Dipartimento di Elettronica Informazione e Bioingegneria Robotics
|
|
- Sherilyn Garrison
- 6 years ago
- Views:
Transcription
1 Dipartimento di Elettronica Informazione e Bioingegneria Robotics properties and performance 25
2 Redundancy first definition McKerrow When a manipulator can reach a specified position with more than one configuration of the linkages, the manipulator is said to be redundant. According to this definition, redundancy = more than one solution to the inverse kinematic transform As a consequence, all the robots in practice are redundant!
3 Consider the space n axes of motion m (max 6) dimension of space achievable by the hand r dimensions of the task space : n = m standard robot. a : n > m; when there is a reduction of m in specific configurations, the robot is in a degenerate configuration 2 : n > m; the robot is redundant. The configuration of the robot can change without changing the end-effector configuration. : m >r; when r is completely within the end-effector space, task redundancy. 4 : in any of those situations there can be examples where for a particular configuration there exists multiple solutions.
4 Redundancy new definitions : If the number of solutions to the IK is not unique but finite, the manipulator is said to have multiple solutions. PUMA, etc 2 : If the dimension of the joint space is greater than the dimension of end - effector space then the device is kinematically redundant. Barret arm, : If the task space is completely contained by, and has a lower dimensionality than the end effector space, the manipulator is said to be task redundant. Use a 6 dof arm to pick-up object from top
5 degenerations Sometimes a robot can have infinite solutions only for some cartesian points singular point or degeneration point degeneracy is a situation in which there are an infinite number of configurations of the manipulator that achieve the desired end-effector configuration. in such a configuration, one or more degrees of end-effector freedom is lost Planar RR for θ2 = ± π and l=l2 the origin is a degeneration point
6 degeneration of PUMA wrist - This robot is the PUMA wrist if the origins of the systems are in the same point. has the rotation axes, each ortogonal to the next. We build the hand matrix and see why it has degeneration 2 rotation axes may aligne
7 degeneration of PUMA wrist - 2 If θ2= θ α a d θ 9 d 2 θ2-9 θ d = = d C S S C C S S C d C S S C 2 2, A A A T ),, ( ),, ( Θ Ψ Φ = + = R T z y x p p p Trans d d C C S S S S C C = Θ Φ= + = = = d d p p p z y x + Φ Φ Φ Φ = d d C S S C T ) k ( ) tan( ) tan( π θ θ θ θ + + Φ= + Φ =
8 Precision measures Accuracy The degree to which actual position corresponds to desired or commanded position. Accuracy of a robot is determined by elements : the resolution of the control system, the mechanical inaccuracies ( linkages and gears) and deflections under different load conditions, and the minimum error that must be tolerated to operate the arm under closed servoloop operation. Absolute Accuracy The difference in position between a point called for by a robot's control system and the point actually achieved by the robot. The error is computed in Cartesian space. Important in robot programmed in Cartesian Space.
9 Repeatability The ability of a robot to reposition itself at a spot to which it is sent. It is a tolerance about a position. It is affected by resolution, hysteresis, and mechanical inaccuracies. It describes the positional error of the endeffector when it automatically returns to a previously designated point. It is a statistic measure. Resolution (spatial) specifies the smallest increment of motion by which the system can divide the work envelope. This is either a function of the smallest increment in position that the controller can command or the smallest incremental change in position that the controller can distinguish.
10 Resolution, repeatibility, accuracy In 2D - the target is teached (joint variables) or computed from Cartesian space Repeatability is higher than accuracy REPEATABILITY here reached points teached target point spatial resolution grid ACCURACY position error computed target point
11 Repeatibility vs accuracy High repeatability and accuracy low accuracy high repeatability high accuracy low repeatability
12 Accuracy depends on: Ambient (temperature, humidity, ); Kinematic parameters (D-H) Prototype different from product Need to calibrate the robot model (signature) Dynamic parameters (compliance, friction, ); Measuring problems (encoders o resolvers ); Numerical problems (loss of precision ); application (installation).
13 payload Payload The maximum total mass or weight that can be applied to the end of the robot arm without sacrifice of any of the applicable published specifications of the robot. Also referred to as Load Capacity. All the load to be attached to the wrist (including the hand) is payload Usually a few Kg in industrial robots
14 Cycle time Time to complete this pick and place cycle Usually less than sec inch O 2 inches O
15 Trends in industrial robots Versatility (redundant) remote control and web programmable Open controller Safety: compliant, soft, High payload
16 PA Mitsubishi 7 dof Open controller
17 PA
18 PUMA vs PA- dof weight payload repeatability Control box motors controller PUMA 5 or 6 kg 2 to 4 kg. mm 7.5x444.5x5mm DC proprietary PA- 7 5 kg kg. mm 46x225x95 mm AC open
19 WAM arm Barrett Technologies, MA Open controller in C 4 o 7 dof weight: 25 Kg Payload: 4 kg repeatability: 5 μm
20 KUKA LWR LIGHTWEIGHT ROBOT (LWR) The outer structure is made of aluminum. It has a payload capacity of 7 kg. Due to its low weight of just 6 kg, the robot is energyefficient and portable and can perform a wide range of different tasks.
21 Baxter Rethink Robotics (Boston) 4 dof $25, Food processing Transportation Plastic Metal Consumer goods
22 i-limb (UK) Hand prosthesys 2 dof each finger Thumb manually moved to alignement or opposition
23 HAL (Cyberdyne, Japan) wearable robot Height-,6mm Weight: Full Body Type approx. 2kg (Lower body approx. 5kg) Power - Battery Drive Charged battery( ACV) Continuous operating time 2.5 hours Motions- standing up from a chair, walking, climbing up and down stairs) Hold and lift heavy objects and more... - now in clinical trials
24 uses electromygram (EMG) sensors on the shoulders, hips, knees and elbows. using these signals, the machine can aid a human in walking, climbing stairs, and heavy lifting, and is designed to help the disabled. it helped a paralyzed man get within 5 yards of the summit of Breithorn Mountain in Switzerland. It s currently only available in Japan, but when it becomes available in the U.S. will e about $, a month to rent, or about to $6, to buy.
Inverse Kinematics. Given a desired position (p) & orientation (R) of the end-effector
Inverse Kinematics Given a desired position (p) & orientation (R) of the end-effector q ( q, q, q ) 1 2 n Find the joint variables which can bring the robot the desired configuration z y x 1 The Inverse
More informationRobotics. SAAST Robotics Robot Arms
SAAST Robotics 008 Robot Arms Vijay Kumar Professor of Mechanical Engineering and Applied Mechanics and Professor of Computer and Information Science University of Pennsylvania Topics Types of robot arms
More informationCecilia Laschi The BioRobotics Institute Scuola Superiore Sant Anna, Pisa
University of Pisa Master of Science in Computer Science Course of Robotics (ROB) A.Y. 2016/17 cecilia.laschi@santannapisa.it http://didawiki.cli.di.unipi.it/doku.php/magistraleinformatica/rob/start Robot
More informationIndustrial Robots : Manipulators, Kinematics, Dynamics
Industrial Robots : Manipulators, Kinematics, Dynamics z z y x z y x z y y x x In Industrial terms Robot Manipulators The study of robot manipulators involves dealing with the positions and orientations
More informationAutomatic Control Industrial robotics
Automatic Control Industrial robotics Prof. Luca Bascetta (luca.bascetta@polimi.it) Politecnico di Milano Dipartimento di Elettronica, Informazione e Bioingegneria Prof. Luca Bascetta Industrial robots
More informationControl of industrial robots. Kinematic redundancy
Control of industrial robots Kinematic redundancy Prof. Paolo Rocco (paolo.rocco@polimi.it) Politecnico di Milano Dipartimento di Elettronica, Informazione e Bioingegneria Kinematic redundancy Direct kinematics
More informationJane Li. Assistant Professor Mechanical Engineering Department, Robotic Engineering Program Worcester Polytechnic Institute
Jane Li Assistant Professor Mechanical Engineering Department, Robotic Engineering Program Worcester Polytechnic Institute We know how to describe the transformation of a single rigid object w.r.t. a single
More information10/25/2018. Robotics and automation. Dr. Ibrahim Al-Naimi. Chapter two. Introduction To Robot Manipulators
Robotics and automation Dr. Ibrahim Al-Naimi Chapter two Introduction To Robot Manipulators 1 Robotic Industrial Manipulators A robot manipulator is an electronically controlled mechanism, consisting of
More informationMDP646: ROBOTICS ENGINEERING. Mechanical Design & Production Department Faculty of Engineering Cairo University Egypt. Prof. Said M.
MDP646: ROBOTICS ENGINEERING Mechanical Design & Production Department Faculty of Engineering Cairo University Egypt Prof. Said M. Megahed APPENDIX A: PROBLEM SETS AND PROJECTS Problem Set # Due 3 rd week
More informationRobot 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
More informationRobotics kinematics and Dynamics
Robotics kinematics and Dynamics C. Sivakumar Assistant Professor Department of Mechanical Engineering BSA Crescent Institute of Science and Technology 1 Robot kinematics KINEMATICS the analytical study
More informationINSTITUTE OF AERONAUTICAL ENGINEERING
Name Code Class Branch Page 1 INSTITUTE OF AERONAUTICAL ENGINEERING : ROBOTICS (Autonomous) Dundigal, Hyderabad - 500 0 MECHANICAL ENGINEERING TUTORIAL QUESTION BANK : A7055 : IV B. Tech I Semester : MECHANICAL
More informationRobot Control. Robotics. Robot Control. Vladimír Smutný. Center for Machine Perception
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
More informationDesign & Kinematic Analysis of an Articulated Robotic Manipulator
Design & Kinematic Analysis of an Articulated Robotic Manipulator Elias Eliot 1, B.B.V.L. Deepak 1*, D.R. Parhi 2, and J. Srinivas 2 1 Department of Industrial Design, National Institute of Technology-Rourkela
More informationLecture Note 6: Forward Kinematics
ECE5463: Introduction to Robotics Lecture Note 6: Forward Kinematics Prof. Wei Zhang Department of Electrical and Computer Engineering Ohio State University Columbus, Ohio, USA Spring 2018 Lecture 6 (ECE5463
More informationRobot Inverse Kinematics Asanga Ratnaweera Department of Mechanical Engieering
PR 5 Robot Dynamics & Control /8/7 PR 5: Robot Dynamics & Control Robot Inverse Kinematics Asanga Ratnaweera Department of Mechanical Engieering The Inverse Kinematics The determination of all possible
More informationINVERSE KINEMATICS ANALYSIS OF A 5-AXIS RV-2AJ ROBOT MANIPULATOR
www.arpnjournals.com INVERSE KINEMATICS ANALYSIS OF A 5-AXIS RV-2AJ ROBOT MANIPULATOR Mohammad Afif Ayob 1a, Wan Nurshazwani Wan Zakaria 1b, Jamaludin Jalani 2c, Mohd Razali Md Tomari 1d 1 ADvanced Mechatronics
More informationForward kinematics and Denavit Hartenburg convention
Forward kinematics and Denavit Hartenburg convention Prof. Enver Tatlicioglu Department of Electrical & Electronics Engineering Izmir Institute of Technology Chapter 5 Dr. Tatlicioglu (EEE@IYTE) EE463
More informationKinematic Model of Robot Manipulators
Kinematic Model of Robot Manipulators Claudio Melchiorri Dipartimento di Ingegneria dell Energia Elettrica e dell Informazione (DEI) Università di Bologna email: claudio.melchiorri@unibo.it C. Melchiorri
More informationLecture Note 2: Configuration Space
ECE5463: Introduction to Robotics Lecture Note 2: Configuration Space Prof. Wei Zhang Department of Electrical and Computer Engineering Ohio State University Columbus, Ohio, USA Spring 2018 Lecture 2 (ECE5463
More informationStructural Configurations of Manipulators
Structural Configurations of Manipulators 1 In this homework, I have given information about the basic structural configurations of the manipulators with the concerned illustrations. 1) The Manipulator
More informationWritten exams of Robotics 1
Written exams of Robotics 1 http://www.diag.uniroma1.it/~deluca/rob1_en.php All materials are in English, unless indicated (oldies are in Year Date (mm.dd) Number of exercises Topics 2018 06.11 2 Planar
More informationINVERSE KINEMATICS ANALYSIS OF A 5-AXIS RV-2AJ ROBOT MANIPULATOR
INVERSE KINEMATICS ANALYSIS OF A 5-AXIS RV-2AJ ROBOT MANIPULATOR Mohammad Afif Ayob 1, Wan Nurshazwani Wan Zakaria 1, Jamaludin Jalani 2 and Mohd Razali Md Tomari 1 1 Advanced Mechatronics Research Group
More informationIntroduction To Robotics (Kinematics, Dynamics, and Design)
Introduction To Robotics (Kinematics, Dynamics, and Design) SESSION # 5: Concepts & Defenitions Ali Meghdari, Professor School of Mechanical Engineering Sharif University of Technology Tehran, IRAN 11365-9567
More informationROBOTICS 01PEEQW. Basilio Bona DAUIN Politecnico di Torino
ROBOTICS 01PEEQW Basilio Bona DAUIN Politecnico di Torino Kinematic chains Readings & prerequisites From the MSMS course one shall already be familiar with Reference systems and transformations Vectors
More informationInverse Kinematics Analysis for Manipulator Robot With Wrist Offset Based On the Closed-Form Algorithm
Inverse Kinematics Analysis for Manipulator Robot With Wrist Offset Based On the Closed-Form Algorithm Mohammed Z. Al-Faiz,MIEEE Computer Engineering Dept. Nahrain University Baghdad, Iraq Mohammed S.Saleh
More informationPlanar Robot Kinematics
V. Kumar lanar Robot Kinematics The mathematical modeling of spatial linkages is quite involved. t is useful to start with planar robots because the kinematics of planar mechanisms is generally much simpler
More informationA New Algorithm for Measuring and Optimizing the Manipulability Index
A New Algorithm for Measuring and Optimizing the Manipulability Index Mohammed Mohammed, Ayssam Elkady and Tarek Sobh School of Engineering, University of Bridgeport, USA. Mohammem@bridgeport.edu Abstract:
More informationKinematics. Kinematics analyzes the geometry of a manipulator, robot or machine motion. The essential concept is a position.
Kinematics Kinematics analyzes the geometry of a manipulator, robot or machine motion. The essential concept is a position. 1/31 Statics deals with the forces and moments which are aplied on the mechanism
More informationCh 8 Industrial Robotics
Ch 8 Industrial Robotics Sections: 1. Robot Anatomy and Related Attributes 2. Robot Control Systems 3. End Effectors 4. Sensors in Robotics 5. Industrial Robot Applications 6. Robot Programming 7. Robot
More informationRobot mechanics and kinematics
University of Pisa Master of Science in Computer Science Course of Robotics (ROB) A.Y. 2016/17 cecilia.laschi@santannapisa.it http://didawiki.cli.di.unipi.it/doku.php/magistraleinformatica/rob/start Robot
More informationautorob.github.io Inverse Kinematics UM EECS 398/598 - autorob.github.io
autorob.github.io Inverse Kinematics Objective (revisited) Goal: Given the structure of a robot arm, compute Forward kinematics: predicting the pose of the end-effector, given joint positions. Inverse
More informationECE569 Fall 2015 Solution to Problem Set 2
ECE569 Fall 2015 Solution to Problem Set 2 These problems are from the textbook by Spong et al. 1, which is the textbook for the ECE580 this Fall 2015 semester. As such, many of the problem statements
More informationBasilio Bona ROBOTICA 03CFIOR 1
Kinematic chains 1 Readings & prerequisites Chapter 2 (prerequisites) Reference systems Vectors Matrices Rotations, translations, roto-translations Homogeneous representation of vectors and matrices Chapter
More informationA New Algorithm for Measuring and Optimizing the Manipulability Index
DOI 10.1007/s10846-009-9388-9 A New Algorithm for Measuring and Optimizing the Manipulability Index Ayssam Yehia Elkady Mohammed Mohammed Tarek Sobh Received: 16 September 2009 / Accepted: 27 October 2009
More informationEEE 187: Robotics Summary 2
1 EEE 187: Robotics Summary 2 09/05/2017 Robotic system components A robotic system has three major components: Actuators: the muscles of the robot Sensors: provide information about the environment and
More informationDynamics Analysis for a 3-PRS Spatial Parallel Manipulator-Wearable Haptic Thimble
Dynamics Analysis for a 3-PRS Spatial Parallel Manipulator-Wearable Haptic Thimble Masoud Moeini, University of Hamburg, Oct 216 [Wearable Haptic Thimble,A Developing Guide and Tutorial,Francesco Chinello]
More informationWhat is an industrial robot?
What is an industrial robot? A robot is CFIDV 02CFIC CY A kinematic chain A multi-body dynamical system A system with motors and drives A system with digital and analogic sensors An electronic system A
More informationLecture 3.5: Sumary of Inverse Kinematics Solutions
MCE/EEC 647/747: Robot Dynamics and Control Lecture 3.5: Sumary of Inverse Kinematics Solutions Reading: SHV Sect.2.5.1, 3.3 Mechanical Engineering Hanz Richter, PhD MCE647 p.1/13 Inverse Orientation:
More informationManipulation: Mechanisms, Grasping and Inverse Kinematics
Manipulation: Mechanisms, Grasping and Inverse Kinematics RSS Lectures 14 & 15 Monday & Wednesday, 1 & 3 April 2013 Prof. Seth Teller Overview Mobility and Manipulation Manipulation Strategies Mechanism
More informationRobot mechanics and kinematics
University of Pisa Master of Science in Computer Science Course of Robotics (ROB) A.Y. 2017/18 cecilia.laschi@santannapisa.it http://didawiki.cli.di.unipi.it/doku.php/magistraleinformatica/rob/start Robot
More informationEE Kinematics & Inverse Kinematics
Electric Electronic Engineering Bogazici University October 15, 2017 Problem Statement Kinematics: Given c C, find a map f : C W s.t. w = f(c) where w W : Given w W, find a map f 1 : W C s.t. c = f 1
More informationMotion Control of Wearable Walking Support System with Accelerometer Considering Swing Phase Support
Proceedings of the 17th IEEE International Symposium on Robot and Human Interactive Communication, Technische Universität München, Munich, Germany, August 1-3, Motion Control of Wearable Walking Support
More informationA Geometric Approach to Inverse Kinematics of a 3 DOF Robotic Arm
A Geometric Approach to Inverse Kinematics of a 3 DOF Robotic Arm Ayush Gupta 1, Prasham Bhargava 2, Ankur Deshmukh 3, Sankalp Agrawal 4, Sameer Chourika 5 1, 2, 3, 4, 5 Department of Electronics & Telecommunication,
More informationThis week. CENG 732 Computer Animation. Warping an Object. Warping an Object. 2D Grid Deformation. Warping an Object.
CENG 732 Computer Animation Spring 2006-2007 Week 4 Shape Deformation Animating Articulated Structures: Forward Kinematics/Inverse Kinematics This week Shape Deformation FFD: Free Form Deformation Hierarchical
More informationThe University of Missouri - Columbia Electrical & Computer Engineering Department EE4330 Robotic Control and Intelligence
The University of Missouri - Columbia Final Exam 1) Clear your desk top of all handwritten papers and personal notes. You may keep only your textbook, a cheat sheet, the test paper, a calculator and a
More informationMechanical structure of a robot=skeleton of human body Study of structure of a robot=physical structure of the manipulator structure
UNIT I FUNDAMENTALS OF ROBOT Part A 1. Define Robot. An industrial robot is a re-programmable, multifunctional manipulator designed to move materials, parts, tools, or specialized devices through variable
More informationDesign and Development of Cartesian Robot for Machining with Error Compensation and Chatter Reduction
International Journal of Engineering Research and Technology. ISSN 0974-3154 Volume 6, Number 4 (2013), pp. 449-454 International Research Publication House http://www.irphouse.com Design and Development
More informationCS4610/CS5335: Homework 1
CS4610/CS5335: Homework 1 Out: 1/27/16, Due: 2/5/16 Please turn in this homework to Rob Platt via email on the due date. HW Q1 and Q2 should be submitted as a PDF. HW PA Q1-Q5 should be submitted in the
More informationKinematics and Orientations
Kinematics and Orientations Hierarchies Forward Kinematics Transformations (review) Euler angles Quaternions Yaw and evaluation function for assignment 2 Building a character Just translate, rotate, and
More informationInverse Kinematics Software Design and Trajectory Control Programming of SCARA Manipulator robot
International Journal of Engineering Research and Technology. ISSN 0974-3154 Volume 11, Number 11 (2018), pp. 1759-1779 International Research Publication House http://www.irphouse.com Inverse Kinematics
More informationDevelopment of Direct Kinematics and Workspace Representation for Smokie Robot Manipulator & the Barret WAM
5th International Conference on Robotics and Mechatronics (ICROM), Tehran, Iran, 217 1 Development of Direct Kinematics and Workspace Representation for Smokie Robot Manipulator & the Barret WAM Reza Yazdanpanah
More informationHand. Desk 4. Panda research 5. Franka Control Interface (FCI) Robot Model Library. ROS support. 1 technical data is subject to change
TECHNICAL DATA 1, 2 Arm degrees of freedom 7 DOF payload 3 kg sensitivity joint torque sensors in all 7 axes maximum reach 855 mm joint position limits A1: -170/170, A2: -105/105, [ ] A3: -170/170, A4:
More informationKinematics of Closed Chains
Chapter 7 Kinematics of Closed Chains Any kinematic chain that contains one or more loops is called a closed chain. Several examples of closed chains were encountered in Chapter 2, from the planar four-bar
More informationLecture 18 Kinematic Chains
CS 598: Topics in AI - Adv. Computational Foundations of Robotics Spring 2017, Rutgers University Lecture 18 Kinematic Chains Instructor: Jingjin Yu Outline What are kinematic chains? C-space for kinematic
More informationArticulated Robots! Robert Stengel! Robotics and Intelligent Systems! MAE 345, Princeton University, 2017
Articulated Robots! Robert Stengel! Robotics and Intelligent Systems! MAE 345, Princeton University, 2017 Robot configurations Joints and links Joint-link-joint transformations! Denavit-Hartenberg representation
More informationJacobian: Velocities and Static Forces 1/4
Jacobian: Velocities and Static Forces /4 Models of Robot Manipulation - EE 54 - Department of Electrical Engineering - University of Washington Kinematics Relations - Joint & Cartesian Spaces A robot
More informationLast 2 modules were about. What the other robot did : Robotics systems and science Lecture 15: Grasping and Manipulation
6.141: Robotics systems and science Lecture 15: Grasping and Manipulation Lecture Notes Prepared by Daniela Rus EECS/MIT Spring 2009 What the robot did over Spring break Reading: Chapter3, Craig: Robotics
More informationwhich is shown in Fig We can also show that the plain old Puma cannot reach the point we specified
152 Fig. 7.8. Redundant manipulator P8 >> T = transl(0.5, 1.0, 0.7) * rpy2tr(0, 3*pi/4, 0); The required joint coordinates are >> qi = p8.ikine(t) qi = -0.3032 1.0168 0.1669-0.4908-0.6995-0.1276-1.1758
More informationJane Li. Assistant Professor Mechanical Engineering Department, Robotic Engineering Program Worcester Polytechnic Institute
Jane Li Assistant Professor Mechanical Engineering Department, Robotic Engineering Program Worcester Polytechnic Institute What are the DH parameters for describing the relative pose of the two frames?
More informationMCE/EEC 647/747: Robot Dynamics and Control. Lecture 1: Introduction
MCE/EEC 647/747: Robot Dynamics and Control Lecture 1: Introduction Reading: SHV Chapter 1 Robotics and Automation Handbook, Chapter 1 Assigned readings from several articles. Cleveland State University
More informationSingularity Handling on Puma in Operational Space Formulation
Singularity Handling on Puma in Operational Space Formulation Denny Oetomo, Marcelo Ang Jr. National University of Singapore Singapore d oetomo@yahoo.com mpeangh@nus.edu.sg Ser Yong Lim Gintic Institute
More informationModule 1 : Introduction to robotics. Lecture 3 : Industrial Manipulators & AGVs. Objectives. History of robots : Main bodies and wrists
Module 1 : Introduction to robotics Lecture 3 : Industrial Manipulators & AGVs Objectives In this course you will learn the following History of development of robots. Main body types of manipulators with
More informationRedundancy Resolution by Minimization of Joint Disturbance Torque for Independent Joint Controlled Kinematically Redundant Manipulators
56 ICASE :The Institute ofcontrol,automation and Systems Engineering,KOREA Vol.,No.1,March,000 Redundancy Resolution by Minimization of Joint Disturbance Torque for Independent Joint Controlled Kinematically
More informationWritten exams of Robotics 2
Written exams of Robotics 2 http://www.diag.uniroma1.it/~deluca/rob2_en.html All materials are in English, unless indicated (oldies are in Year Date (mm.dd) Number of exercises Topics 2018 07.11 4 Inertia
More informationStandard specifications RS007LFF60
Standard specifications RS007LFF60 December 05, 2017 KAWASAKI HEAVY INDUSTRIES, LTD. ROBOT DIVISION Materials and specifications are subject to change without notice. Specification : (Arm): (Controller):
More informationθ x Week Date Lecture (M: 2:05p-3:50, 50-N202) 1 23-Jul Introduction + Representing Position & Orientation & State 2 30-Jul
θ x 2018 School of Information Technology and Electrical Engineering at the University of Queensland Lecture Schedule Week Date Lecture (M: 2:05p-3:50, 50-N202) 1 23-Jul Introduction + Representing Position
More informationMEM380 Applied Autonomous Robots Winter Robot Kinematics
MEM38 Applied Autonomous obots Winter obot Kinematics Coordinate Transformations Motivation Ultimatel, we are interested in the motion of the robot with respect to a global or inertial navigation frame
More informationAssignment 3. Position of the center +/- 0.1 inches Orientation +/- 1 degree. Decal, marker Stereo, matching algorithms Pose estimation
Assignment 3 1. You are required to analyze the feasibility of designing a vision system for the robot gas station attendant. Assume that the driver parks the car so that the flap and the cap are in a
More informationME5286 Robotics Spring 2014 Quiz 1 Solution. Total Points: 30
Page 1 of 7 ME5286 Robotics Spring 2014 Quiz 1 Solution Total Points: 30 (Note images from original quiz are not included to save paper/ space. Please see the original quiz for additional information and
More informationShadow Dexterous Hand C6M Technical Specification
Shadow Dexterous Hand C6M Technical Specification Current release: 15 th August '09 Shadow Dextrous Hand - Technical Specification Page 2/9 1 Overview...3 2 Mechanical Profile...3 2.1 Dimensions...3 2.2
More informationDelta robot. System configuration. The fastest picking system integrated in the Sysmac platform
Delta robot The fastest picking system integrated in the Sysmac platform Robot control integrated in the NJ robotics controller Control of up to 8 robots by one controller Degrees of freedom: 3 + 1 (rotational
More informationLecture Note 2: Configuration Space
ECE5463: Introduction to Robotics Lecture Note 2: Configuration Space Prof. Wei Zhang Department of Electrical and Computer Engineering Ohio State University Columbus, Ohio, USA Spring 2018 Lecture 2 (ECE5463
More informationIndustrial Sections: 1.Robot Anatomy and Related Attributes 2.Robot Control Systems 3.End Effectors 4.Sensors in 5.Industrial Robot Applications 6.Robot Programming 7.Robot Accuracy and Repeatability Industrial
More informationWorkspace Optimization for Autonomous Mobile Manipulation
for May 25, 2015 West Virginia University USA 1 Many tasks related to robotic space intervention, such as satellite servicing, require the ability of acting in an unstructured environment through autonomous
More informationRobotics (Kinematics) Winter 1393 Bonab University
Robotics () Winter 1393 Bonab University : most basic study of how mechanical systems behave Introduction Need to understand the mechanical behavior for: Design Control Both: Manipulators, Mobile Robots
More informationCYTON ALPHA 7D 1G. Operations Manual
CYTON ALPHA 7D 1G Operations Manual Robai PO Box 37635 #60466 Philadelphia, PA 19101-0635 Copyright 2008 Robai. All Rights Reserved. Copyright 2008 Robai. All Rights Reserved. 2 Copyright 2008 Robai. All
More informationTABLE OF CONTENTS. Page 2 14
TABLE OF CONTENTS INTRODUCTION... 3 WARNING SIGNS AND THEIR MEANINGS... 3 1. PRODUCT OVERVIEW... 4 1.1. Basic features and components... 4 1.2. Supply package... 5 1.3. Robot arm specifications... 6 1.4.
More informationMEAM 520. Manipulator Kinematics
MEAM 520 Manipulator Kinematics Katherine J. Kuchenbecker, Ph.D. General Robotics, Automation, Sensing, and Perception Lab (GRASP) MEAM Department, SEAS, University of Pennsylvania Lecture 4: September
More informationME5286 Robotics Spring 2015 Quiz 1
Page 1 of 7 ME5286 Robotics Spring 2015 Quiz 1 Total Points: 30 You are responsible for following these instructions. Please take a minute and read them completely. 1. Put your name on this page, any other
More informationExam in DD2426 Robotics and Autonomous Systems
Exam in DD2426 Robotics and Autonomous Systems Lecturer: Patric Jensfelt KTH, March 16, 2010, 9-12 No aids are allowed on the exam, i.e. no notes, no books, no calculators, etc. You need a minimum of 20
More informationDual-loop Control for Backlash Correction in Trajectory-tracking of a Planar 3-RRR Manipulator
Dual-loop Control for Backlash Correction in Trajectory-tracking of a Planar -RRR Manipulator Abhishek Agarwal, Chaman Nasa, Sandipan Bandyopadhyay Abstract The presence of backlash in the gearheads is
More informationHuman Machine Interaction
Human Machine Interaction XVIII BrainStorming Cordinator: L. Fortuna Tutor: P. Arena Ignazio Aleo June 09 introduction Network of systems Outlines our goals Network of systems development Robot-embodiment
More informationRobotics Tasks. CS 188: Artificial Intelligence Spring Manipulator Robots. Mobile Robots. Degrees of Freedom. Sensors and Effectors
CS 188: Artificial Intelligence Spring 2006 Lecture 5: Robot Motion Planning 1/31/2006 Dan Klein UC Berkeley Many slides from either Stuart Russell or Andrew Moore Motion planning (today) How to move from
More informationPRACTICAL SESSION 4: FORWARD DYNAMICS. Arturo Gil Aparicio.
PRACTICAL SESSION 4: FORWARD DYNAMICS Arturo Gil Aparicio arturo.gil@umh.es OBJECTIVES After this practical session, the student should be able to: Simulate the movement of a simple mechanism using the
More informationROBOTICS 01PEEQW. Basilio Bona DAUIN Politecnico di Torino
ROBOTICS 01PEEQW Basilio Bona DAUIN Politecnico di Torino Control Part 4 Other control strategies These slides are devoted to two advanced control approaches, namely Operational space control Interaction
More informationME 115(b): Final Exam, Spring
ME 115(b): Final Exam, Spring 2011-12 Instructions 1. Limit your total time to 5 hours. That is, it is okay to take a break in the middle of the exam if you need to ask me a question, or go to dinner,
More information[9] D.E. Whitney, "Resolved Motion Rate Control of Manipulators and Human Prostheses," IEEE Transactions on Man-Machine Systems, 1969.
160 Chapter 5 Jacobians: velocities and static forces [3] I. Shames, Engineering Mechanics, 2nd edition, Prentice-Hall, Englewood Cliffs, NJ, 1967. [4] D. Orin and W. Schrader, "Efficient Jacobian Determination
More informationChapter 1: Introduction
Chapter 1: Introduction This dissertation will describe the mathematical modeling and development of an innovative, three degree-of-freedom robotic manipulator. The new device, which has been named the
More informationReplication of Human Two-Fingered Grasping Motions in Robotic Manipulation of Household Objects
Replication of Human Two-Fingered Grasping Motions in Robotic Manipulation of Household Objects Andrew Vo, Stephen Moseson, and Matthew Cong Abstract In our project, we consider the problem of replicating
More informationSimulation-Based Design of Robotic Systems
Simulation-Based Design of Robotic Systems Shadi Mohammad Munshi* & Erik Van Voorthuysen School of Mechanical and Manufacturing Engineering, The University of New South Wales, Sydney, NSW 2052 shadimunshi@hotmail.com,
More informationDesign and Fabrication of a Programmable 5-DOF Autonomous Robotic Arm
Design and Fabrication of a Programmable 5-DOF Autonomous Robotic Arm SAJID GHUFFAR, JAVAID IQBAL, USMAN MEHMOOD and MUHAMMAD ZUBAIR Department of Mechatronics College of Electrical and Mechanical Engineering,
More informationKinematics. CS 448D: Character Animation Prof. Vladlen Koltun Stanford University
Kinematics CS 448D: Character Animation Prof. Vladlen Koltun Stanford University Kinematics Kinematics: The science of pure motion, considered without reference to the matter of objects moved, or to the
More informationLecture «Robot Dynamics»: Kinematic Control
Lecture «Robot Dynamics»: Kinematic Control 151-0851-00 V lecture: CAB G11 Tuesday 10:15 12:00, every week exercise: HG E1.2 Wednesday 8:15 10:00, according to schedule (about every 2nd week) Marco Hutter,
More informationA sliding walk method for humanoid robots using ZMP feedback control
A sliding walk method for humanoid robots using MP feedback control Satoki Tsuichihara, Masanao Koeda, Seiji Sugiyama, and Tsuneo oshikawa Abstract In this paper, we propose two methods for a highly stable
More informationResolution of spherical parallel Manipulator (SPM) forward kinematic model (FKM) near the singularities
Resolution of spherical parallel Manipulator (SPM) forward kinematic model (FKM) near the singularities H. Saafi a, M. A. Laribi a, S. Zeghloul a a. Dept. GMSC, Pprime Institute, CNRS - University of Poitiers
More informationBlind Search inverse kinematics for controlling all types of serial-link robot arms
lind Search inverse kinematics for controlling all types of serial-link robot arms Samuel N Cubero University of Southern Queensland, oowoomba, Australia 1 Introduction he main objective of Inverse Kinematics
More informationKINEMATIC ANALYSIS OF 3 D.O.F OF SERIAL ROBOT FOR INDUSTRIAL APPLICATIONS
KINEMATIC ANALYSIS OF 3 D.O.F OF SERIAL ROBOT FOR INDUSTRIAL APPLICATIONS Annamareddy Srikanth 1 M.Sravanth 2 V.Sreechand 3 K.Kishore Kumar 4 Iv/Iv B.Tech Students, Mechanical Department 123, Asst. Prof.
More informationDesign of a Precision Robot Wrist Interface. Patrick Willoughby Advisor: Alexander Slocum MIT Precision Engineering Research Group
Design of a Precision Robot Wrist Interface Patrick Willoughby Advisor: Alexander Slocum MIT Precision Engineering Research Group Project Summary Problem: Current bolted robot wrist replacements are inaccurate,
More informationStackable 4-BAR Mechanisms and Their Robotic Applications
The 010 IEEE/RSJ International Conference on Intelligent Robots and Systems October 18-, 010, Taipei, Taiwan Stackable 4-BAR Mechanisms and Their Robotic Applications Hoyul Lee and Youngjin Choi Abstract
More information