Workshop on Learning Robot Kinematics using RoboAnalyzer*

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1 Workshop on Learning Robot Kinematics using RoboAnalyzer* Mr. Rajeevlochana G. Chittawadigi PhD Scholar at IIT Delhi/ Asst. Professor, Dept of Mech Engg. Amrita Vishwa Vidyapeetham, Bengaluru Nov 14, 2018: ISIPS 2018, Waseda IPS, Kitakyushu, Fukuoka, Japan *Developed at IIT Delhi

2 Contents Introduction Robotics Education Kinematics Motion Planning RoboAnalyzer Tasks (Hands On) Feedback 2

3 Robotics Design, development, control and application Industries Academics Research Entertainment Medical applications etc. Included in curriculum of universities 3

Robotics Education Courses* usually include: 1.

drawing and pictures Mathematically intensive 2.

in action Not many institutes have facilities

4 Robotics Education Courses* usually include: 1. Theory: Design and working of robot in the form of drawing and pictures Mathematically intensive 2. Practical: CAD modeling and simulation Real robots in action Not many institutes have facilities *Mechanical Engineering Source: 4

5 Robotics Concepts DH Parameters Transformations Kinematics Dynamics Motion Planning 5

6 Geometric Model Robot moves in Cartesian frame controlled at joints Mapping Geometric model Robot Architecture Denavit-Hartenberg (DH) Parameters 6

7 Joint Axes 7

8 Joint Axes 8

9 Joint Axes 9

10 Joint Axes 10

11 DH Parameters Geometrical description 4 parameters Z3 a2 X2 α1 b2 θ2 Demo Joint offset (b) α2 X3 a1 Z2 Joint angle (θ) Link length (a) θ1 Z1 b1 X1 Twist angle (α) Relates frames attached on consecutive links 11

12 Transformations Joint to Cartesian space End-effector configuration in base frame T 2 Demo T 3 T ee = T 1 T 2 T 3 =[ Q ] P x P y P z T 1 12

13 Task 1: Transformations 2R Robot (Spatial) DH Parameters Verify Transformation = Try for Different Joint Angles 13

14 Kinematics Study of motion of links without considering the forces θ1 andθ2 Forward Kinematics Joint Angles Demo Inverse Kinematics 14

15 Task 2: Forward Kinematics KUKA KR5 Arc FKin Animation Plots Verify Position of EE Config Try Different Motion 15

16 Task 3: Inverse Kinematics IKin MTAB Aristo Robot IKin: 8 Solutions Verify in RA Visualize in RA Try Different Robots 16

17 Joint Force Joint Accl. Dynamics Study of forces and moments causing the motion of links Forward Dynamics Inverse Dynamics Forward Dynamics Inverse Dynamics Demo Due to complexity, these are usually not taught in most of the UG courses 17

18 Virtual Robot Module Joint Jogging Cartesian Jogging 17 Robots Integration with MATLAB Interface with Physical Teach Pendant Demo 18

19 Task 4: Virtual Robot Module VRM_XML ABB IRB1520 Start Record Motion Cartesian Control Draw a Square of Side 100mm Stop Record Motion Read and Playback 19

20 Task 5: Virtual Robot Module Move Joints Cartesian Motion Motion from File Heart_KUKAKR5.csv 20

21 Contest: Virtual Robot Module VRM_XML ABB IRB1520 Start Record Motion Cartesian Control Draw a Cube of Side 100mm Stop Record Motion Read and Playback Least Number of Motion Sequences!!! 21

22 RoboAnalyzer Team Subir K. Saha (1996- present) S. Goel and S. Ramakrishnan ( ) A. Patle ( ) Rajat Jain ( ) Suril V. Shah ( ) Rajeevlochana G. Chittawadigi ( , 2015-present) Amit Jain ( ) Jyoti Bahuguna ( ) Ratan Sadanand ( ) Ravi Joshi ( ) Keshav Bimbraw and Ishaan Mehta (2016 Summer) The feedback/suggestion of the below are sincerely acknowledged: Mr. Arun Dayal Udai (2010): Suggested importing of CAD files in STL format Dr. Sandipan Bandyopadhyay (2012): Suggested to make RA/VRM as an API/COM server to be integrated with other software Prof. Sudipto Mukherjee ( ): Suggested an interfacing with MATLAB Dr. Nayan Kakoty (2013): Suggested to have custom trajectory file input for joints Prof. Peter Corke (2015): Discussion on integration of RoboAnalyzer (VRM) with Robotics Toolbox Mr. Vinay Gupta (2016): Suggestion on having a link in the software for online feedback and contact form Mr. Dharmender Jaitly, Dr. Majid Koul, Mr. Aamir Hayat, Mr. Riby Boby, Mr. Sasanka Sinha 22

23 Complementary Illustrations Examples Effective!!! 23

24 Feedback 24

25 Thank You 25

Freely Available for Academic Use!!! March 2012

RoboAnalyzer User Manual Freely Available for Academic Use!!! March 2012 Developed by Prof S. K. Saha & Team Mechatronics Lab, Mechanical Engineering Department, IIT Delhi Courtesy: CD Cell, QIP, IIT Delhi