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الرحيم الرحمن الله بسمAN-NAJAH NATIONAL UNIVERSITY
DEPARTMENT OF MECHANICAL ENGINEERING
MANIPULATOR
( DESIGN AND CONTROL )
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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.
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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.
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Introduction to RoboticsIntroduction to Robotics
Welding applications
Applications in Our LifeApplications in Our Life
Spray painting applications
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Introduction to RoboticsIntroduction to Robotics
Medical Robotics
Space robotics
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Introduction to RoboticsIntroduction to Robotics
Kinds of robot :Kinds of robot :
Parallel robot Serial robots
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Introduction to RoboticsIntroduction to Robotics
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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
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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.
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Inverse KinematicsInverse Kinematics
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)
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Inverse KinematicsInverse Kinematics
Closed-form SolutionsClosed-form Solutions
We are interested in closed-form solutions:
1. Algebraic methods
2. Geometric methods
TTTTTBE23
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01
03
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Inverse KinematicsInverse Kinematics
Z
X
Y
OO
ө3
180
-ө3
X,Y,Z
L2
L3
d
Z
Distance from origin at this point
ө2
α
β
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Inverse KinematicsInverse Kinematics
Jacobians : Velocities and Static Force
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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
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Trajectory Generation
move a manipulator from its initial position to some desired goal position in a smooth manner
Trajectory GenerationTrajectory Generation
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Cubic PolynomialsCubic Polynomials
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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
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Motor Selection
AC MotorAC Motor
•Speed
•Cooling
•Controls
•Speed
•Cooling
•Controls
Motor SelectionMotor Selection
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DC MotorDC Motor
•Electrical noise
•Reliability
•Speed
•Cooling
•Electrical noise
•Reliability
•Speed
•Cooling
Motor SelectionMotor Selection
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Stepper MotorStepper Motor
•Stepping speed
•Cooling
•Open loop operation
•Stepping speed
•Cooling
•Open loop operation
Motor SelectionMotor Selection
