Robot Control. Robotics. Robot Control. Vladimír Smutný. Center for Machine Perception

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1 Robot Control Robotics Robot Control Vladimír Smutný Center for Machine Perception Czech Institute for Informatics, Robotics, and Cybernetics (CIIRC) Czech Technical University in Prague ROBOTICS: Vladimír Smutný Slide, Page

2 Robot Control Accuracy of kinematic model Required position Actual position trajectory load Actual position trajectory load Characterization of accuracy (similar to measuring systems): [ Accuracy] - the difference between actual position and position calculated from kinematic model. [ Repeatability] - the difference between actual positions when repeatedly sent to the same position. It includes hysteresis of joints, thermal elongation of links etc. Does not include bad model design or wrongly estimated parameters. Note that under different load or approaching trajectory the centroid of repeated experiments can significantly differ. [ Resolution] - the size of the smallest step in position which can be set (given by the sensor resolution. ROBOTICS: Vladimír Smutný Slide, Page

8 7 Opening angle limit of the front surface area If J 70, J < -80, then J + J -7 () If -0 J 9 and J, then J -0 () If J > 70, J < -8, then J + J x - () Robot 0 Control What information 8 manufacturer

3 8 7 Opening angle limit of the front surface area If J 70, J < -80, then J + J -7 () If -0 J 9 and J, then J -0 () If J > 70, J < -8, then J + J x - () Robot 0 Control What information 8 manufacturer 0 If J < 0 and J > 9, then J 0 Opening angle limit of the provides: front surface area Opening angle limit () Opening angle limit () Opening angle limit () The area limited with (), () Posture: J=J=J=J=J=0, J=90 Opening angle limit of the rear surface area Posture: J=J=J=J=J=0, J=90 Opening angle limit of the rear surface If - J <, then J + J x -00 () area If -8 J <, then J + J x - () If J 7 and J < -, then J + J +8 () If J 70, -80 < J < -8, then J x. + If J > 7 and J < -, then J + J -0 () J - () but if 8 J 0, then J - J 0 () If J < -0, J > 9, then J 0 () P-point trajectory Posture: J=J=J=J Opening angle limit o If J 0 and J indicates service screw holes for tooling (M places). indicates service screw holes for tooling (M x places). indicates service screw holes for to Specification Type Structure Degrees of freedom Drive system Position detection method Maximum load capacity (rated) Arm length Maximum reach radius Operating range Maximum speed Robot Body Waist Shoulder Elbow Wrist twist Wrist pitch Wrist roll Waist Shoulder Elbow Wrist twist Wrist pitch J J J J J J J J J J J Wrist roll J Maximum composite speed Cycle time Position repeatability Ambient temperature Mass Tool wiring Tool pneumatic pipes Installation posture Machine cable Protection specification Unit RV-S/SC RV-SL/SLC RV-S/SC RV-SL/SLC Vertical multiple-joint type AC servo motor (brakes for all axes) Absolute encoder kg () (0) (±70), can be limited after shipment (in intervals) 7 (-9 to +) 0 (-00 to +0) 8 (-07 to +) 9 (-9 to +) 90 (+0 to -0) degrees 0 (±0) 0 (±0) 70 (±0) degrees/s /sec Approx. 900 Approx. 800 Approx. 900 Approx. 900 Order of 0. seconds Order of 0. seconds Order of 0.7 seconds Order of 0.7 seconds ±0.0 ±0.0 ±0.0 ±0.0 0 to 0 kg Approx. 8 Approx. 0 Approx. 9 Approx input /8 output (No. arm) Primary: x, Secondary: x 8 Primary: x, Secondary: x 8 Installation on floor, hanging (hanging on wall ) m (connector at both ends) 7 m (fixed on the controller side) IP (J to J) IP (J to J) : The maximum load capacity is the maximum mass capacity when the wrist flange is pointing downward ( 0 ). : Value at the hand flange surface when all the axes are combined : Value at a load of kg for RV-S and at a load of kg for RV-S when the robot reciprocates vertically and 00 horizontally : To use the tool (hand) output, the (optional) pneumatic hand interface is required. : The movement range of the J axis is limited in the special specification that allows the robot to hang on a wall. Controller Type Path control method Number of axes controlled CPU Robot language Position teaching method Memory capacity External I/O Numbers of teaching and steps Number of programs General-purpose I/O Dedicated I/O Hand I/O Emergency stop input Emergency stop output Door switch input RS-C RS- Slot dedicated to hand Extension slot Interface SSCNET Memory expansion slot Robot I/O link Operating temperature range Relative humidity Power Input voltage range supply Power capacity 7 External dimensions Mass Structure (protection specification) Grounding 8 Unit steps steps channels C %RH V KVA kg CR-M CRB-7 PTP control, CP control Up to axes simultaneously, and up to 8 axes for additional axis control bit RISC/DSP MELFA-BASIC IV Teaching method, MDI method,00, / (up to / when using the optional, additional I/O unit) Assigned from general-purpose I/O (one point, "STOP," is fixed) 8 inputs/0 output (8/8 when the pneumatic hand interface is used) (support contacts) (support contacts) (support contacts) (for connecting a personal computer, vision sensor etc.) (for connecting a teaching pendant) (for connecting a pneumatic hand interface) (for connecting optional extensions) (for connecting optional extensions) 0 (the optional additional axis (for connecting additional axes) interface is used for connection) (for connecting an optional memory cassette) (for connecting a parallel I/O unit) 0 to 0 to 8 -phase, AC 80 to Single phase, AC (excluding inrush current).0 (excluding inrush current) 0(W) x 80(D) x (H) 0(W) x 00(D) x 00(H) Approx. 0 Approx. 0 Self-contained floor type/closed structure [IP] Self-contained floor type/closed structure [IP0] 00 or less (D-class grounding) 7: The power capacity is the rated value at normal operation. Please be aware that the power capacity does not take inrush current applied when the power supply is turned on into consideration. The power capacity should be considered a guideline, and the guaranteed operation depends on the input power supply voltage. 8: Grounding is conducted at the customer's own risk. RV-S/SL Seri Coon Pa +0. H7 0 depth H7 0 depth H depth. View A Mechanical Interf Controlle CR-M (7) () () () 00 -M de. Dimensions at Castor Wheel Spec Some standards specifying accuracy of robots are: ANSI/RIA R (R999) American National Point-to-Point and Static Performance Characteristics - Eval Approved September, 989, reaffirmed August, 999. pages. This standard is intended to facilitate understanding between manufacturers and users of industrial robots. The standard defines the most important performance criteria and a method for evaluating these criteria. Included in the test method are performance classes, standard test paths and standard test loads. The purpose is to provide meaningful technical information that robot users can apply in the selection of the proper robot for their specific application. ANSI/RIA R (R999) American National Path-Related and Dynamic Performance Characteristics - Eval Approved September, 99, Reaffirmed August, 999. pages. This standard is intended to facilitate understanding between manufacturers and users of industrial robots. The standard defines the fundamental dynamic pathrelated performance characteristics and provides a method to quantify dynamic performance. Included in the test method are performance classes, standard test paths and standard test loads. The purpose is to provide meaningful technical information that robot users can apply in the selection of the proper robot for their specific application. ANSI/RIA R (R999) American National Guidelines for Reliability Acceptance Testing Approved October, 99, Reaffirmed August, 999. pages. This standard provides the minimum testing requirements that will qualify a newly manufactured of a newly rebuilt industrial robot to be placed into use without additional testing. The purpose of this standard is to provide assurance, through testing, that infant mortality failures in industrial robots have been detected and corrected by the manufacturer at their facility prior to shipment to a user. These tests may be reproduced by the user if desired. ISO 98:998 Manipulating Industrial Robots - Performance Criteria and Related Test Methods. Publication Date: Apr, 998 ROBOTICS: Vladimír Smutný Slide, Page

4 Robot Control Non-geometrical model parameters: compliance and stiffness, gear backlash, encoder resolution, temperature related expansion, linkage wobble. ROBOTICS: Vladimír Smutný Slide, Page

5 Robot Control Geometrical model parameters: structure, angles between links, links dimensions, zero positions of links. When e.g. end effector position is given as a function o model parameters, we can by sensitivity analysis (derivations) find the influence of parameter change on the end effector position and find (or optimize) the accuracy of manipulator. ROBOTICS: Vladimír Smutný Slide, Page

Robot Control. Robotics. Robot Control. Vladimír Smutný

Robot Control. Robotics. Robot Control. Vladimír Smutný Robot Control Robotics Robot Control Vladimír Smutný Center for Machine Perception Czech Institute for Informatics, Robotics, and Cybernetics (CIIRC) Czech Technical University in Prague Kinematic Model