14MTT72 INDUSTRIAL ROBOTICS

COURSE OUTCOMES
On completion of the course the students will be able to

CO1: Interpret the features of an industrial robot

CO2: Estimate the gripping force of robot end effector
CO3: Develop the forward and inverse kinematics for serial manipulator
CO4: Analyse the velocity and static force of serial manipulators
CO5: Formulate robot dynamics and trajectory
UNIT – I 9
Introduction: History of robotics – Components of industrial robot - Degree of
Freedom – Type of Joints - Classification of robots – Work volume - Reference frames
– Programming modes - Robot specifications - Precision of movements: Accuracy,
resolution, repeatability and dexterity – Singularity – Robot languages - Robot
applications.

UNIT – II 9
End Effectors: Types of end effectors - Mechanical Gripper - Vacuum cup - Magnetic
gripper - Special types of grippers- Gripper force analysis. Frame Transformation:
Descriptions: Position, Orientation and Frames - Matrix representation: Point, vector,
frame and rigid body - Homogeneous Transformation matrices – Representation:
Translation, Rotational and Combined transformation – simple problems.

UNIT – III 9
Robot Kinematics: Forward and inverse kinematics – Equations for position and
orientation – Denavit- Hartenberg Representation of forward kinematic equations: Two
and Three link planer, PUMA and SCARA - Inverse kinematic equation: Two and three
link planer.
UNIT – IV 9
Velocity and Static Force: Introduction - Linear and angular velocities of a rigid body
- Velocity propagation – Derivation of the Jacobian for serial manipulator –
Identification of Singularities - Static force analysis of serial manipulator.

UNIT – V 9
Robot Dynamics: Acceleration of a rigid body - Inertia of a link - Equation of motion:
Legrangian formulation – Euler- Lagrange formulation - Newton Euler formulation.
Trajectory Planning: Joint space trajectory: Point to point and Continuous path
planning - Cartesian space trajectory – Simple problems.
TOTAL: 45
BOOKS:
1. Groover M.P., “Industrial Robotics, Technology, Programming and Applications”,
2nd Edition, Tata Mcgraw-Hill, New Delhi, 2012.

2. Saeed B. Niku, “Introduction To Robotics: Analysis, Control, Applications”, 2 nd

Edition, Wiley India Pvt. Limited, 2012.

3. Craig John J., “Introduction to Robotics: Mechanics and

Control”, 3rd Edition, Pearson Education, New Delhi, 2005.
UNIT - IV
Velocities and Static Force
Differentiation of position vectors
Derivative of a vector:
dB Q(t  t ) Q(t )
B B
VQ  Q  lim
B

dt t 0 t
We are calculating the derivative of Q relative to frame B.
Differentiation of position vectors
A velocity vector may be described in
terms of any frame: A
d

A B
VQ  
dt
B
Q
We may write it:

A B

VQ  R VQ .
A
B
B Speed vector is a free vector

Special case: Velocity of the origin of a frame relative to

some understood universe reference frame
U
V C
 V C ORG
Angular velocity vector: 
Linear velocity  attribute of a point

Angular velocity  attribute of a body

Since we always attach a frame

to a body we can consider
angular velocity as describing
rational motion of a frame.
Angular velocity vector: 
A
 B describes the rotation of frame {B} relative to {A}
direction of  B
A

indicates instantaneous axis

of rotation

Magnitude of B
A

indicates speed of rotation

In the case which there is an

understood reference frame:

 C C
U
 Linear velocity of a rigid body
We wish to describe motion
of {B} relative to frame {A}

A
If rotation R VQ  VBORG  R VQ
A A A B
B B
is not changing with time:
Rotational velocity of a rigid body
Two frames with coincident origins
The orientation of B with
respect to A is changing
{A}
A
B {B}
B
Q
in time.
Lets consider that vector
Q is constant as viewed
from B.
B
VQ  0
Rotational velocity of a rigid body
In general case: A
VQ  A ( BVQ ) A  B  A Q
A
VQ  R VQ   B  R Q
A
B
B A A
B
B
Simultaneous linear and rotational
velocity
A
VQ  VBORG  R VQ   B  R Q
A A
B
B A A
B
B
 Motion of the Links of a Robot
Written in frame i

At any instant, each link of a robot in motion has some linear and
angular velocity.
Velocity of a Link

Remember that linear velocity is

associated with a point and angular
velocity is associated with a body. Thus:

The velocity of a link means the linear

velocity of the origin of the link frame
and the rotational velocity of the link
Velocity Propagation From Link to Link

We can compute the velocities of each

link in order starting from the base.
The velocity of link i+1 will be that of
link i, plus whatever new velocity
component added by joint i+1.
Rotational Velocity
Rotational velocities may be added when
both w vectors are written with respect to
the same frame.
Therefore the angular velocity of link i+1
is the same as that of link i plus a new
component caused by rotational velocity
at joint i+1.
Velocity Vectors of Neighboring Links

i 1 ˆ
i 1  i  Ri1 Z i1.
i i
i 1
i
Velocity Propagation From Link to Link
i 1
0 
Note that: 
 i 1
i 1 
Z i 1 

0 

 

 i 1 

By premultiplying both sides of previous
equation to: i 1 R
i
i 1 ˆ
i 1
i R i 1  R i  R R i 1 Z i 1.
i i 1
i
 i i 1
i i 1
i

i 1 ˆ
i 1  R i   i 1 Z i 1.
i 1 i 1
i
 i
Linear Velocity
The linear velocity of the origin of frame
{i+1} is the same as that of the origin of
frame {i} plus a new component caused
by rotational velocity of link i.
Linear Velocity
i
vi 1  vi  i  Pi 1.
i i i

By premultiplying both sides of previous

equation to: i 1 R
i
i 1
i R vi 1  R( vi  i  Pi 1 ).
i i 1
i
i i i

i 1
vi 1  R( vi  i  Pi 1 ).
i 1
i
i i i
Prismatic Joints Link
For the case that joint i+1 is prismatic:

i 1  R i ,
i 1 i 1
i
i

i 1 ˆ
vi 1  R( vi  i  Pi 1 )  di1 Z i 1.
i 1 i 1
i
i i i 
Velocity Propagation From Link to Link

Applying those previous equations

successfully from link to link, we can
compute the rotational and linear
velocities of the last link.
Example 5.3
Calculate the velocity
of the tip of the arm
as a function of joint
rates?

A 2-link manipulator with rotational joints

Example 5.3
Frame assignments for the two link
manipulator
Example 5.3
We compute link transformations:

c1  s1 0 0  c2  s2 0 l1  1 0 0 l2 
s c1 0 0 s c2 0 0  0 1 0 0 
0
T   1
, 1
T   2
, 3T 
2  .
1
0 0 1 0
2
0 0 1 0 0 0 1 0
     
0 0 0 1 0 0 0 1 0 0 0 1
Example 5.3
Link to link transformation
0 0 
1
1   0 , 1
v1  0,
1  0
 0   c2 s2 0  0  l1s21 
 
2
2   0 , 2    
v2   s2 c2 0 l11   l1c21 ,
 
1  2   0 0 1  0   0 
 l1s21 
   l1s2 0  1 
3
3  2  2 , 3
v3  l1c21  l2 (1   2 )  
  
   .
l1c2  l2 l2   2 
 0 
 
Example 5.3
Velocities with respect to non
moving base
c12  s12 0
0
R  0
R 1
R 2
R  s c 0 .
3 1 2 3  12 12 
 0 0 1
 l1s11  l2 s12 (1  2 )
   l1s1  l2 s12  l2 s12  1 
0
v3  3 R v3   l1c11  l2 c12 (1   2 )   
0 3   
   .
 l1c1  l2 c12 l2 c12   2 
 0 
 
Jacobian
A Jacobian is a vector derivative with respect
to another vector
If we have f(x), the Jacobian is a matrix of
partial derivatives- one partial derivative for
each combination of components of the
vectors
The Jacobian is usually written as j(f,x), but
you can really just think of it as df/dx
Jacobian

 f1 f1 f1 

 x ...
x2 x N 
 1 
 f 2 f 2
... ... 
J  f , x    x1 x2 
 ... ... ... ... 
 f f M 
 M
... ... 
 x1 x N 
Partial Derivatives
The use of the ∂ symbol instead of d for
partial derivatives just implies that it is
a single component in a vector
derivative.
Jacobian
y1  f1 ( x1 , x2 , x3 , x4 , x5 , x6 ),
y2  f 2 ( x1 , x2 , x3 , x4 , x5 , x6 ),

y6  f 6 ( x1 , x2 , x3 , x4 , x5 , x6 ), Y  F ( X ).
f1 f1 f1
y1  x1  x2    x6 ,
x1 x2 x6
f 2 f 2 f 2
y2  x1  x2    x6 , Chain rule
x1 x2 x6 J(X)

f 6 f f F
y6  x1  6 x2    6 x6 , Y  X .
x1 x2 x6 X
Jacobian
In the field of robotics, we generally speak of
Jacobians which relate joint velocities to
Cartesian velocities of the tip of the arm.

Y  J ( X ) X .
 0
v 0
0
V   0   J ( ) 
.
 
Jacobian
.
For a 6 joint robot the Jacobian is 6x6, q
is a 6x1 and v is 6x1.
The number of rows in Jacobian is equal
to number of degrees of freedom in
Cartesian space and the number of
columns is equal to the number of joints.

0
V  J ( ) 
0 
Jacobian
In example 5.3 we had:
 l1s11  l2 s12 (1  2 )
   l1s1  l2 s12  l2 s12  1 
0
v3  3 R v3   l1c11  l2 c12 (1   2 )   
0 3   
   .
 l1c1  l2 c12 l2 c12   2 
 0 
 
Thus:  l1s1  l2 s12  l2 s12 
0
J ()  
 l1c1  l2 c12 l2 c12 
And also:
 l1s2 0
3
J ()   
l1c2  l2 l2 
Jacobian
Jacobian might be found by directly
differentiating the kinematic equations of
the mechanism for linear velocity,
however there is no 3x1 orientation vector
whose derivative is rotational velocity.
Thus we get Jacobian using successive
application of:
i 1
vi 1  R( vi  i  Pi 1 )
i 1
i
i i i

i 1 ˆ
i 1  R i   i 1 Z i 1
i 1 i 1
i
i
Singularities
Given a transformation relating joint velocity to
Cartesian velocity then
Is this matrix invertible? ( Is it non singular)

0
V  J ( ) 
0 

1
  J ( )v
det[ J ]  0 : singularity
det[ J ]  0 : non  sin gularity
 Singularities
Singularities are categorized into two class:
Workspace boundary singularities:
Occur when the manipulator is fully starched or
folded back on itself.
Workspace interior singularities:
Are away from workspace boundary and are
caused by two or more joint axes lining up.
All manipulators have singularity at boundaries of their
workspace. In a singular configuration one or more degree of
freedom is lost. ( movement is impossible )
Example 5.4
In example 5.3 we had:
 l1s2 0
3
J ()  
l1c2  l2 l2 

l1s2 0
DET[ J ()] | J () |  l1l2 s2  0.
l1c2  l2 l2
 2  0 ,180 
 
Workspace boundary singularities
Static Forces in Manipulators
Force and moments propagation

To solve for joint

torques in static
equilibrium

fi  force exerted on link i by link i-1

ni  torque exerted on link i by link i-1

Static Forces in Manipulators
Solve for the joint torques which must be acting
to keep the system in static equilibrium.

Summing the force and

setting them equal to zero

i
f i  f i 1  0
i

Summing the torques about

the origin of frame i
i
ni  i ni 1  i Pi 1i f i 1  0
Static Forces in Manipulators
i
f i  f i 1 ,
i Working down from last link to the base we
formulate the force moment expressions
i
ni  i ni 1  iPi 1i f i 1.

Static force propagation

i
f i  i 1i R i 1f i 1 , from link to link:
i
ni  i 1i R i 1ni 1  iPi 1i f i .

Important question: What torques  i  n Zˆ i .

i Ti
i
are needed at the joint to balance
i Ti ˆ
reaction forces and moments acting  i  fi Zi .
on the links?