ICE 425 Robotic Systems and Control [Aug_Dec, 2015] [DO NOT COPY]

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


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


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 ???


• 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


GENEALOGY OF ROBOTIC MECHANICAL SYSTEMS

Angeles - Fundamentals of Robotic Mechanical Systems


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


GENERAL ARCHITECTURE OF A ROBOTIC MECHANICAL SYSTEM


WORK BASEROBOTIC LIMBS (Shoulder, Arm,

Wrists)

WORK-PIECE [TOOL]

WORK-SPACE

LINKS JOINTS

PHYSICAL PARTS OF A ROBOT


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

http://curiosity.discovery.com/question/basic-components-of-a-robot




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


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


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:


GANTRY ROBOT

SCARAhttp://prime.jsc.nasa.gov/ROV/types.html


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


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


w

u v

w’

u'

v'

P’


http://www.technologystudent.com/index.htm

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ICE 425 Robotic Systems and Control [Aug_Dec, 2015] [DO NOT COPY]