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ICE 425 Robotic Systems and Control [Aug_Dec, 2015] [DO NOT COPY]
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ICE 425By:MUKUND KUMAR MENON,ASSISTANT PROFESSOR,DEPT. OF INSTRUMENTATION & CONTROL ENGG.,MIT, MANIPAL.
Robotic Systems &
Control
Saturday 22 April 2023 2ICE 425 Robotic Systems and Control, Dept of I&CE, MIT, Manipal
Introduction: Introduction to robotics, Components and Structure of Robots,
Common Kinematic arrangements, Rotations, Composition of Rotations,
Properties, Homogeneous Transformation, Skew symmetric Matrices, Angular
Velocity and Acceleration, additional of angular velocities. [10]
Forward and Velocity Kinematics: Kinematic Chains, Denavit-Hartenberg
Representation, Derivation of the Jacobian, Examples, Singularities, Inverse
Velocity and acceleration. [5]
Dynamics: Euler-Lagrange Equations, Expressions for kinetic and potential
energy, Equation of Motions, Common configuration, Newton Euler
Formulation, Planor Elbow Manipulator Revisited. [8]
CONTENTS -I
Saturday 22 April 2023 ICE 425 Robotic Systems and Control, Dept of I&CE, MIT, Manipal 3
Controls: Introduction, Actuator dynamics, Set-Point Tracking, Drive Train
Dynamics, Trajectory Interpolation, Feed forward Control and Computed
Torque, PD control revisited, Inverse Dynamics, Implementation and
Robustness Issues, Robust outer loop design. [12]
Force Control: Natural and artificial constraints, stiffness and compliance,
Inverse response in task space, Impedance Control, Hybrid Position/Force
Control. [5]
Feedback Linearization: The Frobenius theorem, Single-Input Systems,
Feedback Linearization for N-Link Robots, Introduction to outer loop design-
Lyapunov’s Second Method, Methods of Sliding Modes. [8]
CONTENTS -II
Saturday 22 April 2023 ICE 425 Robotic Systems and Control, Dept of I&CE, MIT, Manipal 4
Reference:• Mark W.Spong & M.Vidyasagar. Robot Dynamics and Control, Willey
India Publisher, 2009. ISBN: 978-81-265-1780-0.
• Lee, K.S. Fu, R.C. Gonzalez & C.S.G - Robotics : Control, Sensing,
Vision and Intelligence, McGraw Hill.
• Bruno Sicilian (1996) - Modelling And Controlling Of Robot
Manipulations ,Lorenzo Seivicco, TMH.
For Further Reading:• Wolfram Stadler (1995) - Analytical robotics and Mechatronics, TMH.
• Robert J. Schilling (1996)- Fundamentals of Robotics Analysis and
control , PHI.
Saturday 22 April 2023 ICE 425 Robotic Systems and Control, Dept of I&CE, MIT, Manipal
CHAPTER 1:INTRODUCTION
http://giphy.com/gifs/urvsFBDfR6N32 5
Saturday 22 April 2023 ICE 425 Robotic Systems and Control, Dept of I&CE, MIT, Manipal 6
The “Three Laws of Robotics” by Issac Asimov, famous Science Fiction
Writer:
1. “A robot may not harm/injure a human-being or (through
inaction) allow a human to be harmed.”
2. “A robot must obey orders given by humans, except when that
conflicts with the First law.”
3. “A robot must protect its own existence unless that conflicts with
the First and Second Laws.”Ref: Groover, Wiess, Nagel, G. Ordery, “Industrial robotics: Technology, Programing & Applications,”,2008e, TMH, Chapter 1, Pg7-8
7Saturday 22 April 2023 ICE 425 Robotic Systems and Control, Dept of I&CE, MIT, Manipal
Automatic Washing Machine
Automatic Potato Peeler
Automatic Voltage Regulator
Automatic Teller Machine (ATM) Automatic Welding Machine
WHICH ONE IS A
ROBOT ???
Saturday 22 April 2023 ICE 425 Robotic Systems and Control, Dept of I&CE, MIT, Manipal 8
• Robot from the Czech word ‘robota’ meaning work
• As per RIA (Robot Institute Of America), “A robot is defined as reprogrammable multi-functional manipulator, designed to move materials, parts, tools or specialized devices through variable programmed motions for the performance of a variety of tasks.”
• Robot can be termed as a re-programmable general purpose manipulator with external sensors that can perform various assembly task (as per “Robotics” by K.S Fu et.al)
• A robot must posses INTELLIGENCE
Need for Robots:
• Robot prices are decreasing while human labour costs increasing. • Robots are becoming more effective—
Faster More accurate More flexible
Saturday 22 April 2023 ICE 425 Robotic Systems and Control, Dept of I&CE, MIT, Manipal 10
GENEALOGY OF ROBOTIC MECHANICAL SYSTEMS
Angeles - Fundamentals of Robotic Mechanical Systems
Saturday 22 April 2023 ICE 425 Robotic Systems and Control, Dept of I&CE, MIT, Manipal 11
Types of Robots [as per Japan Industrial Robot Association, JIRA]:
1. Manually operated manipulators: Machines that must be directly operated by a human.
2. Sequential (FIXED or VARIABLE) manipulators: Devices that perform a series of tasks in the fixed (same) sequence every time they are actuated e.g.: a telephone answering machine or in variable (re-programmable) sequence.
3. Programmable manipulators: These include the simpler types of industrial robots familiar to most people.
4. Numerically controlled (NC) robots: Examples are servo robots.5. Sensate robots: Robots incorporating sensors of any type, such as back
pressure, proximity, pressure, tactile, or wrist force.6. Adaptive robots: Robots that adjust the way they work to compensate for
changes in their environment.7. Smart robots: Robots with high-end controllers that can be considered to
possess AI.8. Intelligent mechatronic systems: Computers that control a fleet of robots or
robotic devices.Ref: Stan Gibilisco, “Concise Encyclopaedia of Robotics”, MH, Pg 267
Saturday 22 April 2023 ICE 425 Robotic Systems and Control, Dept of I&CE, MIT, Manipal 12
GENERAL ARCHITECTURE OF A ROBOTIC MECHANICAL SYSTEM
Saturday 22 April 2023 ICE 425 Robotic Systems and Control, Dept of I&CE, MIT, Manipal 13
WORK BASEROBOTIC LIMBS (Shoulder, Arm,
Wrists)
WORK-PIECE [TOOL]
WORK-SPACE
LINKS JOINTS
PHYSICAL PARTS OF A ROBOT
Saturday 22 April 2023 ICE 425 Robotic Systems and Control, Dept of I&CE, MIT, Manipal 14
Almost anything that would be considered a robot has the following SEVEN basic elements:1. Manipulator / Rover / A moveable body THE CRUCIAL PART Robots
may have wheels, limbs connected by mechanical joints, or other types of moveable segments.
2. End Effector / Tool Decides the purpose of the robot3. A sensory system Some robots have the ability to collect information
about their environment and react to it.4. An actuator In order to be activated, robots may use an electric motor, a
hydraulic system, a pneumatic system or a combination of all three. 5. A power source A robot needs a power source to drive its actuators.
Electric robots use batteries or extension cord. Hydraulic robots need pumps to pressurize the hydraulic fluid, and pneumatic robots need air compressors.
6. An electrical circuit The electrical circuit powers the electric motor, solenoid or valves that control hydraulic or pneumatic systems.
7. A reprogrammable brain (computer) + S/W The computer controls all other components. In order to change the robot's behavior, you just have to reprogram the computer.
Courtesy: • http://curiosity.discovery.com/question/basic-components-of-a-robot• Saeed, “Intro. to Robotics”, Ch.1, Pg-6-9, PHI, 2005
Saturday 22 April 2023 ICE 425 Robotic Systems and Control, Dept of I&CE, MIT, Manipal 15
http://helix.gatech.edu/Students/SiouxWill/I2)21)us.htm
Example: UNIMATION®™ PUMA-500
PUMA ≡ Programmable Universal Machine for Assembly
http://gaullyblog.wordpress.com/mini-project-scara-arm-image-processing/
Example: Typical SCARA arm
http://www.robotsdotcom.com/6dof.jpg
Saturday 22 April 2023 ICE 425 Robotic Systems and Control, Dept of I&CE, MIT, Manipal 16http://www.processonline.com.au/uploads/Image/UPF1S2-2-ArticulatedRobot.jpg
UNIMATION®™ PUMA-500
Saturday 22 April 2023 ICE 425 Robotic Systems and Control, Dept of I&CE, MIT, Manipal 17
1. Linear
2. Sliding
3. Rotary
4. Spherical**
PRISMATIC
REVOLUTE
JOINTS:
PRISMATICLinear
PRISMATIC
http://3.bp.blogspot.com/__lf0SNle3TQ/SwgFuCm0glI/AAAAAAAAAAs/JUU74d-Elfc/s1600/gambar3.bmp
REVOLUTERotary
http://www.itu.dk/stud/speciale/segmentering/Matlab6p5/help/toolbox/physmod/mech/mech_building18.gif
REVOLUTESpherical
Sliding
UNIVERSAL
Saturday 22 April 2023 ICE 425 Robotic Systems and Control, Dept of I&CE, MIT, Manipal 18
1. Cartesian/Rectangular/Gantry [3P]
2. Cylindrical [R-2P]
3. Spherical [2R-P] 2R planes are perpendicular
4. Articulated [3R] {example: PUMA-500}
5. SCARA [2R-P] 2R planes are co-planar; unlike Spherical
ROBOT CO-ORDINATES:
ROBOT WORKSPACES:
1. Cartesian/Rectangular
2. Cylindrical
3. Spherical [2R-P]
4. Articulated [3R]
ROBOT CHARACTERISTICS:
1. PAYLOAD2. REACH / WORK-ENVELOPE3. PRECISION/VALIDITY4. REPEATABILITY / VARIABILITY5. SPEED / ACCELERATION6. No. OF AXES7. **DOFS
Ref: Saeed B. Niku , Introduction to Robotics: Analysis, Control, Applications, John Wiley & Sons; 2 edition (27 October 2010)
Next Slide
19ICE 425 Robotic Systems and Control, Dept of I&CE, MIT, ManipalSaturday 22 April 2023
http://prime.jsc.nasa.gov/ROV/images/cylindrical2.GIF
http://prime.jsc.nasa.gov/ROV/images/sphericalpolar.GIF
http://www.robotik-logistik.de/fileadmin/user_upload/robotik/technologien/roboter/schwenkarm/schema_portalroboter_rrt.gif
ROBOT WORKSPACES:
Saturday 22 April 2023 ICE 425 Robotic Systems and Control, Dept of I&CE, MIT, Manipal 20
GANTRY ROBOT
SCARAhttp://prime.jsc.nasa.gov/ROV/types.html
Saturday 22 April 2023 ICE 425 Robotic Systems and Control, Dept of I&CE, MIT, Manipal 21
ROBOT REFERENCE FRAMES:
1. World / Base Frame
2. Joint Reference
3. Tool Reference
ROBOT PROGRAMMING MODES:
1. Physical Set-up [viz. PLCs]
2. ++Lead-Through / Teach Mode
3. Continuous Walk-Through Mode
4. Software Mode
ROBOT “LANGUAGES”:
• μComputer Machine Language Level
• Point-to-Point Level++
• Primitive Motion Level
• Structured Programming Level
• Task-Oriented Level [obsolete]
• High Level
Interpreter Based (line by line Xtn) Xtn stops @ error occurrence. Faster & Easier Debugging Slower Performance
Compiler Based Compiler for translation Slower & Tough Debugging Faster Performance
Saturday 22 April 2023 ICE 425 Robotic Systems and Control, Dept of I&CE, MIT, Manipal 23
ROBOT KINEMATICS
Saturday 22 April 2023
DEGREES OF FREEDOM [DOF]: A RECAP
ICE 425 Robotic Systems and Control, Dept of I&CE, MIT, Manipal 24
Base
Bar-II
Bar-IIIBar-I
E.F
Grashof’s theorems
Example for Closed Chain system: A Four-Bar Linkage
HERE,DOF = 1
Controller
Saturday 22 April 2023 ICE 425 Robotic Systems and Control, Dept of I&CE, MIT, Manipal 25
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Saturday 22 April 2023 ICE 425 Robotic Systems and Control, Dept of I&CE, MIT, Manipal 26
http://www.technologystudent.com/index.htm