İTÜ-EEF Dept.

Of Control Engineering

Introduction to Robotics (KON 318E)

Fall Semester

Hakan Temeltas , Prof.Dr.

temeltash@itu.edu.tr

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Weekly Lecture Plan

Week Topic
1 Introduction
2 Rigid Motions
3 Homogeneous Transformations
4 Forward Kinematics
5 Inverse Kinematics
6 Differential Kinematics and Jacobians
7 MIDTERM EXAM

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Weekly Lecture Plan

WeekTopic
9 Differential Kinematics and Jacobians
10 Motion Planning
11 Trajectory Generation (or Mobile Robots)
12 Independent Joint Control
13 MIDTERM EXAM II
14 Robot Dynamics
15 Robot Sensors and Actuators

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Course Evaluation Criteria

Method Quantity Percentage(%)
Midterm Exams 2 35
Homework 5 20
Final Exam 1 45

‘VF’ Conditions :
• Minimum 3 HW submission
• Minimum 30/100 grade from in term activities

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Text Books
Primary:
Robot Modeling and Control, M. Spong, S.
Hutchinson, and M. Vidyasagar, Wiley, 2006

Secondary:
Modeling and Control of Manipulators, L.
Sciavicco, B. Siciliano, Springer, (6th
printing), 2005

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Text Books
Secondary:
Introduction to Robotics: Mechanics
and Control (3rd Edition), John J. Craig,
Prentrice Hall, 2005

Secondary:
FUNDAMENTALS OF ROBOTICS(3rd Edition),
Ming Xie, Series in Mach,ne Perception and
Artificial Intelligence, World Scientific Books,
2010
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Introduction
• Historical perspective
– The acclaimed Czech playwright Karel Capek (1890-
1938) made the first use of the word ‘robot’, from the
Czech word for forced labor or serf.
– The use of the word Robot was introduced into his
play R.U.R. (Rossum's Universal Robots) which
opened in Prague in January 1921.

• Formal definition (Robot Institute of America): Karel Capek

– "A reprogrammable, multifunctional manipulator
designed to move material, parts, tools, or
specialized devices through various programmed
motions for the performance of a variety of tasks".

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Common applications
• Industrial
– Robotic assembly
• Commercial
– Household chores
• Military
• Medical
– Robot-assisted surgery

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Common applications
• Planetary Exploration
– Fast, Cheap, and Out of Control
– Mars rover
• Undersea exploration

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Common applications
• Biomimetic Robots : Using biological principles to
create new design ideas
Lobster robt (from
Northeastern
Robotics)

MFI; Harvard & Berkeley

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Common applications
• Humanoid Robots : For robots to efficiently
interact with humans,

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Industrial robots
• High precision and repetitive tasks
– Pick and place, painting, etc
• Hazardous environments

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Representations
• For the majority of this class, we will consider robotic manipulators as
open or closed chains of links and joints
– Two types of joints: revolute (q) and prismatic (d)

(Type R) (Type P)

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Definitions
• End-effector/Tool
– Device that is in direct contact with the environment. Usually very task-specific
• Configuration
– Complete specification of every point on a manipulator
– set of all possible configurations is the configuration space
– For rigid links, it is sufficient to specify the configuration space by the joint angles
• State space
– Current configuration (joint positions q) and velocities
q = q1 q2 ... qn  
T
q
• Work space
– The reachable space the tool can achieve
• Reachable workspace
• Dexterous workspace

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Common configurations: wrists

• Many manipulators will be a sequential chain of links and joints
forming the ‘arm’ with multiple DOFs concentrated at the ‘wrist’

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Example end-effector: Grippers

• Anthropomorphic or task-specific
– Force control v. position control

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Common configurations: elbow manipulator

• Anthropomorphic arm: ABB IRB1400
• Very similar to the lab arm (RRR)

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Common configurations: Stanford arm (RRP)

• Spherical manipulator (workspace forms a set of concentric
spheres)

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Common configurations: SCARA (RRP)

symbolic diagram of Smart600 SCARA arm DOFs

with axes of rotation/ranslation delineated Adept Cobra Smart600 SCARA robot.
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Common configurations: cylindrical robot (RPP)

• workspace forms a cylinder

Symbolic diagram of RPP arm DOFs with axes of

rotation/translation delineated Seiko RT3300 Robot (RPP arm)
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Common configurations: Cartesian robot (PPP)

• Increased structural rigidity, higher precision
– Pick and place operations

PPP arm DOFs with axes of translation delineated PPP arm (e.g., from Epson)
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Workspace: elbow manipulator

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Workspace comparison
(a) spherical
(b) SCARA
(c) cylindrical
(d) Cartesian

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Parallel manipulators
• some of the links will form a closed chain with ground
• Advantages:
– Motors can be proximal: less powerful, higher bandwidth, easier to control
• Disadvantages:
– Generally less motion, kinematics can be challenging

ABB IRB940
6DOF Stewart platform

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Simple example: control of a 2DOF planar manipulator

• Move from ‘home’ position and follow the path AB with a constant contact force F
all using visual feedback

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Coordinate frames & forward kinematics

• Three coordinate frames: 0 1 2
• Positions:
 x1  a1 cos(q1 )
 y  =  a sin(q )  2
 1  1 1 

 x2  a1 cos(q1 ) + a2 cos(q1 + q 2 )  x 

y  =  a sin(q ) + a sin(q + q )    
 2  1 1 2 1 2  y  t
• Orientation of the tool frame:
0 1
1 0
xˆ 0 =  , yˆ 0 =  
0 1
cos(q1 + q 2 ) − sin(q1 + q 2 )
xˆ 2 =  ˆ =
 2  cos(q + q ) 
, y
 sin(q1 + q 2 )   1 2 

 xˆ  xˆ yˆ 2  xˆ 0  cos(q1 + q 2 ) − sin(q1 + q 2 )
R20 =  2 0  = 
 xˆ 2  yˆ 0 yˆ 2  yˆ 0   sin(q1 + q 2 ) cos(q1 + q 2 ) 

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Inverse kinematics
• Find the joint angles for a desired tool position
xt2 + y t2 − a12 − a22
cos(q 2 ) =  D  sin(q 2 ) =  1 − D 2
2a1a2

−1  1 − D 2  q = tan−1 y  − tan−1 a2 sin(q 2 ) 
q 2 = tan     a + a cos(q ) 
 D  1
 x  1 2 2 
 

• Two solutions!: elbow up and elbow down

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Path planning
• In general, move tool from position A to position B while avoiding
singularities and collisions
– This generates a path in the work space which can be used to solve for joint
angles as a function of time (usually polynomials)
– Many methods: e.g. potential fields

• Can apply to mobile agents or a manipulator configuration

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Joint control
• Once a path is generated, we can create a desired tool path/velocity
– Use inverse kinematics and Jacobian to create desired joint trajectories

desired trajectory
error controller system dynamics

measured trajectory (w/ sensor noise) actual trajectory

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Other control methods

• Force control or impedance control (or a hybrid of both)
– Requires force/torque sensor on the end-effector
• Visual servoing
– Using visual cues to attain local or global pose information
• Common controller architectures:
– PID
– Adaptive
– Repetitive
• Challenges:
– Underactuation
– Nonholonomy (mobile agents)
– nonlinearity

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Sensors and actuators

• sensors
– Motor encoders (internal)
– Inertial Measurement Units
– Vision (external)
– Contact and force sensors Basic quantities for
• motors/actuators both:
– Electromagnetic • Bandwidth
– Pneumatic/hydraulic • Dynamic range
– electroactive
• Electrostatic
• sensitivity
• Piezoelectric

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Next class…

• Rigid Motions and Homogeneous transforms

as the basis for forward and inverse
kinematics

have any questions or concerns!

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