Jane Li. Assistant Professor Mechanical Engineering Department, Robotic Engineering Program Worcester Polytechnic Institute

Transcription

1 Jane Li Assistant Professor Mechanical Engineering Department, Robotic Engineering Program Worcester Polytechnic Institute

2 The foot segment is subjected to the pull of two plantarflexor muscles. Determine the moment of each force about the point of contact A on the ground. Compute moment (M_A)_1, and (M_A)_2 Unit for moment: lb*in 2

3 The foot segment is subjected to the pull of two plantarflexor muscles. Determine the moment of each force about the point of contact A on the ground. 3

4 Active Projects Teleoperating a Humanoid Nursing Robot from Motion Capture System Vision-based reactive motion control for human-robot handing-over Building a haptic devices for home-based stroke rehab Arm-hand-finger Coordination Human driver motion study 4

5 Teleoperating a Humanoid Nursing Robot from Motion Capture System YudongYU <yyu6@wpi.edu> Arjun Jagdish <ajram@wpi.edu> Sanjuksha Nirgude <snirgude@wpi.edu> Tianyu Cheng <tcheng@wpi.edu> Sihui Li <sli16@wpi.edu> 5

6 Vision-based reactive motion control for human-robot handing-over Gunnar Horve Heramb Nemlekar Himanshu Raghuvanshi Onkar Trivedi Dharini Dutia Rohit Voleti 6

7 Building a haptic devices for home-based stroke rehab Nathaniel Goldfarb <nagoldfarb@wpi.edu> Rishi Khajuriwala <rdkhajuriwala@wpi.edu> Aishwary Jagetia <adjagetia@wpi.edu> Nishant Shah <nshah3@wpi.edu> Brandon Lam <bllam@wpi.edu> Akshay Kumar <akumar5@wpi.edu> Matthew Bowers <mpbowers@wpi.edu> 7

8 Arm-hand-finger Coordination Haowei Zhao Aniketh Reddy Seelam Gaurav Vikhe Aayush Shah 8

9 Human driver motion study Kenechukwu Mbanisi Tess Meier 9

10 Try to find the best match Your choice, skill sets and preferred teammates More or fewer students per team Will adjust project scope and objectives Need a leader/coordinator for each team Plan for project data management Your hardware design files, code & documentation, reports, etc 10

11 Frame transform Forward Kinematics 11

12

13 13

14 Reference Frame Position Vector 14

15 Reference Frame Body Frame 15

16 Reference frame {A} Body Frame {B} Frame orientation Origin position 16

17 {B} is translated w.r.t. {A} Given a point P s position in {B}, what is its position w.r.t. {A}? 17

18 {B} is rotated w.r.t. {A} Given a point P s position in {B}, what is its position w.r.t. {A}?? 18

19 Given Compute Solution 19

20 20

21 Rotating about a fixed frame Rotating about a moving frame 21

22 g b a 22

23 a b g 23

24 Rotate about a fixed frame Rotate about a moving frame 24

25 25

26 Given Compute 26

27

28 Describe the transform between two frames attached to two connected links. Possible ways for connection? Joint types

29 Pose = position + orientation How many parameters do you need? 29

30 Link twist a Angle between two Z-axes Link length a Distance between two Z-axes 30

31 Link length? Link twist? 31

32 Joint angle q Angle between two X-axis Link offset d Distance between two X-axes 32

33 33

34 Modified form Standard form 34

35 Link twist a Link length a Joint angle q Link offset d 35

36 Link twist a 36

37 Link length a 37

38 Joint angle q 38

39 Link offset d 39

40 Relate Frame {N} to Frame {0} 40

41 41

42 Frame {0} = base Frame {1} w.r.t. Frame {0} 42

43 Frame {2} w.r.t. Frame {1} cv cv 43

44 Frame {3} w.r.t. Frame {2} cv cv 44

45 Frame {4} w.r.t. Frame {3} cv cv 45

46 Frame {5} w.r.t. Frame {4} cv cv 46

47 Frame {6} w.r.t. Frame {5} cv cv 47

48 Derive the DH parameters for Puma 560 Implement the FK of Puma 560 in Matlab EE_pose = FK(DH parameter table) 48

49

50

51 Robot Simian Open-loop kinematics? Raise one arm Control EE pose Close-loop kinematics? Fix the foot on ground Control the torso pose 51

52 52

53 Inverse Kinematics is easier Forward Kinematics is harder Why? 53

54 Mobility of this platform F? Each movable link is a rigid body Number of movable links Number of joints Number of DOFs at joint each joint 54

55 Mobility of this platform F? Each movable link has N DOFs N = 6 (3D workspace) Number of movable links: k = 14 (each bar can extend and retract) Number of joints: n1 = 12 (rotational), n2 = 6 (prismatic) Number of DOFs at joint i: f1 = 3, f2 = 1 Equation F = N[k (n1+n2) 1] + (n1*3 + n2*1) 55

56 Determine the end-effector position P Inverse Kinematics Forward Kinematics 56

57 Control 6-DOF pose of the platform? Highly nonlinear 57

58 Solve the high degree polynomial equations for FK Newton Raphson method Computationally intensive Decouple the position and orientation parameters Can speed the computation to some extent 58

59 Neural network Approximate solution ACON = all class one network OCON = one class one network 59

60 60

61 [1] Parikh, Pratik J., and Sarah SY Lam. "A hybrid strategy to solve the forward kinematics problem in parallel manipulators." IEEE Transactions on Robotics 21.1 (2005):

62 (10 pt) Derive the DH parameters for Puma 560 DH parameter table (10 pt) Implement the FK of Puma 560 in Matlab EE_pose = FK(DH parameter table) (10 pt) Optional Can you try a NN to solve FK and IK of a 3DOF serial manipulator? 62