University of Baghdad

AL Khwarizmi College of Engineering

Mechatronics Eng. Dept.

Advanced Robotics
M.Sc. Course

Dr. Ahmed Rahman

Ph.D. Mechatronics / Robotics & Haptic Technology
 Course Overview
• Advanced Robotics course deals with robotic motion, manipulation, and
the problem of manipulator dynamics.
• Describing motions of the manipulator in terms of trajectories through
space and the mechanical design of a manipulator.
• Methods of controlling a manipulator to track a desired position
trajectory through space.
• Restricts attention to linear control methods and considerations to the
nonlinear.
• Covers the field of active force control with a manipulator, control the
application of forces by the manipulator, mode of control when the
manipulator comes into contact with the environment around it.
• Overviews methods of programming robots, specifically the elements
needed in a robot programming system, and the particular problems
associated with programming industrial robots.
Dr. Ahmed Rahman Jasim
 Course Text Book
• Robot Modeling and Control by
Mark W. Spong, Seth Hutchinson, and M. Vidyasagar.

• Introduction to Robotics Mechanics and Control by

John J. Craig.

• Fundamentals of Robotics Analysis & control by

Robert J. Schilling

Dr. Ahmed Rahman Jasim

 Course Text Book
• Robotics, Vision and Control Fundamental Algorithms in MATLAB
by
Peter Corke.

• Theory of Applied Robotics ,Kinematics,

Dynamics, and Control by
Reza N. Jazar.

• Modelling and Control of Robot Manipulators by

Lorenzo Sciavicco and Bruno Siciliano

Dr. Ahmed Rahman Jasim

 Requires Knowledge
Mechanics (Statics and Dynamics), Mathematics
computing, Matrix principles and Matlab programing.

• Class time:
Two hours theoretical lecture.

Dr. Ahmed Rahman Jasim

 Course syllabus
1. Rigid motions 8. Robot dynamic equations
2. Forward kinematics 9. Independent joint control.
3. Inverse kinematics 10. Multivariable control.
4. Velocity kinematics 11. Force control
5. Manipulator Jacobian
6. Path and trajectory planning
7. Equations of motion

Dr. Ahmed Rahman Jasim

 Introduction to robotics
• Robotics is a field of modern technology that crosses
traditional engineering boundaries.
• Robots are automated machines that can assist humans in a
variety of settings, from manufacturing processes, to
working in critical conditions, unsuitable for human life.
• Understanding the complexity of robots and their
applications requires knowledge of mechanical engineering,
electrical engineering, industrial engineering, computer
science, and mathematics.
• New disciplines of engineering have emerged to deal with
the complexity of the field of robotics.
Dr. Ahmed Rahman Jasim
 Introduction to robotics
• The term robot was first introduced into our
vocabulary by the Czech playwright (Karel Capek).
• He used the word Robot in his 1920 play Rossum’s
Universal Robots R U R.
• Since then the term has been applied.
• Virtually anything that operates with some degree
of autonomy, usually under computer control.

Dr. Ahmed Rahman Jasim

Introduction to robotics

The DENSO VG62432 Robot.

Dr. Ahmed Rahman Jasim

1.1 MATHEMATICAL MODELING OF ROBOTS

• It is methods to represent basic

geometric aspects of robotic
manipulation,
• Dynamic aspects of manipulation, and
• The various sensors available in
modern robotic systems.

Dr. Ahmed Rahman Jasim

1.1.1 Symbolic Representation of Robots

• Robot Manipulators are composed of links

connected by joints to form a kinematic chain.
• Joints are typically rotary (revolute) or linear
(prismatic).
• A revolute joint (R) is like a hinge and allows relative
rotation between two links.
• A prismatic joint (P) allows a linear relative motion
between two links.

Dr. Ahmed Rahman Jasim

1.1.1 Symbolic Representation of Robots

Dr. Ahmed Rahman Jasim

1.1.2 The Configuration Space

• A configuration of a manipulator is a complete specification

of the location of every point on the manipulator.
• The set of all possible configurations are called the
configuration space.
• The configuration space is represented by a set of values for
the joint variables.
• Example: the values q1 · · · qn .

Dr. Ahmed Rahman Jasim

1.1.3 Degrees-of-freedom (DOF)

• Any object have n degrees-of-freedom (DOF) if its

configuration can be minimally specified by n parameters.
• The number of DOF is equal to the dimension of the
configuration space.

• For a robot manipulator, the number of joints determines

the number DOF.

Dr. Ahmed Rahman Jasim

1.1.3 Degrees-of-freedom (DOF)

• Fewer than six DOF the arm cannot reach every point in its
work environment with arbitrary orientation.

• A manipulator having more than six links is referred to as a

kinematically redundant manipulator.

Dr. Ahmed Rahman Jasim

1.1.4 The Workspace

• The workspace of a manipulator is:

• The total volume swept out by the end-effector as the
manipulator executes all possible motions.

• The workspace is constrained by the geometry of the

manipulator as well as mechanical constraints on the joints.

Dr. Ahmed Rahman Jasim

1.2 ROBOTS AS MECHANICAL DEVICES

• There are a number of physical aspects of robotic

manipulators that we will not necessarily consider
when developing our mathematical models.

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1.2.2 Robotic Systems
• The manipulator arms are serial link robots with several components.

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1.2.3 Accuracy and Repeatability

• The accuracy of a manipulator is a measure of how close the

manipulator can come to a given point within its workspace.

• Repeatability is a measure of how close a manipulator can

return to a previously taught point.

Dr. Ahmed Rahman Jasim

1.2.3 Accuracy and Repeatability

• Accuracy is affected therefore by computational errors,

flexibility effects such as the bending of the links under
gravitational and other loads, gear backlash, and a host of
other static and dynamic effects.

• Repeatability therefore is affected primarily by the controller

resolution. Controller resolution means the smallest
increment of motion that the controller can sense.

Dr. Ahmed Rahman Jasim

1.2.4 Wrists and End-Effectors

• The joints in the kinematic chain between the arm and end
effector are referred to as the wrist.
• Example : spherical wrists

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1.2.4.1 Structure of a spherical wrist.

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 1.2.4.2 END-EFFECTORS

• The simplest type of end-effectors are

grippers, Which are capable of only two
actions, opening and closing.

• A highly sophisticated Hand attempt at

reproducing the human-hand force-closure
end effector.

Dr. Ahmed Rahman Jasim

 1.3 Common Kinematic Arrangements Of Manipulators

• There are many possible ways by use prismatic and revolute

joints to construct kinematic chains.

Dr. Ahmed Rahman Jasim

 1.3.1 Articulated manipulator (RRR)
• The articulated manipulator is also called a revolute manipulator.

The Motoman SK16 manipulator

Dr. Ahmed Rahman Jasim
1.3.1 Articulated manipulator (RRR)

The Motoman SK20 manipulator

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1.3.1 Articulated manipulator (RRR)
Graphical representation for structure of the articulated manipulator

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 1.3.1 Articulated manipulator (RRR)
Workspace of the articulated manipulator

Dr. Ahmed Rahman Jasim

 1.3.2 Spherical Manipulator (RRP)

• The third or elbow joint in the revolute manipulator is replaced

by a prismatic joint to obtain the spherical manipulator.

Dr. Ahmed Rahman Jasim

1.3.2 Spherical Manipulator (RRP)

The Stanford Arm.

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1.3.2 Spherical Manipulator (RRP)

The Stanford Arm.

Dr. Ahmed Rahman Jasim

1.3.2 Spherical Manipulator (RRP)
Graphical representation for structure of the spherical manipulator.

Dr. Ahmed Rahman Jasim

1.3.2 Spherical Manipulator (RRP)
Workspace of the spherical manipulator

Dr. Ahmed Rahman Jasim

 1.3.3 SCARA Manipulator (RRP)
The SCARA arm ( Selective Compliant Articulated Robot for Assembly) is
a popular manipulator.

Dr. Ahmed Rahman Jasim

1.3.3 SCARA Manipulator (RRP)

Dr. Ahmed Rahman Jasim

 1.3.3 SCARA Manipulator (RRP)
Graphical representation for structure of the SCARA manipulator.

Dr. Ahmed Rahman Jasim

 1.3.3 SCARA Manipulator (RRP)
Workspace for the SCARA manipulator.

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 1.3.4 Cylindrical Manipulator (RPP)
The Seiko RT3300.

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 1.3.4 Cylindrical Manipulator (RPP)
Graphical representation for structure of the cylindrical manipulator.

Dr. Ahmed Rahman Jasim

 1.3.4 Cylindrical Manipulator (RPP)
Workspace for the cylindrical manipulator.

Dr. Ahmed Rahman Jasim

1.3.5 Cartesian manipulator (PPP)
A manipulator whose first three joints are prismatic

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1.3.5 Cartesian manipulator (PPP)
Graphical representation of the Cartesian manipulator.

Dr. Ahmed Rahman Jasim

1.3.5 Cartesian manipulator (PPP)
workspace of the Cartesian manipulator.

Dr. Ahmed Rahman Jasim

Robot Represent By MATLAB

Dr. Ahmed Rahman Jasim

Robot Represent by MATLAB
L(1)=Link([0,7,0,pi/2,0],'standard');
L(2)=Link([0,0,9,0,0],'standard');
L(3)=Link([0,0,11.5,0,0],'standard');
ro3 = SerialLink(L,'name','Mktron');
q1= -pi/4;
q2= pi/6;
q3=-pi/5;
q = [q1 q2 q3];
plot(ro3,q )
teach(ro3,q )

Dr. Ahmed Rahman Jasim

 Homework
Install Robotics Toolbox for Matlab (release 9.8)

Build MATLAB program to represent the following robots:

1. KUKA robot arm KR 500 .
2. The Stanford Arm.
3. SCARA manipulator.
4. Denso robotic arm VP62430.
5. Rhino_XR3 Robotic arm.
6. Robotic arm OWI 535.
7. Microbot_Alpha_II Robot.
8. Lab Volt 5100 Robot.
9. Mitsubishi RV-2AJ robot.
Dr. Ahmed Rahman Jasim
END