Introduction of

Industrial Robot - Manipulators

• Definition of Industrial Robot - Manipulators (IRM)

• Components of IRM

• Modeling and Control of IRM

• Mechanical Components of IRM

• Degrees of Freedom of IRM

• Mechanical Configurations of IRM

 Definition of
Industrial Robot - Manipulator
IRM is a re-programmable and multifunctional
robot - manipulator,
designed to move: material, parts, tools, or
specialized devices, through variable
programmed motions, for the performance of a
variety of tasks.
Robot Institute of America
(Group within Society of Manufacturing Engineers)
 COMPONENTS of
Industrial Robot Manipulator

 Mechanical system of IRM,

or (in short) “Robot - Manipulator”;
 Actuators system;
 Sensors system;
 Control system;
 Comunication system.
 Modeling and Control
of IRM

 Modeling of IRM:

• Topology Structures Analysis (of

Kinematic) ;
• Kinematic Position Analysis;
• Differential Kinematics and Static Analysis;
• Dynamics of IRM.
 Modeling and Control
of IRM

 Control of IRM:
• Trajectory planning ;

• Motion control ;

• Hardware/software architecture.
 Mechanical Components
of IRM
 IRM are Serial Kinematic Chain
Mechanisms, made up of:
• “Links”(are usually considered solids body),
and
• “Joints” (where relative motion takes place)
 Joints connect two kind:
• Prismatic (P);
• Revolute (R).
 “Degrees of Freedom
of IRM
Degrees of freedom (DoF) of IRM, is the number of
independent movements the IRM is capable of deally,
and each joint has exactly one degree of freedom.

• Degrees of Freedom of IRM = Number of Joints

with One Degree of Freedom.

• IRM typically have 6 DoF, but 3, 4, 5, and 7 DoF,

are also common.
 Mechanical Configurations
of IRM

 IRM are categorized by the first 3 -

joint types (R joint or P joint)
 Five different IRM configurations:
• Cartesian (PPP or Rectangular);
• Cylindrical ( PPR );
• Spherical (RPR or Polar);
• Articulated (RRR or Revolute);
• SCARA (RR+R - P - spesial case).
Position and Orientation
of a Rigid Body in 3D
 3-D Homogeneous Transformations
 Coordinate Transformation (Translation+Rotation)
3-D Homogeneous Transformations
 Homogeneous vector

 Homogeneous transformation matrix

 3-D Homogeneous Transformations
 Composition of coordinate transformations
 Euler Angles

 Minimal representation of orientation;

 Three parameters are sufficient;
 Euler Angles:

  [   ]
• Two successive rotations are not made about
parallel axes.
• How many kinds of Euler Angles are there ?
 Aim of Direct Kinematics
Compute the Position and Orientation of the
End - Effector as a function of the joint
variables
 Direct Kinematics
 The Direct Kinematics Function is expressed
by the Homogeneous Transformation Matrix
Open Kinematical Chain
DENAVITH - HARTENBERG Convention
 Denavith - Hartenberg Convention

https://en.wikipedia.org/wiki/Denavit%E2%80%93Hartenberg_parameters
JOINT SPACE and OPERATIONAL SPACE

DESCRIPTION of “End – Effector” TASK

 POSITION: coordinates (easy) w.r.t Base Frame

Function of Time
 ORIENTATION: (n s a) (difficult)

 Operational space  Joint space

Independent Prismatic: d
variables Revolute: theta
 KINEMATIC REDUNDANCY

 DEFINITION:

A robot - manipulator is termed Kinematically

Redundant when it has a number of degrees of
mobility which is greater than the number of
variables, that are necessary to describe a given
task.
 INVERSE KINEMATICS

 we know the desired “world” or “base”

coordinates for the end-effector or tool.

 we need to compute the set of joint coordinates

that will give us this desired position
(and orientation in the 6-link case).

the inverse kinematics problem is much

more difficult than the forward problem !
 Inverse Kinematics
 There is no general purpose technique that
will guarantee a closed-form solution
to the inverse problem !
 Multiple solutions may exist;
 Infinite solutions may exist, e.g.,
in the case of kinematical redundancy;
 There might be no admissible solutions
(condition: x in (dexterous) workspace).
Differential
Kinematics
and Statics
Of Industrial
Robot -
Manipulators
 Differential Kinematics
 Find the relationship between the joint velocities
and the end - effector linear and angular
velocities.

Linear velocity
Angular velocity

i for a revolute joint

qi   
 d i for a prismatic joint
Jacobian Computation

The contribution of single joint i to

the end-effector linear velocity

 J P1   J Pi   J Pn 
v    q1      q i      q n
 J O1   J Oi   J On 

The contribution of single joint i to

the end-effector angular velocity
Jacobian Computation
 Kinematic Singularities
 The Jacobian is, in general, a function of the
configuration q;
 those configurations at which J is Rank-Deficient
are termed Kinematic Singularities.
 Reasons to Find Singularities
 Singularities represent configurations at which
mobility of the structure is reduced
 Infinite solutions to the inverse kinematics problem
may exist
 In the neighborhood of a singularity, small
velocities in the operational space may cause large
velocities in the joint space
 Dynamics
Of Industrial Robot - Manipulators
 Dynamics

 Relationship between the joint actuator torques

and the motion of the structure;
 Derivation of dynamic model of a robot
manipulator
 Simulation of motion;
 Design of control algorithms;
 Analysis of manipulator structures.

 Method, based on Lagrange formulation

 Lagrange Formulation

 Generalized coordinates
 n variables which describe the link positions of an n-
degree-of-mobility manipulator

 The Lagrange of the mechanical system

 Lagrange Dynamics
Formulation
 The Lagrange’s dynamics equations

 Generalized force
 Given by the nonconservative force;
 Joint actuator torques, joint friction torques, joint
torques, induced by interaction with environment
 Computation of Kinetic Energy

 Consider a robot manipulator with n rigid

links

Kinetic Kinetic Energy

Energy of the Motor
Actuating Link i
of link i
 Kinetic Energy of Link

 Express the kinetic energy as

a function of the generalized
coordinates of the system,
that are the joint variables
Computation of Potential Energy

 Consider a robot manipulator with n rigid

links.
Joint Space Dynamic Model

Viscous Actuation
Friction
Coulomb Torques
Torques
Friction
Force and Moment
Torques
exerted on the
environment

Multi - Input - Multi - Output;

Strong Coupling;
NonLinearity
 Direct Dynamics and
Inverse Dynamics
 Direct dynamics:
 Given: joint torques and initial joint position and
velocity;
 Determine: joint acceleration;
 Useful for: simulation.
 Inverse dynamics:
 Given: joint position, velocity and acceleration;
Determine: joint torques;
 Useful for: trajectory planning and control algorithm
implementation.
 Trajectory Planning
Of Industrial Robot - Manipulators
 Trajectory Planning

 Goal: to generate the reference inputs to the

motion control system which ensures that the
manipulator executes the planned trajectory

Torques
Trajectory Motion control Robot
planning system system

Position, velocity, acceleration

 Joint Space Trajectory
Trajectory Trajectory
parameters in parameters in
operation space Inverse joint space Trajectory
kinematics planning
Initial and final algorithm algorithm
end-effector Joint (end-effector)
location, traveling trajectories in terms of
time, etc. position, velocity and
acceleration
 Point-to-point Motion

 Polynomial interpolation
n 1
q(t )  a n t  a n1 t
n
   a1t  a0
 Trapezoidal velocity profile
Motion Control

Of Industrial Robot
- Manipulators
 Motion Control

 Determine the time history of the generalized

forces to be developed by the joint actuators so
as to guarantee execution of the commanded
task while satisfying given transient and steady-
state requirements
 The Control Problem

 Joint space control problem

Open loop
 Independent Joint Control
 Regard the manipulator as formed by n
independent systems (n joints)

 control each joint as a SISO system

 treat coupling effects as disturbance

 Independent Joint Control
 Assuming that the actuator is a rotary dc motor
Position and Velocity Feedback
Questions ??