Thanks to visit codestin.com
Credit goes to www.scribd.com

0% found this document useful (0 votes)
32 views9 pages

Unit 2 Robotics

Robotics unit 2 SRM

Uploaded by

Rahul Bhowmik
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
0% found this document useful (0 votes)
32 views9 pages

Unit 2 Robotics

Robotics unit 2 SRM

Uploaded by

Rahul Bhowmik
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 9

Hf L : i3W* ;;w..

s,

Robot Motion Analysis


and Control

Jntroduction- - - - -- -- -- -- -- -- --
-
1 the preceding chapter we discussed the control of a
single robot joint. In order
:Or a robot to perfonn useful work it is necessary for
the ann to consist of a
umber of joints so that it is able to move the end effec
t around in space. Each
~oint of a robot accounts for one degree of freedom and
the total number of joints
Jrnake up the degrees of freedom of the robot. The task
that a robot is expected to
do detennine how many degrees of freedom it should have
. As an object in space
can have six degrees of freedom (3 for translation and 3 for
rotation) a general
purpose robot has six degrees of freedom. However for
certain tasks like welding
only five degrees of freedom are adequate as the roll
motion of the wrist is not
required to perform welding. It is also necessary to contr
ol the path which the
end of the ann follows, as opposed to merely controllin
g the final positions of the
joints. In this chapter, we will discuss the problems of
robot motion control and
the mathematical techniques used to analyze manipula
tor positions and motions.
Robot ann kinematics or simply kinematics is defined
as the study of motion
without involvement of forces. Later in the chapter we
will explore the dynamics
of robot manipulators that involve forces without acce
leration (statics) and force
and acceleration (dynamics).

4.1 INTRODUCTION TO MANIPULATOR


KINEMATICS
In order to develop a scheme for controlling the moti
on of a manipulator it is
necessary to develop techniques for representing the
position of the arm at points
in time. We will defin e the robot manipulator using
the two basic elements , joints
and links. Each joint represents 1 degree of freedom
. As discussed in Chap . 2, the
joints may involve either linear motion or rotational
motion between the adjacent
links. Acco rding to our definitions in Chap . 2, the links
are assumed to be the rigid
structures that connect the joints.
Joints are labeled starting from l and moving towards
the end effector with the
base being joint l . Figure 4. \ illustrates the labeling
system for two different robo t
l 84 /n dustnal Rat1ot,l
'- s
.
, nµ"' i.\q Jl 'l '"
"'"' · \:.,1. h p1."-'-\.:~~ ol \l cc , oint notatt0n sc heme describ
. , dom Hy th l: I ect
" l h,l\' \\\ ' ,. the nHn\\p,,\.,hH "' F l 4 \( l,) ha ~an UR l tion and the
rnanipu\atcir
ip. . no a
\\' \ ~ ' H\,) "·''I
I H)\~\\\\H\

(a) (b)
..
f \~ .1 \ T, r() . to
manipu 1a rs.· (a) two- rotational joints (R
-.. erent Mo-jo inted
di_1r.
_
IP
/inea rjoints (LL) . R ), (b) two-

.
We will also use th b l L to
e uation deriv ations e sym O 11 indicate the length of the link in
early in the chapte some of our
f~r com puting joint- r. Later in the chap d fi
link transfonnations ter, we e ne a term d
denote the length of . This notation sy use
a manipulator link stem use s th e sy
. mbo l an to
4 .1 .1 Position Repre
on sentati
The kinematics of th
e RR robot are mor
we wi\l make freque e difficult to anal
nt use of this conf yze than the LL
the chapter. Figure iguratio n (and ex rob ot , and
4.2 illustrates the ge tens ions of it) th
present discussion , ometric form of th ro ughout
our analysis will be e RR manipu lato
position of the end limited to the tw r. For the
of the arm may be o -d imensional ca
to utilize the two jo represented in a nu se. The
in t angles 0\ and 02. Thi s m be r o f ways. One way is
space and we may is kn own as the re
define it as presentation in 'j
oint'
Pj= (0\, 0 )
Another way to de 2
f ·
fine th e arm po siti
use o . a ca~e sian on is in ''wo rld"
co .
cartesian axis systemo_rdmate sy stem th at is external to space. Th1s . .
mvolves the
is often lo cated in the robot
the robot's base. .
. The o n g m of th
e

y L,

Fig. 4.2
.....1 two-c Iimen•·10
J na / --
") I
( egree 1 Jf fr I
f n/J,1/ Mnl1rJ11 llnntv sh nnr/ L,n 1, , 85

lhl•cnd-,il·,11m p,,,1t1nn \,011ld hl dd11Hd 111 \\n tld 1,p.itt ,1

/ ',, ( I, I ' )

1c,1d1l v I,, l 'rH lcd I"


1111, l\Hlll' l'1 ,1I ., pn111t ,h/1111111111 111 \\ u1ld " P1H C lilll
) Hl'IHC \l' llllll!' :111 ,11111 \ ,-,, , ,r1, 11 rn wo
rld
• dtll\l..'ll~HHl', lh,lt 1'· /'.,
I
(\ , 1
1hrl't lll' with other 111:1t 11111 ( I 11 , 111/Jcr
, 1, 11,d11I "hrn the in lOI llltl \ l ( on1n111111L,
I I
,p,lll
111 nt'' tll,l\ not W\l' n l t'l:lllc d undc,..
,t,111d111g of 1hr 1oho 1\ k111u 11.111, 111d ..,, , ,1
I
111,h
l l. 1111 ,,1' ,~1m·,cntation ~uc as the
1 \\Orld space nn,,1hr u,cd In 111d · 1 1,, 11-,c hC1th
lo the otl1 l < ,,Hng /, om
,m•,cnt,1tHHl~. \\l' mu~t be able to transform f1om one
:~:nt :-p,KC to \\otld space is called the fo1ward transfo1111a
tion or fo l\\.ird ~r11 L·mat1<...,
,: hill' gt1tllg fro1_11 " orld "pnce to joint space is called
th e reverse tr,m.._h,rrna tron or

II\\ l
,r,1.: kincmattcs

. .2 Forward Tra nsfo rma tion of a 2-D


egrec
4 1
of Fre edo m Arm
space by ddining a
\\e can detcnnine the position of the end of the arm in world
, ector for link I and another for link 2.
= [L1 cos 01, L 1sin0i] (4.1 1
r1

(4.2)

and y ol the end of the


Vector additi on of (4.1) and (4.2) yields the coordinates x
ann (point P,J in world space
X = LI cos 81 + L2 cos ( 81 + 02 )
(4.3 )

(4.4)

4.1.3 Reverse Transformation of the 2-Degr ee


of Freedom Arm
angles given the end-
Jn many cases it is more important to be able to derive the joint
e the robot's controller
of-ann position in world space. The typical situation is wher
f-ann to a point in space
must compute the joint angles required to move its end-o
or we have developed ,
define d by the point 's coordinates. For the two-link manipulat
(x, y), as shown in Fig.
there are two possible configurations for reaching the point
4.3 . This is so because the relation between the joint
angles and the end effector
get two solutions when
coordinates involve 'sine' and 'cosine' tenns. Hence we can
. Some strateg1 must b~
we solve the two equations as given in the section above
ach is that employed in
develo ped to selec t the appropriate configuration. One appro
A's control language.
the control system of the Unimate PUMA robot. In the PUM
VAL. there is a set of commands called ABOVE and
BELOW that detenmnc-.,
or less than /Cro, a~
whether the elbow is to make an angle 02 that is greater than
is posit1\ c as -.,hm\ 11 1n
illustrated in hg. 4.3. For our example, let us assume the 0:.
Fig. 4 2. u~ing the tngonometric identities,
cos (4 r- B) cos ,I CO\ B -.in I sin R
sin (A -.- B) = sin -I. cos B + sin B cos ~
lndustnol Robotics

AbDi? (r, y)

I
1'
I -
.
,. . ' ---:---
- _. =-:::-:.
I
- --
I I
I I OS)
I I
I I
I I
I I
I I
I

Fig. 4.3 The arm at point p (x, y), indicating two possible configurations to achieve the
position.

we can rewrite Eqs. (4.3) and (4.4) as


x =L1 cos 01 +L2 cos 01 cos 0i- L2 sin 01 sin Bi
y =L1 sin 01 +L2 sin 01 cos 9i + L2 cos 01 sin 9i
Squaring both sides and adding the two equations yields

COS 0,, = x2 +l- L2I - J},-


- 2L1L2 (4.5)
Defining a and fi as in Fig. 4.4 we get

tan a= Li sin 02
Li cos,02 + L1 (4.6)

tan fi = l_
X
Using the trigonometric identity

tan (A - B) = tan A - tan B


1+ tanA tanB

y (x,y)

t_ x
I
1 11 /,1 I \A ,1 , 111 I\ 111/ y , ., (Ill e/ L un/111/ 89

1I• \ ""' ... ,if / ,~. ,111d "' , 111 Il l \ I h1 I ,11111 111( 1 ,I

I / I

I
I 1
14 171

llh l•, ,11npk \\l' li.l\ l' 1u.., 1 done ,.., .., ,111plr but 110111111 e, d ht 1c. In ordl'r for a
,111111lk1 11) l)L' ,thk to pct lot 111 the Lill 11l.1110Jl ', ll l'l'l''l'l,11 y qu1 c v ly CIJOIJ Jill to
I I l Il\ l t \ l
11.: 11 H1d pct 101111,mu: they mw,t be kep t d'I sim ple a.., pos.., ,blc. I lie 111an1rulator
111,11 111 •1111 t 1
, , 1., Jl''IL 11bcd 1111 h1 s 1.:xarn plc ,,re, c1y sim ilar to Ihose ol the MA KLR robo t
,_ I Ill 11 111
1 1'

Int ' \ Rohnh . I he onl y rea l dr ffcrc ncc is that the MAKl :R\ wn~l mechani sm ha . .
nwrc th.in,, :--mgk .10111 t.
()nc f,icc1 of our approach in the r rcceding analys is whi ch ..,hou ld he noted by th e
rcaJcr 1~ that v. c separated the orientation problem from the pos iti on ing problem
rhb arproach or separating the two problems greatl y si mpl ifi es the task of arriving
,it 3 ~nlut1on.

4.2 HOMOGENEOUS TRANSFORMATIONS


AND ROBOT KINEMATICS
The approach used in the previous section becomes quite cumbersome when a
manipulator with many joints must be analyzed. Another, more general method
for solving the kinematic equations of a robot ann makes use of homogeneou~
transformations. We describe thi s technique in this section, assuming the reader ha::-.
at least some familiarity with the mathematics of vectors and matrices. Let us begin
by defining the notation to be used.
A point vector, v = ai + bj + ck can be represented in three-di mensional space b1
the column matrix
X

J'

H'

where a x/w, h y/w, c zlw, and w is a scal ing factor. For example, any of the
fo llow ing matri ces can be used to represent the vector v 25i IOj + 20 k.

25
10
50
20
rl~S 5.0
or or
20 40 10.0
")
l o.5
Vector-., of the above form can be used to define the end-of-ann po-,It1on for a
robot manipulator. (If w 0, then the vector reprelicnt.., direction on 11.) It ts important

c::::I&, L
lndusMal Robotics

t,) notl('C thut homogcno us transformation is not unique as the coordinates of a .


"an be srnlcd simply by changing the scaling parameter. The three vectors P_o,~l
,1bo\~ all refer to the same point with different 'w' ! 8tvC!ti
A vector can be translated or rotated in space by means of a transfonnatio
transfom1ation is accomplished by a 4 x 4 matrix ff. For instance the vec/· lne
trans ~,onned mto
.
the vector u by the following matnx . .
operation : Or\'
1,
. u = Hv . (
The transfonnallon to accomplish a translation of a vector m space by a dist 4·18J
in the t direction, bin the y direction, and c in the z direction is given by ance Q

0 0 a
0 1 0 b
H = Trans(a, b, c)
0 0 1 C (4.19)
0 0 0

f'ixamp); 4_1 For the vector v = 25i + IOj + 20k, perfonn a translation
z d' . distance of8 mthe x direction, 5 in the y direction and . by a
trectton. The translation transformation would be ' OIn the

0 0 8
H =Trans(a, b, c) 0 0 5
0 0 1 0
0 0 0 1
The translated vector would be

I 0 0 8
25 33
0 0 5
Hv = 10 15
0 0 =
0 20 20
0 0 0 1 I
Rotations of a vector ho 1
by rotation transfonn:r ut each of the three axes by an an
ions. About the x axis, the rotation gle 0 can be_accompli shed
l transfonn ation is
0 0 0
Rot(x, 8) :::: 0 cos B -sin
0 0
0 sin 0 cos 0 0
About they • 0 0 (4 20)
axis, 0

cos 0 0 sine
Rot(y, 8) === 0 l 0
-sin 0 0
0 0
cos e
0
:1 (4.21)
1I
Rohot Motion l\naly!,I:, wuJ Contro l ~

\t,,,ut th l' a \ l~,

ms 0 sin 0 0 0
sin 0 cos 0 0 0
Rot (: . 0) (4 .22)
0 0 I 0

0 0 0
vector K,
In (onccpt it is possible to develop the rotatio n transformation about any
This rotation
,, here K is not one of the major axes x, y, or z of the coordinate system.
but leave the
transfo nnation is defined as Rot (K, 0). We present the concept here
deriva tion of the transformation itself to books such as R. P. Paul's [9].
Rotate the vector v = 5i + 3j + 8k by an angle of 90° about the
- Example 4.2 x axis. The rotation transformation is given by
1 0 0 0
0 cos 90 - sin 90 0
H = Rot(x, 90) =
0 sin 90 cos 90 0
0 0 0 1

1 0 0 0 5 5
0 0 -1 0 3 -8
Hv = =
0 1 0 0 8 3
0 0 0 1 1

In both of the examples, matrix multiplication was carried out to determ


ine the results
a series of
of the transformations. In subsequent discussions, we will be performing
ns. It is
matrix multiplications in order to accomplish more complex transformatio
will only
important to note that performing two or more transformations in a row
sequence. In
yield the same result if the transformations are carried out in the same
genera l,
AB does not equal BA
the inverse
One final concep t important in our discussion of robotics is the concept of
transfonnation. Given a transformation of the form,
nx Ox ax Px
ny Oy av Py (4.23)
T=
n_ 0: a_ P:
0 0 0 I
1
The inverse transfonnation of T, denoted by T , 1s define d as follows :
nx. n i n_ -p · n
o. -p ·O (4 24)
= ot
I vi ,
T
ax a1 CL -p a
0 0 0
., ''"'''' s
,1m1/nl - luch Of the column ' ·1 vectors ~I() , ~
I
'
~,
I(_ , t I he dot prot •. Sum ar intcrpretat, '
'lft'll II I /I /I I 11.11
• • ff f 0\
, o ,m,1 11 ,, n I he icalar 1',11, , -~i ate, the c ect o an tnvet \
, ,, h' I' " I
I ll' l' o .rnd p , .1') thei cat
i,
,I 11 ' h,· ,I<,q11."'Im I \l•1 11\ i the
t , lcr might anli ppl.,shed by the transfoonat · \~
. accom Iu,
'1' , l 1, Ill 1111u~ operation
11 1

, \,nn,ltlllll l d by 60° about the z-axes


rotate
,s rotate by 300 about thex-axes or
A· a1
\, ccton , Ji + 2) It+is7.then
3 ~ ce frame
£\ample 4, the re ercn . ansformation. .
c d the rotation tr
ihc rclc1cncc f-ra me · rlO cos 60 -s1·n60 0 00

sin 60 cos60 O
H1= R(z, 600) =
0 O 1 0
0 0 O1
0 0 0
0 cos30 -sin30 0
H2 = R(x, 300) = 0 sin 30 cos 30 0
/') 0 0 0
~ -00 0 0 -0.5 -0.8 0 0
1 C'I
o@ -0.8 o o.8 o.s o o
H2H1 = 0 0_8 ~ . 0 0 0 0
o(), S" 00 ~l O O 0
0.5 -0.8 0 0 3
H - 0.1)~0.-,
ll- -0.~ 0 2
- 0.44 0.4 0.5 0 7
""o~ Co ' U 1
-0 I /)
= -3:9 -0-1'.o
16.22 ~ ')-
tN01e: the second rotation is perfonned about the reference hence the two matnces
are reversed during multi plication (premultip Iication})

E I 4 4 Avector v = }i +2j +7k is rotated by 60° about the z-axes of


xarnp e ' the reference frame. It is then again rotated by 30° about the
,-axes of the rotated frame. Find the rotation trans fonnation.
l"loic·
llOl fCVCfl1C
As the). second rotation
is about the rotated frame the multipl ication order doe,

k
11 1

l
Ri:, 60 ) _ s1n60
cos60' -sin 60 O 01

0
0
cos60
O
0
oo

0 l
o
l~o/11>1 Molu111 l\ r, ,1/y ,._ irnr / f ,1111/ru /
!v
() (I ()

() co-.. Hl '1 1ll \() ()


II , Rp 10 ')
0 \ I ll \ () (.() " H) ()

() () 0

() " 0.8 () 0 () 0 ()

0.8 0.5 () 0 () 0.5 0.8 ()


ll 1H1
(} 0 I 0 () 0.8 0.5 ()

0 0 0 0 0 0
0.5 - 0.4 +0.6 0
0.8 0.25 0 0
=
0 0.8 0.5 0
0 0 0
0.5 -0.4 0.6 0 3
0.8 0.25 0 0 2
H=
0 0.8 0.5 0 7 = 2.9 [49]
0 0 0 5.1
A vector v = 2i + 5) + 3k is rotated by 60° about the .:-axes and
Example 4 .5 translated by 3, 4 and 5 units in the x, y and : directions
respectively. Find the vector with reference to the reference frame.
The homogeneous transformation matrix is given by
cos60 -sin60 0 3
sin 60 cos 60 0 4
H=
0 0 1 5
0 0 0
The vector is given as
0.5 - 0.8 0 3 2 0
0.8 0.5 0 4 5 8.1
= =
0 0 1 5 3 8.0
0 0 0 I -1

4.2.1 Kinematic Equations Using Homo geneou s


Transformations
The transformation T in the previous subsection is of the form
n, u, (I t
Pt 1
ti , I)
I (I \ p
T -
JI _ () _ (1- P:
0 0 0

You might also like