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Lecture 2 Basics of Robotics

Here are explanations of the keywords from the slide on the basics of robotics manipulators: - Forward Kinematics: Determines the position and orientation of the end effector from the joint parameters. - Inverse Kinematics: Determines the joint parameters required to achieve a desired position and orientation of the end effector. - Jacobian: Relates the joint velocities to the Cartesian velocities of the end effector. Used to solve inverse kinematics problems. - Via Points: Waypoints that define the path of the end effector between the start and end poses. - Spline: A smooth curve used to generate trajectories that pass through the via points. Provides a continuous and derivable path. - Dynamic Equations of Motion:

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11 views

Lecture 2 Basics of Robotics

Here are explanations of the keywords from the slide on the basics of robotics manipulators: - Forward Kinematics: Determines the position and orientation of the end effector from the joint parameters. - Inverse Kinematics: Determines the joint parameters required to achieve a desired position and orientation of the end effector. - Jacobian: Relates the joint velocities to the Cartesian velocities of the end effector. Used to solve inverse kinematics problems. - Via Points: Waypoints that define the path of the end effector between the start and end poses. - Spline: A smooth curve used to generate trajectories that pass through the via points. Provides a continuous and derivable path. - Dynamic Equations of Motion:

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Hui Yui
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© © All Rights Reserved
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Download as PDF, TXT or read online on Scribd
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Robot Components

Robot Degrees of Freedom

Robot Joints & Coordinates

Robot Reference Frames

Robot Characteristics

Robot Workspace
A manipulator
• A set of bodies
connected in a
chain by joints.
• The main body of
the robot which
consists of the
links, the joints,
and other
This Photo by Unknown Author is licensed under CC BY-SA

structural elements
of the robot.
Joints form a
connection between a
This Photo by Unknown Author is licensed under CC BY-SA

neighboring pair of
links.
Lower Pair
The connection between a pair
of bodies when the relative
motion is characterized by two
surfaces sliding over one
another.

Two links are joined with an


area or surface contact between
them. The six possible lower-pair joints
Robot configurations generally follow the coordinate
frames with which they are defined by

• P : Prismatic joints,
• R : Revolute joints,
• S : Spherical joints.
This Photo by Unknown Author is licensed under CC BY-SA
This Photo by Unknown Author is licensed under CC BY This Photo by Unknown Author is licensed under CC BY-NC
THE CONTROLLER

The controller receives the data


from the computer controls the
motions of the actuators and
coordinates the motions with the
sensory feedback information.
PROCESSOR

The processor is the brain of the


robot.

The processor is generally a computer,


which works like all other computers,
but is dedicated to this purpose.
3 GROUPS OF SOFTWARE
The Operating System That Operates The Processor.

The Robotic Software That Calculates The


Necessary Motions Of Each Joint Based On The
Kinematic Equations Of The Robot.

The Collection Of Application-oriented Routines


And Programs Developed To Use The Robot Or Its
Peripherals For Specific Tasks Such As Assembly.
Payload Reach
1. Payload is the weight a robot 1. Reach is the maximum distance a
can carry and still remain within robot can reach within its work
its other specifications. envelope.

Repeatability Precision
1. Repeatability is how accurately 1. Precision is defined as how accurately
the same position can be a specified point can be reached.
reached if the motion is
repeated many times.
Depending on their
configuration and the size of
The shape of the workspace
their links and wrist joints,
for each robot is uniquely
robots can reach a collection
related to its design.
of points around them that
constitute a workspace.

The MATHEMATICALLY by writing equations that define the robot’s links


and joints and that include their limitations such as ranges of
workspace motions for each joint.
may be
EMPIRICALLY by virtually moving each joint through its range of
found by motions, combining all the space it can reach, and subtracting what
it cannot reach.
[ABB IRB 120 Industrial Robot – Datasheet]
WS1 (=WS2 for spherical wrist)

It is used to evaluate the robot for a specific application

[ABB IRB 120 Industrial Robot – Datasheet]


Side View Top View

[LBR iiwa 7 R800, LBR iiwa 14 R820 Specification Manual]


 Need for representing position and orientation
of parts ,tools and of mechanism itself
Always Attach A Coordinate System Or
Frame, Rigidly To The Object.
Assumption : There is a Universe Coordinate System
that somewhere there being use by us in our study of
robotics.
ROBOT
REFERENCE
FRAMES
ROBOT REFERENCE FRAMES

World Reference Joint Reference Tool Reference Frame


Frame Frame
CARTESIAN/RECTANGULAR/
GANTRY (3P) CYLINDRICAL (PRP)

ARTICULATED/
SELECTIVE COMPLIANCE
ASSEMBLY ROBOT ARM (SCARA) SPHERICAL (P2R) ANTHROPOMORPHIC (3R)
Velocity,

Position, acceleration,

The science of
motion that treats
all higher order
motion without
regard to the Kinematics derivatives of the
position variables
forces, which
cause it.

The study of the kinematics of manipulators refers to all the geometrical and time-based properties of the motion.
Dynamics is a field of study devoted to studying the forces required to cause motion.
Trajectory Generation is A common way of causing a manipulator to move from here to there in a
smooth, controlled fashion is to cause each joint to move as specified by a smooth function of time.
Factory Tea Farm
• Picking and manipulating items with different • Able to pluck the best quality tea leaves.
size, thickness and weight. • Able to move in terrain area.
• Able to place the item exactly in given spaces. • Able to bring the full container back to the
• Minimum workspace area. factory
• Can only handle item with certain hardness • Climates changes
• Can only be used in certain temperature. • Certain control farm area only.
Forward Kinematics
Basic of Robotics
manipulator Inverse Kinematics
Please explain the
keywords given in the
slide.
Jacobian

Via Points

https://padlet.com/khairimn/basic-
of-robotics-manipulator-
spline Dynamic Equations Of Motion
u55fbb8ibomwxar

Cartesian trajectory generation

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