0 cos(θ1 + θ 2 ) − sin(θ1 + θ 2 )
R20 = 2 0 =
xˆ 2 ⋅ yˆ 0 yˆ 2 ⋅ yˆ 0 sin(θ1 + θ 2 ) cos(θ1 + θ 2 )
Inverse kinematics
01_21
• Find the joint angles for a desired tool position
xt2 + y t2 − a12 − a22
cos(θ 2 ) = ≡ D ⇒ sin(θ 2 ) = ± 1 − D 2
2a1a2
−1 1 − D 2 θ = tan −1 y − tan −1 a2 sin(θ 2 )
θ 2 = tan ± 1 a + a cos(θ )
D x 1 2
2
q = J −1x
1 a2 cos(θ1 + θ 2 ) a2 sin(θ1 + θ 2 ) x
=
• This ainverse θ 2 ) not
1a2 sin(does − a1exist θ1 ) − aθ 22cos(
cos(when θ1 π+ θ, called
= 0 or 2) −a 1 sin(θ1configuration
singular
) − a1 sin(θ1 +orθsingularity
2 ) y
Path planning
01_24
• In general, move tool from position A to position B while avoiding
singularities and collisions
– This generates a path in the work space which can be used to solve for joint
angles as a function of time (usually polynomials)
– Many methods: e.g. potential fields
desired trajectory
error controller system dynamics
desired state
joint estimation
torques sensors
inverse estimated
kinematics, configuration
Jacobian desired
trajectory
Sensors and actuators
• Sensors
– Motor encoders (internal)
– Inertial Measurement Units
– Vision (external) Basic quantities for
– Contact and force sensors both:
• Motors/Actuators • Bandwidth
– Electromagnetic
• Dynamic range
– Pneumatic/hydraulic
– electroactive • sensitivity
• Electrostatic
• Piezoelectric
Other Robots Techies
• Mobile Agents and SLAM
• Vision systems
• MEMS and Micro robotics
• Surgical Robots
• Biomimetic Robots
• Humanoids
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