Robotics Engineering (ME 8209)

Spring 2010
Arun Dayal Udai

Lecturer, Department of Mechanical Engineering

BIT, Mesra, Ranchi
Phone No: 9431516917
Email: [email protected]
Website: http://www.bitmesra.ac.in

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

• MA1101, MA2101, MA3101 (Mathematics), ME1101

(Engineering Mechanics), ME 3105 (Automatic
Control System)
• Exposure to Engineering Mechanics, Exposure to
linear algebra, vectors and matrix operations,
Exposure to Control Methods.
 Relevance to the real world

• The study of robots is interdisciplinary by nature. The

course provides the opportunity for students to
develop an ability to work with students passing out
from various engineering majors to work together
when they breed up their skills professionally in
industry as automation, control or a robotics
engineer.
Texts Books and References
Primary:
ROBOTICS, Control, Sensing,
Vision and Intelligence,
K.S.Fu, R.C.Gonzalez, C.S.G Lee
McGraw Hill International Editions

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

Introduction to Robotics, Classification of Robotics,

Robot components, Robot degree of freedom, Robot
Reference frames and coordinate system, Robot
languages, Robot application
 Introduction
• Historical perspective
– The acclaimed Czech playwright Karel Capek (1890-1938)
made the first use of the word ‘robot’, from the Czech word for
forced labor or serf.
– The use of the word Robot was introduced into his play R.U.R.
(Rossum's Universal Robots) which opened in Prague in
January 1921. In R.U.R., Capek poses a paradise, where the
machines initially bring so many benefits but in the end bring an
equal amount of blight in the form of unemployment and social
unrest.
• Science fiction
– Asimov, among others glorified the term ‘robotics’, particularly in
I, Robot, and early films such as Metropolis (1927) paired robots
with a dystopic society
• Formal definition (Robot Institute of America):
– "A reprogrammable, multifunctional manipulator designed to
move material, parts, tools, or specialized devices through
various programmed motions for the performance of a variety of
tasks".
 Common applications
• Industrial
– Robotic assembly
• Commercial
– Household chores
• Military
• Medical
– Robot-assisted surgery
 Common applications
• Planetary Exploration
– Fast, Cheap, and Out of Control
– Mars rover
• Undersea exploration
 Industrial
01_01robots
• High precision and repetitive tasks
– Pick and place, painting, etc
• Hazardous environments
 Representations
01_03
• For the majority of this class, we will consider robotic
manipulators as open or closed chains of links and joints
– Two types of joints: revolute (θ ) and prismatic (d)
 Definitions
• End-effector/Tool
– Device that is in direct contact with the environment. Usually very task-
specific
• Configuration
– Complete specification of every point on a manipulator
– set of all possible configurations is the configuration space
– For rigid links, it is sufficient to specify the configuration space by the joint
angles q = [ q1 q2 ... qn ]
T

• 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

Seiko RT3300 Robot

Common configurations:
01_16Cartesian robot (PPP)
• Increased structural rigidity, higher precision
– Pick and place operations
 Workspace
01_17
comparison
(a) Spherical
(b) SCARA
(c) Cylindrical
(d) Cartesian
 Parallel01_18
manipulators
• Some of the links will form a closed chain with ground
• Advantages:
– Motors can be proximal: less powerful, higher bandwidth, easier to control
• Disadvantages:
– Generally less motion, kinematics can be challenging

6DOF Stewart platform

Simple example: control01_19
of a 2DOF planar manipulator
• Move from ‘home’ position and follow the path AB with a constant contact force F
all using visual feedback
 Coordinate frames & forward kinematics
01_20
• Three coordinate frames: 0 1 2
• Positions:
 x1  a1 cos(θ1 ) 
 y  =  a sin(θ )  2
 1  1 1 

 x 2  a1 cos(θ1 ) + a2 cos(θ1 + θ 2 )   x 

 y  =  a sin(θ ) + a sin(θ + θ )  ≡  
 2  1 1 2 1 2  y  t
• Orientation of the tool frame:
0 1
1 0
xˆ 0 =  , yˆ 0 =  
0  1
cos(θ1 + θ 2 ) − sin(θ1 + θ 2 )
xˆ 2 =  , yˆ =
 2  cos(θ + θ ) 
 sin(θ1 + θ 2 )   1 2 

 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

• Two solutions!: elbow up and elbow down

 Velocity kinematics:
01_23 the Jacobian
• State space includes velocity

 x 2  − a1 sin(θ1 )θ1 − a2 sin(θ1 + θ 2 )(θ1 + θ2 )

 y  =  
 2   a1 cos(θ1 )θ1 + a2 cos(θ1 + θ 2 )(θ1 + θ2 ) 
− a sin(θ1 ) − a2 sin(θ1 + θ 2 ) − a2 sin(θ1 + θ 2 ) θ1 
= 1  
 a1 cos(θ1 ) + a2 cos(θ1 + θ 2 ) a2 cos(θ1 + θ 2 )  θ2 

= Jq
• Inverse of Jacobian gives the joint velocities:

 
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

• Can apply to mobile agents or a manipulator configuration

 Joint control
01_24
• Once a path is generated, we can create a desired tool path/velocity
– Use inverse kinematics and Jacobian to create desired joint trajectories

desired trajectory
error controller system dynamics

measured trajectory (w/ sensor noise) actual trajectory

 Other control methods
• Force control or impedance control (or a hybrid of both)
– Requires force/torque sensor on the end-effector
• Visual servoing
– Using visual cues to attain local or global pose information
• Common controller architectures:
– PID
– Adaptive
– Repetitive
• Challenges:
– Underactuation
– Nonholonomy (mobile agents)
– nonlinearity
General multivariable control overview
joint
controllers motor
manipulator
dynamics 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
 Next Module…

• Robot Kinematics & Homogeneous transforms

– A basis for forward and inverse kinematics
• Contact me for any questions or concerns!