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Robot Dynamics and control

Robotics

A robot consists of:


(n) - Joints
(n+1) - Links
Joint connects link
1 to link .
When joint moves (with ), link moves.
Link 0 is fixed (never moved).

Degrees of freedom (DOF)

A manipulator with n joints has n DOFs.


A manipulator should possess at least six DOFs.
Three for positioning and three for orientation.
With less than six DOFs, it can not reach an
arbitrary position with arbitrary orientation.
With more than six DOFs it is called a
redundant manipulator.

Dr. Hesham Farag - Ain Shams Univ.

Robot Dynamics and control

Workspace

The workspace is the total volume swept by the


arm as it executes all possible motions.
The reachable workspace is entire set of points that
the manipulator can reach
The dextrous workspace is the set of points where
the manipulator can reach with arbitrary orientation
(a subset of the reachable workspace)

Geometrical Classification
Most industrial robots have six or fewer DOFs
They are classified based on the first three joints
types (R or P)
Further joints constructs the wrist.
1.
2.
3.
4.
5.

Articulate (RRR)
Spherical (RRP)
SCARA (RRP)
Cylindrical (RPP)
Cartesian (PPP)

Dr. Hesham Farag - Ain Shams Univ.

Robot Dynamics and control

Articulated configuration (RRR)

Spherical configuration (RRP)

Dr. Hesham Farag - Ain Shams Univ.

Robot Dynamics and control

SCARA configuration (RRP)

Cylindrical configuration (RPP)

Dr. Hesham Farag - Ain Shams Univ.

Robot Dynamics and control

Cartesian configuration (PPP)

Wrist and Gripper

The manipulator structure chain is divided into Arm,


Wrist, and Gripper
The wrist has almost always a spherical configuration
The Arm joints are typically used to position the end
effector.
The wrist is used for proper orientation.
The end effector (gripper) is used to do the task

Dr. Hesham Farag - Ain Shams Univ.

Robot Dynamics and control

Course Contents

Suppose a robot has a grinding tool and we need to


remove a specific amount of metal from point A to point B
Means we want to move the robot from home position to
Position A then follow the contour S with constant velocity
while applying a prescribed force F normal to the surface.
Many problems involved here that we must learn in order
to program the robot to do this

1-Forward Kinematics

Given angles of both joints


Find the coordinates of Point A & B in the
base frame (common frame)
We will have to define a frame at each joint.

Dr. Hesham Farag - Ain Shams Univ.

Robot Dynamics and control

2- Inverse Kinematics

Given 1 and 2 we know the coordinates


of A (Forward kinematics)
Now given the coordinates of B find 1 and
2 (Inverse Kinematics)

2- Inverse Kinematics

Solution is difficult
Not unique
May not exist

Dr. Hesham Farag - Ain Shams Univ.

Robot Dynamics and control

3- Velocity Kinematics

Find the velocity of each joint given the


velocity of the tool
Systematic approach to find the Jacobian
matrix is called cross-product form

4- Path Planning & Trajectory


Generation
Path planning
trajectory generation
trajectory tracking
Define path then define time position-time
trajectory then follow it.

Dr. Hesham Farag - Ain Shams Univ.

Robot Dynamics and control

5-Vision
Use camera to give feedback on robot
position
Use camera to give position of external
objects

6- Dynamics
Robots are mechanical objects on motion
Need to find differential equations to
define the model
Equations are usually non-linear
Use Lagrangian dynamics

Dr. Hesham Farag - Ain Shams Univ.

Robot Dynamics and control

7- Position Control
Tracking problem
Disturbance Rejection problem
Using Feed forward control and the
second method of Lypanove.

8-Force Control
May be used instead of position control
Avoids uncertainty in the position
Ensures constant normal forces along the
trajectory
Use Hybrid control and impedance control

Dr. Hesham Farag - Ain Shams Univ.

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