Lectures on Robotics

Outline of the class

1. Introduction: the state of the art in robotics

2. Forward kinematics: homogeneous transformation and DH representation
3. Inverse kinematics and velocity kinematics
4. Analytical mechanics I: constraints and the principle of virtual work
5. Analytical mechanics II: Lagrangian formulation
6. Analytical mechanics III: Hamiltonian mechanics
7. Independent joint control
8. Multivariable control (Lyapunov stability)
9. Task space control
10. Force control
11. Feedback linearization control
12. Other advanced control techniques (sliding mode control, adaptive control)
http://www.es.u-tokai.ac.jp/es_hp/stu/class/yamamoto/KMITLrobotics/Lectures_on_Robotics.html

Lectures based on lecture notes which are available as PDF files

via Internet.

No textbook will be used in this class.

List of recommended books on robotics
• “Robot Modeling and Control”, M.W.Spong, S.Hutchinson and M.Vidyasagar, John
Wiley, 2006. Recently revised from previous “Robot Dynamics and Control”,
M.W.Spong and M.Vidyasagar, John Wiley, 1989
• “Foundations of Robotics”, Tsuneo Yoshikawa, MIT Press, 1990
Mathematically challenging, but good books (more on control)
• “A Mathematical Introduction to Robotic Manipulation”,
R.M.Murray, Z.Li, S.S.Sastry, CRC Press, 1994
• “Applied Nonlinear Control”, J-J.Slotine, W.Li, Prentice Hall, 1991
• “Nonlinear Control Systems”, 3rd ed. A.Isidori, Springer, 1995
• “Nonlinear Dynamical Control Systems”, H.Nijmeijer, A.v.d.Schaft, Springer, 1993
 Robot Related Technologies

I Element technology III Environmental recognition

・ Sensor ・ Computer vision
・ Actuator ・ Speech recognition
・ Mechanism ・ Tactile sensing
・ Material ・ Artificial intelligence

II Control technology IV Robot systems

・ Manipulator ・ Autonomous system
・ Hand ・ Communication
・ Mobility ・ Power resource
・ Sensor applications ・ Reliability, safety,
maintenance
 Element Technology （Sensors）

Interoceptive sensors
Position/angle sensor （encoder, potentiometer）
Angular velocity sensor （Tachometer, rate gyro）
Accelerometer （piezoelectric, semiconductive）
Inclinometer, declinometer
Exteroceptive sensors
Vision sensor （panoramic, stereo, active vision）
Tactile sensor （conductive rubber, pneumatic,
semiconductive, photosensitive）
Force sensor （strain gauge）
Proximity sensor （infrared, eddy current, laser, capacity）
Sonar sensor
Element Technology （Actuators）

Electric actuators
DC servo motor
AC servo motor
Stepping motor

Hydraulic actuators
Hydraulic motor, hydraulic cylinder
Pneumatic actuators

Others
Ultrasound motor, shape memory alloy,
piezoelectric element, mechanochemical,
Micro-organism, magnetostrictive element
Element Technology （Mechanism）

Motion transmission mechanism

gear, ball screw, timing belt, timing chain,
lever, link, cam, traction, fluid transmission
Reduction mechanism
harmonic drive, non-backlash gear

Joint mechanism
revolute joint, prismatic joint, universal joint

Micro mechanism
hinge mechanism, bimorph micro drive, micro
machining via photolithography
Element Technology （Material）

For robot use

Structural material
Light weight material
High stiffness material
Vibration-proof material

For sensor use

Metal
Semiconductor
Organic
Inorganic
Composite material
 Classification of industrial robots via structure

Cartesian Cylindrical Spherical

SCARA Articulated Parallel

 Cartesian robot
Gantry robot
Orthogonal robot
Rectangular robot

P-P-P

Schematic Skeleton Workspace

 Cylindrical robot

R-P-P

Schematic Skeleton Workspace

 Spherical robot
Polar robot

R-R-P

Schematic Skeleton Workspace

 SCARA

Selective
Compliance
Articulated
Robot R-R-P
Arm

Schematic Skeleton Workspace

 Articulated robot

R-R-R

Schematic Skeleton Workspace

Parallel robot

Schematic Skeleton Workspace

 Degree of freedom (DOF)

Number of independent variables needed to determine

the configuration of a system of interest

How many DOF does a

planar mobile robot have?

Position 2 DOF
X, Y
Orientation 1 DOF
φ
Total 3 DOF
How many DOF does a body in 3D space have?
This implies that a robot equipped with at least six
independent joints (motors) can achieve an arbitrary
position and orientation of the end effector within its
workspace. A robot with less than six DOF, however,
always is subjected to a constrained motion along a
certain direction.
Hand fixed on the object
Given the hand and
the shoulder relatively
Shoulder fixed on
fixed, how can one the body
move his elbow?

Human body is very

redundant!
 Forward kinematics
Joint space Task space
variables variables

Inverse kinematics

2-DOF serial manipulator

・Joint space variable q

q1, q2 （joint angles）

・Task space variable p

X, Y （tip position）