1 بسم الله الرحمن الرحيم AN-NAJAH NATIONAL UNIVERSITY DEPARTMENT OF MECHANICAL ENGINEERING MANIPULATOR ( DESIGN AND CONTROL )

1

الرحيم الرحمن الله بسمAN-NAJAH NATIONAL UNIVERSITY

DEPARTMENT OF MECHANICAL ENGINEERING

MANIPULATOR

( DESIGN AND CONTROL )

2

Introduction to Robotics

Manipulator Kinematics

Trajectory Generation

Motor Selection

Design of Prototype

Control of Manipulator

The word "Robot" comes from the Czech word "Robota" which means "labor doing compulsory manual works without receiving any remuneration

Robotic device that can automatically control these are programmable

Robotic device that can automatically control these are programmable

Characteristics:

1. Unchanging.

2. Unthinking.

3. Untiring.

3

Introduction to RoboticsIntroduction to Robotics

Today robots perform many tasks:Today robots perform many tasks:

Make life easier on the people.To help people.The ability to work in hazardous conditions.Work on things that may be boring to us.

4


Welding applications

Applications in Our LifeApplications in Our Life

Spray painting applications

5


Medical Robotics

Space robotics

6


Kinds of robot :Kinds of robot :

Parallel robot Serial robots

7


8


http://www.spawar.navy.mil/robots/images/gsr.jpg

9

Inverse Kinematics

Given a desired position

(X,Y,Z)

(1 … n )

Find the joint variables

which can bring the robot

to the desired configuration.

x

y

z

10

Inverse KinematicsInverse Kinematics

Forward K

Inverse K

Joint variables

(1 … n)

Position of the end-effector

(X,Y,Z)Workspace: volume of space which can be reached by the end effector.

Factor that effect the workspace of a robot:

1.Limitation on joint angles.

2. Limitation on the number of degree of freedom of the robot.

11


Method of solutionMethod of solution

Solutions

numerical solutionsnumerical solutions closed form solutionsclosed form solutions

Only returns a single solution

Too many iterations

Unknown number of operations to solve.

many solution

No need for iteration

(direct solution)

12


Closed-form SolutionsClosed-form Solutions

We are interested in closed-form solutions:

1. Algebraic methods

2. Geometric methods

TTTTTBE23

12

01

03

13


Z

X

Y

OO

ө3

180

-ө3

X,Y,Z

L2

L3

d

Z

Distance from origin at this point

ө2

α

β

14


Jacobians : Velocities and Static Force

15

Jacobian can also be used to compute the set of {Joint Torques} required to generate them.

Jacobians : Velocities and Static ForceJacobians : Velocities and Static Force

)(44 JV

gularitynonJ

ingularityJ

sin:0]det[

s:0]det[

Workspace boundary singularities:

Occur when the manipulator is fully starched

F44 TJ

16

Trajectory Generation

move a manipulator from its initial position to some desired goal position in a smooth manner

Trajectory GenerationTrajectory Generation

17

Cubic PolynomialsCubic Polynomials

33

2210)( tatataat

.0)(,0)0(

,)(,)0( 0

f

ff

t

t

: initial and final values

).(2

),(3

,0

,

033

022

1

00

ff

ff

ta

ta

a

a

Trajectory GenerationTrajectory Generation

18

Motor Selection

AC MotorAC Motor

•Speed

•Cooling

•Controls

•Speed

•Cooling

•Controls

Motor SelectionMotor Selection

19

DC MotorDC Motor

•Electrical noise

•Reliability

•Speed

•Cooling

•Electrical noise

•Reliability

•Speed

•Cooling


20

Stepper MotorStepper Motor

•Stepping speed

•Cooling

•Open loop operation

•Stepping speed

•Cooling

•Open loop operation


Documents

1 بسم الله الرحمن الرحيم AN-NAJAH NATIONAL UNIVERSITY DEPARTMENT OF MECHANICAL ENGINEERING MANIPULATOR ( DESIGN AND CONTROL )