ROBOTICS-ROBOT KINEMATICS AND ROBOT PROGRAMMINGTAMILMECHKIT
Forward Kinematics, Inverse Kinematics and Difference; Forward Kinematics and Reverse Kinematics of manipulators with Two, Three Degrees of Freedom (in 2 Dimension), Four Degrees of freedom (in 3 Dimension) Jacobians, Velocity and Forces-Manipulator Dynamics, Trajectory Generator, Manipulator Mechanism Design-Derivations and problems. Lead through Programming, Robot programming Languages-VAL Programming-Motion Commands, Sensor Commands, End Effector commands and simple Programs
ROBOTICS-ROBOT KINEMATICS AND ROBOT PROGRAMMINGTAMILMECHKIT
Forward Kinematics, Inverse Kinematics and Difference; Forward Kinematics and Reverse Kinematics of manipulators with Two, Three Degrees of Freedom (in 2 Dimension), Four Degrees of freedom (in 3 Dimension) Jacobians, Velocity and Forces-Manipulator Dynamics, Trajectory Generator, Manipulator Mechanism Design-Derivations and problems. Lead through Programming, Robot programming Languages-VAL Programming-Motion Commands, Sensor Commands, End Effector commands and simple Programs
Definition and origin of robotics – different types of robotics – various generations of robots – degrees of freedom – Asimov's laws of robotics – dynamic stabilization of robots.
Definition and origin of robotics – different types of robotics – various generations of robots – degrees of freedom – Asimov's laws of robotics – dynamic stabilization of robots.
Solution of Inverse Kinematics for SCARA Manipulator Using Adaptive Neuro-Fuz...ijsc
Solution of inverse kinematic equations is complex problem, the complexity comes from the nonlinearity of joint space and Cartesian space mapping and having multiple solution. In this work, four adaptive neurofuzzy networks ANFIS are implemented to solve the inverse kinematics of 4-DOF SCARA manipulator. The implementation of ANFIS is easy, and the simulation of it shows that it is very fast and give acceptable error.
Solution of Inverse Kinematics for SCARA Manipulator Using Adaptive Neuro-Fuz...ijsc
Solution of inverse kinematic equations is complex problem, the complexity comes from the nonlinearity of joint space and Cartesian space mapping and having multiple solution. In this work, four adaptive neurofuzzy networks ANFIS are implemented to solve the inverse kinematics of 4-DOF SCARA manipulator. The implementation of ANFIS is easy, and the simulation of it shows that it is very fast and give acceptable
error.
Dynamics and control of a robotic arm having four linksAmin A. Mohammed
Abstract The manipulator control is an important problem
in robotics. To work out this problem, a correct dynamic
model for the robot manipulator must be in hand. Hence, this
work first presents the dynamic model of an existing 4-DOF
robot manipulator based on the Euler–Lagrange principle,
utilizing the body Jacobian of each link and the generalized
inertia matrix. Furthermore, essential properties of the
dynamic model are analyzed for the purpose of control. Then,
a PID controller is designed to control the position of the
robot by decoupling the dynamic model. To achieve a good
performance, the differential evolution algorithm is used for
the selection of parameters of the PID controller. Feedback
linearization scheme is also utilized for the position and trajectory
tracking control of the manipulator. The obtained
results reveal that the PID control coupled with the differential
evolution algorithm and the feedback linearization
control enhance the performance of the robotic manipulator.
It is also found out that increasing masses of manipulator
links do not affect the performance of the PID position control,
but higher control torques are required in these cases.
Keywords Robot control · PID · Differential evolution ·
Feedback linearization
Inverse Kinematics Analysis for Manipulator Robot with Wrist Offset Based On ...Waqas Tariq
This paper presents an algorithm to solve the inverse kinematics for a six degree of freedom (6 DOF) manipulator robot with wrist offset. This type of robot has a complex inverse kinematics, which needs a long time for such calculation. The proposed algorithm starts from find the wrist point by vectors computation then compute the first three joint angles and after that compute the wrist angles by analytic solution. This algorithm is tested for the TQ MA2000 manipulator robot as case study. The obtained results was compared with results of rotational vector algorithm where both algorithms have the same accuracy but the proposed algorithm saving round about 99.6% of the computation time required by the rotational vector algorithm, which leads to used this algorithm in real time robot control.
Automobile Management System Project Report.pdfKamal Acharya
The proposed project is developed to manage the automobile in the automobile dealer company. The main module in this project is login, automobile management, customer management, sales, complaints and reports. The first module is the login. The automobile showroom owner should login to the project for usage. The username and password are verified and if it is correct, next form opens. If the username and password are not correct, it shows the error message.
When a customer search for a automobile, if the automobile is available, they will be taken to a page that shows the details of the automobile including automobile name, automobile ID, quantity, price etc. “Automobile Management System” is useful for maintaining automobiles, customers effectively and hence helps for establishing good relation between customer and automobile organization. It contains various customized modules for effectively maintaining automobiles and stock information accurately and safely.
When the automobile is sold to the customer, stock will be reduced automatically. When a new purchase is made, stock will be increased automatically. While selecting automobiles for sale, the proposed software will automatically check for total number of available stock of that particular item, if the total stock of that particular item is less than 5, software will notify the user to purchase the particular item.
Also when the user tries to sale items which are not in stock, the system will prompt the user that the stock is not enough. Customers of this system can search for a automobile; can purchase a automobile easily by selecting fast. On the other hand the stock of automobiles can be maintained perfectly by the automobile shop manager overcoming the drawbacks of existing system.
Event Management System Vb Net Project Report.pdfKamal Acharya
In present era, the scopes of information technology growing with a very fast .We do not see any are untouched from this industry. The scope of information technology has become wider includes: Business and industry. Household Business, Communication, Education, Entertainment, Science, Medicine, Engineering, Distance Learning, Weather Forecasting. Carrier Searching and so on.
My project named “Event Management System” is software that store and maintained all events coordinated in college. It also helpful to print related reports. My project will help to record the events coordinated by faculties with their Name, Event subject, date & details in an efficient & effective ways.
In my system we have to make a system by which a user can record all events coordinated by a particular faculty. In our proposed system some more featured are added which differs it from the existing system such as security.
Democratizing Fuzzing at Scale by Abhishek Aryaabh.arya
Presented at NUS: Fuzzing and Software Security Summer School 2024
This keynote talks about the democratization of fuzzing at scale, highlighting the collaboration between open source communities, academia, and industry to advance the field of fuzzing. It delves into the history of fuzzing, the development of scalable fuzzing platforms, and the empowerment of community-driven research. The talk will further discuss recent advancements leveraging AI/ML and offer insights into the future evolution of the fuzzing landscape.
Saudi Arabia stands as a titan in the global energy landscape, renowned for its abundant oil and gas resources. It's the largest exporter of petroleum and holds some of the world's most significant reserves. Let's delve into the top 10 oil and gas projects shaping Saudi Arabia's energy future in 2024.
Vaccine management system project report documentation..pdfKamal Acharya
The Division of Vaccine and Immunization is facing increasing difficulty monitoring vaccines and other commodities distribution once they have been distributed from the national stores. With the introduction of new vaccines, more challenges have been anticipated with this additions posing serious threat to the already over strained vaccine supply chain system in Kenya.
Courier management system project report.pdfKamal Acharya
It is now-a-days very important for the people to send or receive articles like imported furniture, electronic items, gifts, business goods and the like. People depend vastly on different transport systems which mostly use the manual way of receiving and delivering the articles. There is no way to track the articles till they are received and there is no way to let the customer know what happened in transit, once he booked some articles. In such a situation, we need a system which completely computerizes the cargo activities including time to time tracking of the articles sent. This need is fulfilled by Courier Management System software which is online software for the cargo management people that enables them to receive the goods from a source and send them to a required destination and track their status from time to time.
Hybrid optimization of pumped hydro system and solar- Engr. Abdul-Azeez.pdffxintegritypublishin
Advancements in technology unveil a myriad of electrical and electronic breakthroughs geared towards efficiently harnessing limited resources to meet human energy demands. The optimization of hybrid solar PV panels and pumped hydro energy supply systems plays a pivotal role in utilizing natural resources effectively. This initiative not only benefits humanity but also fosters environmental sustainability. The study investigated the design optimization of these hybrid systems, focusing on understanding solar radiation patterns, identifying geographical influences on solar radiation, formulating a mathematical model for system optimization, and determining the optimal configuration of PV panels and pumped hydro storage. Through a comparative analysis approach and eight weeks of data collection, the study addressed key research questions related to solar radiation patterns and optimal system design. The findings highlighted regions with heightened solar radiation levels, showcasing substantial potential for power generation and emphasizing the system's efficiency. Optimizing system design significantly boosted power generation, promoted renewable energy utilization, and enhanced energy storage capacity. The study underscored the benefits of optimizing hybrid solar PV panels and pumped hydro energy supply systems for sustainable energy usage. Optimizing the design of solar PV panels and pumped hydro energy supply systems as examined across diverse climatic conditions in a developing country, not only enhances power generation but also improves the integration of renewable energy sources and boosts energy storage capacities, particularly beneficial for less economically prosperous regions. Additionally, the study provides valuable insights for advancing energy research in economically viable areas. Recommendations included conducting site-specific assessments, utilizing advanced modeling tools, implementing regular maintenance protocols, and enhancing communication among system components.
Overview of the fundamental roles in Hydropower generation and the components involved in wider Electrical Engineering.
This paper presents the design and construction of hydroelectric dams from the hydrologist’s survey of the valley before construction, all aspects and involved disciplines, fluid dynamics, structural engineering, generation and mains frequency regulation to the very transmission of power through the network in the United Kingdom.
Author: Robbie Edward Sayers
Collaborators and co editors: Charlie Sims and Connor Healey.
(C) 2024 Robbie E. Sayers
1. SBE 403 B: Bioelectronic Systems (Biomedical Robotics)
Lecture 09
Robot Arm Kinematics
Muhammad Rushdi
mrushdi@eng1.cu.edu.eg
2. Main Problems in Robotics
• What are the basic issues to be resolved and what must we
learn in order to be able to program a robot to perform its
tasks?
• Problem 1: Forward Kinematics
• Problem 2: Inverse Kinematics
• Problem 3: Velocity Kinematics Kinematics: The branch of• Problem 3: Velocity Kinematics
• Problem 4: Path Planning
• Problem 5: Vision
• Problem 6: Dynamics
• Problem 7: Position Control
• Problem 8: Force Control
2
mechanics that studies the
motion of a body or a
system of bodies without
consideration given to its
mass or the forces acting
on it.
3. Textbook
• Ch. 7 Robot Arm
Kinematics
Peter Corke:
Robotics, Vision and
Peter Corke:
Robotics, Vision and
Control - Fundamental
Algorithms in MATLAB®.
http://www.petercorke.com/R
VC/
3
4. Serial-Link Manipulators
• A serial-link manipulator comprises a chain of
mechanical links and joints. Each joint can
move its outward neighboring link with respect
to its inward neighbor. One end of the chain,
the base, is generally fixed and the other end isthe base, is generally fixed and the other end is
free to move in space and holds the tool or
end-effector.
4
5. Serial-Link Manipulators
• A serial-link manipulator comprises a chain of
mechanical links and joints. Each joint can move its
outward neighboring link with respect to its inward
neighbor. One end of the chain, the base, is generally
fixed and the other end is free to move in space and
holds the tool or end-effector.holds the tool or end-effector.
5
6. Describing a Robot Arm
• A serial-link manipulator comprises a set of
bodies, called links, in a chain and
connected by joints. Each joint has one
degree of freedom, either translational (a
sliding or prismatic joint) or rotational (a
revolute joint).revolute joint).
• Motion of the joint changes the relative angle
or position of its neighboring links.
6
7. Describing a Robot Arm
• The joint structure of a robot can be
described by a string such as “RRRRRR” for
the Puma and “RRPRRR” for the Stanford
arm, where the jth character represents the
type of joint j, either Revolute or Prismatic.
• A systematic way of describing the geometry
of a serial chain of links and joints was
proposed by Denavit and Hartenberg in 1955
and is known today as Denavit-Hartenberg
notation.
https://www.youtube.com/watch?v=rA9tm0gTln8
7
8. Denavit-Hartenberg Notation
• For a manipulator with N joints numbered from 1 to
N, there are N +1 links, numbered from 0 to N. Link
0 is the base of the manipulator and link N carries
the end-effector or tool.
8
9. Denavit-Hartenberg Notation
• Joint j connects link j −1 to link j and therefore joint j
moves link j. A link is considered a rigid body that
defines the spatial relationship between two
neighbouring joint axes.
9
11. Denavit-Hartenberg Notation
The transformation from link coordinate frame {j −
1} to frame {j} is defined in terms of elementary
rotations and translations as
which can be expanded as
11
13. Forward Kinematics
The forward kinematics is often expressed in
functional form
with the end-effector pose as a function of joint
coordinates. Using homogeneous transformations
this is simply the product of the individual link
transformation matrices given by Eq. 7.2 which for an
N-axis manipulator is
13
14. Forward Kinematics
The pose of the end-effector ξE∼ TE∈ SE(3) has six
degrees of freedom – three in translation and three in
rotation. Therefore robot manipulators commonly
have six joints or degrees of freedom to allow them to
achieve an arbitrary end-effector pose.
The overall manipulator transform is frequently written
as T6 for a 6-axis robot.
14
20. Inverse Kinematics
• We have shown how to determine the pose of the end-effector
given the joint coordinates and optional tool and base transforms.
A problem of real practical interest is the inverse problem: given
the desired pose of the end-effector ξE what are the required
joint coordinates? This is the inverse kinematics problem whichjoint coordinates? This is the inverse kinematics problem which
is written in functional form as
• In general this function is not unique and for some classes of
manipulator no closed-form solution exists, necessitating a
numerical solution.
20
21. Inverse Kinematics: Non-uniqueness of
the Inverse Solution
• In general there are eight (Why?) sets of joint
coordinates that give the same end-effector pose –
the inverse solution is not unique.
21
.
22. Inverse Kinematics: Non-uniqueness of
the Inverse Solution
• In addition to the left- and right-handed solutions,
there are solutions with the elbow either up or
down, and with the wrist flipped or not flipped.
22
.
23. Inverse Kinematics: Numerical Solution
• For the case of robots which do not have six joints and a
spherical wrist we need to use an iterative numerical
solution.
• A limitation of this general numeric approach is that it does
not provide explicit control over the arm’s kinematic
configuration as did the analytic approach – the onlyconfiguration as did the analytic approach – the only
control is implicit via the initial value of joint coordinates
(which defaults to zero).
• As would be expected the general numerical approach is
considerably slower than the analytic approach. However
it has the great advantage of being able to work with
manipulators at singularities and manipulators with less
than six or more than six joints. 23
.
24. Inverse Kinematics: Under-Actuated
Manipulator
• An under-actuated manipulator is one that has fewer
than six joints, and is therefore limited in the end-
effector poses that it can attain. SCARA robots are a
common example, they have typically have an x-y-z-θ
task space, T ⊂ R3× S and a configuration space C ⊂
S3× R.
⊂ ⊂
S3× R.
24
.
http://open-robotics.com/wp/wp-
content/uploads/scara1.png
25. Inverse Kinematics: Redundant
Manipulator
• A redundant manipulator is a robot with more than six
joints. As mentioned previously, six joints is
theoretically sufficient to achieve any desired pose in a
Cartesian task space T ⊂ SE(3). However practical
issues such as joint limits and singularities mean that
not all poses within the robot’s reachable space can
⊂
not all poses within the robot’s reachable space can
be achieved. Adding additional joints is one way to
overcome this problem.
25
.
.