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Introduction University of Bridgeport 1 Introduction to ROBOTICS

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Introduction to ROBOTICS. Introduction. University of Bridgeport. Text Book. Mark W. Spong, Seth Hutchinson and M. Vidyasagar, “ Robot Modeling and Control ” , Wiley , 2006 ISBN-10: 0471649902 ISBN-13: 978-0471649908. Reference. Textbook - PowerPoint PPT Presentation

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Page 1: Introduction

Introduction

University of Bridgeport

1

Introduction to ROBOTICS

Page 2: Introduction

Text Book

• Mark W. Spong, Seth Hutchinson and M. Vidyasagar, “Robot Modeling

and Control ” , Wiley , 2006• ISBN-10: 0471649902 • ISBN-13: 978-0471649908

Page 3: Introduction

Reference

• Textbook• J. Craig, Introduction to Robotics: Mechanics

and Control,” 2nd edition, (ISBN: 0-201-52539-9).

Page 4: Introduction

Topics Covered

• Transformations.• Kinematics• Inverse kinematics• Jacobians• Trajectory generation• Robot control

Page 5: Introduction

Definitions

• Robot –A reprogrammable manipulator to perform specific mechanical functions such as move material and parts.

• Robotics – the science dealing with design, construction and operation of robots

Page 6: Introduction

Manipulators

• Robot manipulators are composed of links connected by joints

Page 7: Introduction

Joints

• A joint is the connection between two or more links at their nodes.

• It constrains the motions of the connected links.

• A joint can be classified as: One-DOF Two-DOF Three-DOF

7

Page 8: Introduction

One-DOF Joint

• Revolute joint• Imposes a rotational motion

• Symbol R8

Page 9: Introduction

One-DOF Joint

• Prismatic joint• Imposes a translational motion

• Symbol: P9

Page 10: Introduction

Two-DOF Joint

• Universal joint

• Symbol U 10

Page 11: Introduction

Two-DOF Joint

• Cylindrical joint

• Symbol C 11

Page 12: Introduction

Three DOF Joint

• Ball-and-socket (spherical joint)

• Symbol S12

Page 13: Introduction

Manipulators

13

Cartesian: PPP Cylindrical: RPP Spherical: RRP

RRP(Selective Compliance Assembly Robot Arm)

Articulated: RRR

Hand coordinate:

n: normal vector; s: sliding vector;

a: approach vector, normal to the

tool mounting plate

Page 14: Introduction

Configuration

• A configuration of the manipulator is a complete specification of the location of every point on the manipulator.

• If you know the values for the joint variable (joint angle for revolute joints or joint offset for prismatic joints), it is straightforward to infer the position of any point on the manipulator.

• A configuration is represented by a set of values for the joint variable

Page 15: Introduction

DOF

• An object is said to have a n degrees of freedom (DOF), if its configuration can be minimally specified by n parameters.

• For a robot manipulator, the number of joints determine the number of DOF.

• To reach any point in the space with an arbitrary orientation: 6 DOF (3 DOF for positioning and 3 DOF for orientation)

Page 16: Introduction

DOF

• Less than 6 DOF: the arm cant reach any point in the space with an arbitrary orientation.

• More than 6 DOF: Kinematically redundant manipulator.

• Certain applications may require more than 6 DOF, for example:– Obstacle Avoidance.

Page 17: Introduction

Workspace

• The Workspace of the manipulator is the total volume swept out by the end effector as the manipulator executes all possible motion.

• Workspace is constrained by:– Geometry of the manipulator.– Mechanical constraint of the joints (a revolute

joint may be limited to less than 360 degrees)

Page 18: Introduction
Page 19: Introduction

Workspace

• Reachable Workspace: the entire set of points reachable by the manipulator.

• Dextrous Workspace: consists of those points that the manipulator can reach with an arbitrary orientation of the end effectors.

• Dextrous Workspace is a subset of Reachable Workspace

Page 20: Introduction

Performance Measure

• Accuracy: is a measure of how close the manipulator can come to a given point within its workspace.

• Repeatability: is a measure of how close the manipulator can return to a previously taught point.

Page 21: Introduction

Wrist and End Effector

• Wrist: the joints between the arm and the end effector.

• Typically, the arm controls the position of the end effector, and the wrist controls the orientation.

Page 22: Introduction

3 DOF wrist

• A typical wrist would have 3 DOF described as roll, pitch and yaw.Roll - rotation around the arm axisPitch - up and down movement (assuming the roll is in its centre position) Yaw - right to left rotation (assuming the roll is in its centre position)

Page 23: Introduction

End Effector

• The device on the end of the arm, attached via the wrist, that performs the task, such as:

• Grippers - Use to hold and move objects • Tools - Used to perform work on a part, not

just to pick it up. A tool could be held by a gripper, making the system more flexible.


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