Unit 2 Robotics
Unit 2 Robotics
s,
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).
(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
/ ',, ( I, I ' )
II\\ l
,r,1.: kincmattcs
(4.2)
(4.4)
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.
tan a= Li sin 02
Li cos,02 + L1 (4.6)
tan fi = l_
X
Using the trigonometric identity
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.
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
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 ~
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
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})
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 ()
() () 0
() " 0.8 () 0 () 0 ()
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