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Robotics Lecture 2
Robotics Lecture 2
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Ernest L. Hall
University of Cincinnati
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All content following this page was uploaded by Ernest L. Hall on 14 October 2015.
13000
$1,200
12000
$1,100
11000
$1,000
10000
$900
9000
$800
8000
Units_ordered
$700
$US_(Million)
7000
$600
6000
$500
5000
$400
4000
$300
3000
$200
2000
$100
1000
$0
Year 1987 1988 1989 1990 1991 1992 1993 1994 1995 1996 1997
Units_ordered 3,800 4,000 4,500 5,000 4,488 4,561 5,942 7,634 10,198 9,709 12,459
$US_(Million) $300 $325 $510 $510 $470 $456 $559 $688 $887 $934 $1,104
welding 53.0
assembly 10.0
inspection 1.0
other 3.5
Application - automotive
manufacturing
Configuration – RRP
Percentage - 10
Advantages - excellent
reach; very powerful w/
hydraulic drive
Disadvantages - complex
kinematics; variable
resolution
10/14/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 21
Articulated
Application - spray
coating
Configuration – RRR
Percentage - 42
Advantages - maximum
flexibility; large work
envelope; high speed
Disadvantages - complex
kinematics; rigid
structure; difficult to
control
10/14/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 22
SCARA*
Trajectory
Controller Robot Environment
Planning
Sensors
2
m 2 a 2 m 2 a 1 a 2 cos q 2 d
2
1.2 1.1 q2
dt 2
2
m 2 a 1 a 2 2 q 1 q 2 sin q
d d d
1.3 1.2 q2 2
dt dt dt
2
m 2 a 1 a 2 m 2 g a 2 cos q 1
d
2 2.1 q1 sin q 2 q2
dt
200
100
1( t ) 0
100
200
0 5 10
t
Note that the maximum value of about 200 Nm would let one size the motor correctly.
Also, the shape appears quite simple.
50
31.320317
21( t ) 22( t ) 0
27.887245 50
0 5 10
0 t 10
Primary
Yd controller + Y
Robot
+ Secondary +
- controller
Sensors