Robot Control. Robotics. Robot Control. Vladimír Smutný

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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

2 Kinematic Model Accuracy Error Types (as in measuring systems): Required position trajectory load trajectory load

3 Kinematic Model Accuracy Error Types (as in measuring systems): Required position trajectory load trajectory load [ Accuracy]

4 Kinematic Model Accuracy Error Types (as in measuring systems): Required position trajectory load trajectory load [ Accuracy] - the difference between actual position and position calculated from kinematic model.

5 Kinematic Model Accuracy Error Types (as in measuring systems): Required position trajectory load trajectory load [ Accuracy] - the difference between actual position and position calculated from kinematic model. [ Repeatability]

6 Kinematic Model Accuracy Error Types (as in measuring systems): Required position trajectory load trajectory load [ 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.

7 Kinematic Model Accuracy Error Types (as in measuring systems): Required position trajectory load trajectory load [ 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]

8 Kinematic Model Accuracy Error Types (as in measuring systems): Required position trajectory load trajectory load [ 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.

9 Kinematic Model Accuracy Error Types (as in measuring systems): Typically accuracy > repeatability > resolution. Parameters are either known/measured and then they are incorporated into model or they are unknown and they are errors of the model.

10 8 If -0 J 9 and J, then J -0 (*) 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 80 0 If J 7 and J < -, then J + J +8 (*) If J > 7 and J < -, then J + J -0 (*) Opening angle limit of the front surface area but if 8 J 0, then J - J 0 (*) 80 0 If -8 J <, then J + J x - (*) If J 70, -80 < J < -8, then J x. + J - (*) If J 70, J < -80, then J + J -7 (*) If J > 70, J < -8, then J + J x - (*) If J < -0, J > 9, then J 0 (*) * indicates service screw holes for tooling (M places). * indicates service screw holes for tooling (M x places). * indicates service scr 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 kg mm mm degrees degrees/s mm/sec mm kg 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 () (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) 0 (±0) 0 (±0) 70 (±0) 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 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 mm vertically and 00 mm 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 ports ports slots slots ports slots channels C %RH V KVA mm 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.0 (excluding inrush current) 0(W) x 80(D) x (H) Approx. 0 Self-contained floor type/closed structure [IP] Single phase, AC (excluding inrush current) 0(W) x 00(D) x 00(H) Approx. 0 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 Com +0.0 H7 0 depth H7 0 depth 7. 0H depth. View A Me Con CR- Dimensions at Cas

11 Robot Control Non-geometrical model parameters:

12 Robot Control Non-geometrical model parameters: compliance and stiffness,

13 Robot Control Non-geometrical model parameters: compliance and stiffness, gear backlash,

14 Robot Control Non-geometrical model parameters: compliance and stiffness, gear backlash, encoder resolution,

15 Robot Control Non-geometrical model parameters: compliance and stiffness, gear backlash, encoder resolution, temperature related expansion,

16 Robot Control Non-geometrical model parameters: compliance and stiffness, gear backlash, encoder resolution, temperature related expansion, linkage wobble.

17 Robot Control Geometrical model parameters:

18 Robot Control Geometrical model parameters: structure,

19 Robot Control Geometrical model parameters: structure, angles between links,

20 Robot Control Geometrical model parameters: structure, angles between links, links dimensions,

21 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.

22 Required position trajectory load trajectory load

23 * indicates service screw holes for tooling (M places). * indicates service screw holes for tooling (M x places). 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 kg mm mm degrees degrees/s mm/sec mm kg 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 () (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) 0 (±0) 0 (±0) 70 (±0) Approx. 900 Order of 0. seconds ±0.0 Approx. 800 Order of 0. seconds ±0.0 Approx. 900 Order of 0.7 seconds ±0.0 Approx. 900 Order of 0.7 seconds ±0.0 0 to 0 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 mm vertically and 00 mm 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 ports ports slots slots ports slots channels C %RH V KVA mm 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.0 (excluding inrush current) 0(W) x 80(D) x (H) Approx. 0 Self-contained floor type/closed structure [IP] Single phase, AC (excluding inrush current) 0(W) x 00(D) x 00(H) Approx. 0 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.

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

Robot 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