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Advanced Robotics Lectures

The document discusses advanced robotics and kinematics. It introduces the Denavit-Hartenberg convention for representing the kinematic model of robotic manipulators using four parameters per joint. Several industrial robots from Stäubli and Mitsubishi are represented using this convention. The document also discusses the forward kinematic solution and MATLAB simulation of robots using the ROBOT toolbox.

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0% found this document useful (0 votes)

87 views176 pages

Advanced Robotics Lectures

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Ivan Avramov

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Advanced

Intelligent Robotics

Tomáš Pajdla
2005
pajdla@cmp.felk.cvut.cz
Advanced Robotics

Lecture 1

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V předmětu IRO 2005 se naučíme,

jak lze vyřešit inverzní kinematickou úlohu pro obecný

manipulátor se šesti stupni volnosti.

Obecné řešení tohoto problému existuje

Vedlejší efekt …
… metoda řešení soustav algebraických rovnic

pajdla@cmp.felk.cvut.cz
Industrial Robotic Applications

pajdla@cmp.felk.cvut.cz
Precision for industry

Low (e.g. manipulation)

 5 mm in the whole working space

 0.5 mm locally
… often available

High (e.g. laser welding)

 0.5 mm in the whole working space

 0.05 mm locally
… often not available

pajdla@cmp.felk.cvut.cz
Error  0.5 mm

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Precision for robotic surgery

http://www.cts.usc.edu/rsi-article-robotputsuscatforefront.html
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Stäubli TX-90

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Kinematic model

flange frame

z y

x
z

x y
world frame

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pajdla@cmp.felk.cvut.cz
The Standard Kinematic model in Denavit-Hartenberg Convention

Stäubli TX 90

TX-90 (6 axis, RRRRRR) [Staubli]

 a  d
-1.5708 50.0 0.0 350.0
0.0 425.0 0.0 50.0
-1.5708 0.0 0.0 0.0
1.5708 0.0 0.0 425.0
-1.5708 0.0 0.0 0.0
0.0 0.0 0.0 100.0

6 non-trivial parameteres

pajdla@cmp.felk.cvut.cz
The Standard Kinematic model in Denavit-Hartenberg Convention

ABB IBR 140

pajdla@cmp.felk.cvut.cz
The Standard Kinematic model in Denavit-Hartenberg Convention

ABB IBR 140

IBR-140 (6 axis) [ABB]

 a  d
-1.5708 70.0 0.0 352.0
0.0 360.0 0.0 0.0
-1.5708 0.0 0.0 0.0
1.5708 0.0 0.0 380.0
-1.5708 0.0 0.0 0.0
0.0 0.0 0.0 65.0

5 non-trivial parameteres

pajdla@cmp.felk.cvut.cz
The Standard Kinematic model in Denavit-Hartenberg Convention

Stäubli TX 90

RV-6S (6 axis, RRRRRR) [Mitsubishi]

 a  d
-1.5708 85.0 0.0 350.0
0.0 280.0 0.0 0.0
-1.5708 100.0 0.0 0.0
1.5708 0.0 0.0 315.0
-1.5708 0.0 0.0 0.0
0.0 0.0 0.0 85.0

6 non-trivial parameteres

pajdla@cmp.felk.cvut.cz
Special versus General Mechanisms

Special  General

simple & tractable complicated & hard

 a  d  a  d
-1.5708 70.0 - 352.0 -1.42 70.1 - (+0.2) 352.0
0.0 360.0 - 0.0 0.10 360.0 - (+0.1) 0.2
-1.5708 0.0 - 0.0 -1.57 0.2 - (- 0.3) 0.3
1.5708 0.0 - 380.0 1.58 0.1 - (+0.1) 380.2
-1.5708 0.0 - 0.0 -1.59 0.4 - (- 0.1) 0.1
0.0 0.0 - 65.0 0.07 0.2 - (- 0.2) 65.1

6 non-trivial parameters  18 (+6) non-trivial parameters

High precision  Small misalignments important  General mechanisms

pajdla@cmp.felk.cvut.cz
Literature

Linear algebra
P. Pták. Introduction to Linear Algebra. Vydavatelství ČVUT, Praha,1997.

Numerical linear algebra

E. Krajník. Maticový počet. Vydavatelství ČVUT, Praha, 2000.

The solution
M. Raghavan, B. Roth. Kinematic Analysis of the 6R Manipulator of General
Geometry. Int. Symp. Robotics. Research. Pp. 314-320, Tokyo 1989/1990.

The numerical solution

D. Manocha, J. Canny. Efficient Inverse Kinematics for General 6R
Manipulators. Robotics and Automation 1994.

The pedagogical solution will be developed using

D. Cox, J. Little, D. O'Shea. Ideals, Varieties, and Algorithms. Springer 1998.

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Software

Matlab: www.matworks.com

Maple: www.maple.com

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Advanced Robotics

Lecture 2

reflection
translation

z-compression

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motion

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pajdla@cmp.felk.cvut.cz
pajdla@cmp.felk.cvut.cz
Advanced Robotics

Lecture 3

Lecture 4

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pajdla@cmp.felk.cvut.cz
pajdla@cmp.felk.cvut.cz
Transformation in a joint is described by 4 parameters