This document provides an introduction to robotics, including key terms, technologies, applications, vendors, and programming. It discusses how robots use joints to generate motion and integrate tools and sensors. Common robot processes are described such as path following, repetitive moves, and telerobotics. Advantages of robots include flexibility and improved quality, while disadvantages include replacing human labor and costs of associated technologies. Standards organizations like RIA provide definitions and safety regulations for robotics.
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
CPREDICTION OF INVERSE KINEMATICS SOLUTION OF A REDUNDANT MANIPULATOR USING A...Ijripublishers Ijri
In this thesis, a method for forward and inverse kinematics analysis of a 5-DOF and a 7- DOF Redundant manipulator
is proposed. Obtaining the trajectory and computing the required joint angles for a higher DOF robot manipulator is one
of the important concerns in robot kinematics and control. The difficulties in solving the inverse kinematics equations
of these redundant robot manipulator arises due to the presence of uncertain, time varying and non-linear nature of
equations having transcendental functions. In this thesis, the ability of ANFIS is used to the generated data for solving
inverse kinematics problem. A single- output Sugeno-type FIS using grid partitioning has been modeled in this work.
The forward kinematics and inverse kinematics for a 5-DOF and 7-DOF manipulator are analyzed systemically. The Efficiency
of ANFIS can be concluded by observing the surface plot, residual plot and normal probability plot. This current
study in using different nonlinear models for the prediction of the IKs of a 5-DOF and 7-DOF Redundant manipulator
will give a valuable source of information for other modellers.
Keywords: 5-DOF and 7-DOF Redundant Robot Manipulator; Inverse kinematics; ANFIS; Denavit-Harbenterg (D-H)
notation.
Design and Analysis of Articulated Inspection Arm of RobotIJTET Journal
Nowadays Robot play a vital role in all the activities in human life including industrial needs. There is a definite trend in the manufacture of robotic arms toward more dexterous devices, more degrees of-Freedom, and capabilities beyond the human arm. The ultimate objective is to save human lives in addition to increasing productivity and quality of high technology work environments. The objective of this project is to design, analysis of a Generic articulated robot Arm. This project deals with the modeling of a special class of single-link articulated inspection arms of robot. These arms consist of flexible massless structures having some masses concentrated at certain points of hollow sections at the beam. Some aspects of the articulated Robot that are anticipated as useful are its small cross section and its projected ability to change elevation and maneuver over obstacle require large joint torque to weight ratios for joint actuation. A knuckle joint actions actuation scheme is described and its implementation is detailed in this project. The parts of the (AIA) arm are analyzed for deflection and stress concentration under loading conditions in different angles.
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
CPREDICTION OF INVERSE KINEMATICS SOLUTION OF A REDUNDANT MANIPULATOR USING A...Ijripublishers Ijri
In this thesis, a method for forward and inverse kinematics analysis of a 5-DOF and a 7- DOF Redundant manipulator
is proposed. Obtaining the trajectory and computing the required joint angles for a higher DOF robot manipulator is one
of the important concerns in robot kinematics and control. The difficulties in solving the inverse kinematics equations
of these redundant robot manipulator arises due to the presence of uncertain, time varying and non-linear nature of
equations having transcendental functions. In this thesis, the ability of ANFIS is used to the generated data for solving
inverse kinematics problem. A single- output Sugeno-type FIS using grid partitioning has been modeled in this work.
The forward kinematics and inverse kinematics for a 5-DOF and 7-DOF manipulator are analyzed systemically. The Efficiency
of ANFIS can be concluded by observing the surface plot, residual plot and normal probability plot. This current
study in using different nonlinear models for the prediction of the IKs of a 5-DOF and 7-DOF Redundant manipulator
will give a valuable source of information for other modellers.
Keywords: 5-DOF and 7-DOF Redundant Robot Manipulator; Inverse kinematics; ANFIS; Denavit-Harbenterg (D-H)
notation.
Design and Analysis of Articulated Inspection Arm of RobotIJTET Journal
Nowadays Robot play a vital role in all the activities in human life including industrial needs. There is a definite trend in the manufacture of robotic arms toward more dexterous devices, more degrees of-Freedom, and capabilities beyond the human arm. The ultimate objective is to save human lives in addition to increasing productivity and quality of high technology work environments. The objective of this project is to design, analysis of a Generic articulated robot Arm. This project deals with the modeling of a special class of single-link articulated inspection arms of robot. These arms consist of flexible massless structures having some masses concentrated at certain points of hollow sections at the beam. Some aspects of the articulated Robot that are anticipated as useful are its small cross section and its projected ability to change elevation and maneuver over obstacle require large joint torque to weight ratios for joint actuation. A knuckle joint actions actuation scheme is described and its implementation is detailed in this project. The parts of the (AIA) arm are analyzed for deflection and stress concentration under loading conditions in different angles.
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.
Methods of robot programming
Leadthrough programming methods
A robot program as a path in space
Motion interpolation
WAIT, SIGNAL and DELAY commands
Branching
Pick and place task is one among the most important tasks in industrial field handled by “Selective
Compliance Assembly Robot Arm” (SCARA). Repeatability with high-speed movement in horizontal plane is
remarkable feature of this type of manipulator. The challenge of design SCARA is the difficulty of achieving
stability of high-speed movement with long length of links. Shorter links arm can move more stable. This
condition made the links should be considered restrict then followed by restriction of operation area
(workspace). In this research, authors demonstrated on expanding SCARA robot’s workspace in horizontal area
via linear sliding actuator that embedded to base link of the robot arm. With one additional prismatic joint the
previous robot manipulator with 3 degree of freedom (3-DOF), 2 revolute joints and 1 prismatic joint is become
4-DOF PRRP manipulator. This designation increased workspace of robot from 0.5698m2 performed by the
previous arm (without linear actuator) to 1.1281m2 by the propose arm (with linear actuator). The increasing
rate was about 97.97% of workspace with the same links length. The result of experimentation also indicated
that the operation time spent to reach object position was also reduced.
importance of coal handling system, necessity and requirement of coal handling system, various transportation means, methods and equipment's, advantages and disadvantages of various methods, coal unloading videos.
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.
Methods of robot programming
Leadthrough programming methods
A robot program as a path in space
Motion interpolation
WAIT, SIGNAL and DELAY commands
Branching
Pick and place task is one among the most important tasks in industrial field handled by “Selective
Compliance Assembly Robot Arm” (SCARA). Repeatability with high-speed movement in horizontal plane is
remarkable feature of this type of manipulator. The challenge of design SCARA is the difficulty of achieving
stability of high-speed movement with long length of links. Shorter links arm can move more stable. This
condition made the links should be considered restrict then followed by restriction of operation area
(workspace). In this research, authors demonstrated on expanding SCARA robot’s workspace in horizontal area
via linear sliding actuator that embedded to base link of the robot arm. With one additional prismatic joint the
previous robot manipulator with 3 degree of freedom (3-DOF), 2 revolute joints and 1 prismatic joint is become
4-DOF PRRP manipulator. This designation increased workspace of robot from 0.5698m2 performed by the
previous arm (without linear actuator) to 1.1281m2 by the propose arm (with linear actuator). The increasing
rate was about 97.97% of workspace with the same links length. The result of experimentation also indicated
that the operation time spent to reach object position was also reduced.
importance of coal handling system, necessity and requirement of coal handling system, various transportation means, methods and equipment's, advantages and disadvantages of various methods, coal unloading videos.
Market Intelligence Briefing and Government Panel: Cloud Sales OpportunitiesimmixGroup
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Industrial Robots, Robot Anatomy,Joints, Robot Configurations, Robot Actuators/ Drive systems,Robot programming, Teach pendant Programming, Lead through Programming, Robot control systems,Applications,Advatages
This PPT gives information about:
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Vibrant Technologies is headquarted in Mumbai,India.We are the best Robotics training provider in Navi Mumbai who provides Live Projects to students.We provide Corporate Training also.We are Best Robotics classes in Mumbai according to our students and corporators
robotics presentation (2).ppt is good for the student life and easy to gain t...poojaranga2911
power point of robotics
Robotics is the interdisciplinary study and practice of the design, construction, operation, and use of robots. Within mechanical engineering, robotics is the design and construction of the physical structures of robots, while in computer science, robotics focuses on robotic automation algorithms.
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3. Robot Function
• Generate specific motion of joints
• Integrate tooling and sensors
Robot Processes
• Path following
• Repetitive configuration moves
• Telerobotics
• Target moves versus taught moves
4. Key Terms (cont...)
• TCF - Tool or terminal control frame
• TCP - Tool /terminal control point
• Joint limits - Either the software or physical hardware limits which constrain
the operating range of a joint on a robot. The software limits have a smaller
range
than the hardware limits.
• Joint speed limits - Speed limit for robot joints, which limit how fast the links
of a robot may translate or rotate.
• Point-to-point motion - Characterized by starting and stopping between
configurations or as the tool is moved between targets.
5. Key Terms (cont..)
• Continuous path motion - Characterized by blending of motion between
configurations or targets, usually with the loss of path accuracy at the target
transitions, as the robot moves between configurations/targets.
• Interpolation (kinematic) capabilities - Robot usually capable of both
forward and inverse kinematics. Both combine to give the robot the capability to
move in joint space and in Cartesian space. We typically refer to the
moves as joint, linear, or circular interpolation.
• Forward kinematics - Specifying the joint values to accomplish a robot
move to a new configuration in space. These may not be simple as it seems
because secondary joints such as four-bar linkages, ball screws, etc. may be
required to accomplish this motion.
6. Key Terms (cont..)
• Inverse kinematics - Solving a mathematical model of the robot kinematics
to determine the necessary joint values to move the tool to a desired target
(frame) in space. This is accomplished by frame representation whereby a triad
(xyz axes) is attached to the tool on the robot and a target frame is attached to the
part or operating point in the workcell. The inverse kinematics determine the
joint values required to align the tool triad with the target triad.
• I/O - Input/output which consist of ON/OFF signal values, threshold values, or
analog signal values which allow the control of or response to external
devices/sensors as required to sequence workcell operations.
• Programming language - The language and logical constructs used to
program the set of operational instructions used to control robot movement and
interact with sensors and other cell devices.
• Multi-tasking - Ability to process more than one program at a time or process
I/O concurrently.
7. Key Terms (cont..)
• Load capability - Force and torque capability of the robot at its tool interface
• Teach Pendant - Operator interface device used to teach/save robot
configurations and program simple instructions.
8. Where Used and Applied
• Welding
• Painting
• Surface finishing
• Aerospace and automotive industries
• Light assembly such as in the micro-electronics industries,
or consumer products industries
• Inspection of parts (e.g., CMM)
• Underwater and space exploration
• Hazardous waste remediation
11. Robot Repeatability & Accuracy
ISO 9283:1998 Norm for Industrial Robots:ISO 9283:1998 Norm for Industrial Robots:
RepeatabilityRepeatability: positional deviation from the average of displacement.: positional deviation from the average of displacement.
(max speed and max payload)(max speed and max payload)
Accuracy:Accuracy: ability to position, at a desired target point within the workability to position, at a desired target point within the work
volume. (max speed and max payload)volume. (max speed and max payload)
1. Warm robot to steady state conditions
2. Send identical commands to bring the robot to
3 different positions in sequence.
3. Measure the reached position using 2 cameras
and an optical target carried by the robot, or
other instruments.
12. Robot Repeatability & Accuracy
For N measurements, with commanded position (Xc, Yc, Zc) and reachedFor N measurements, with commanded position (Xc, Yc, Zc) and reached
position (Xr, Yr, Zr); according to statistics theory, using this formula, itposition (Xr, Yr, Zr); according to statistics theory, using this formula, it
means that the position of the robot will be 99.8% of the time inside themeans that the position of the robot will be 99.8% of the time inside the
repeatability range.repeatability range.
13. Supporting Technologies
· Vision systems · End-of-arm tooling
· Compliance devices · Manipulation devices
· Welding technologies · Lasers
· Proximity sensors · Wrist sensor (forces/torques)
· Control software/hardware · Part delivery systems
· Application software · Interface software
· Operating systems · Programming languages
· Communication systems · I/O devices
14. Advantages
• Greater flexibility, re-programmability, kinematics dexterity
• Greater response time to inputs than humans
• Improved product quality
• Maximize capital intensive equipment in multiple work shifts
• Accident reduction
• Reduction of hazardous exposure for human workers
• Automation less susceptible to work stoppages
15. Disadvantages
• Replacement of human labor
• Greater unemployment
• Significant retraining costs for both unemployed and
users of new technology
• Advertised technology does not always disclose some of
the hidden disadvantages
• Hidden costs because of the associated technology that
must be purchased and integrated into a functioning
cell. Typically, a functioning cell will cost 3-10 times
the cost of the robot.
16. Limitations
• Assembly dexterity does not match that of human beings,
particularly where eye-hand coordination required.
• Payload to robot weight ratio is poor, often less than 5%.
• Robot structural configuration may limit joint movement.
• Work volumes can be constrained by parts or tooling/sensors
added to the robot.
• Robot repeatability/accuracy can constrain the range of
potential applications.
• Closed architectures of modern robot control systems make it
difficult to automate cells.
17. Robot Kinematics
• Open kinematics chain
• Degrees-of-freedom = # independent joints (normally)
• Other joints often used to drive independent joints
• Joints often have functional relationships
• Forward kinematics -> Joint space
• Inverse kinematics -> Cartesian space
18. Homogeneous Transformation
Notes:
1. In robotics d = 0
2. p = origin of xyz relative to XYZ
3. Three columns of R are direction cosines of x, y, z with respect to X, Y,
and Z, e.g., R(1,2) = cosine of angle between y and X.
4. If xyz aligned with XYZ, then R = I = identity matrix.
5. If rotation only then p = 0 = zero vector.
=
)11()31(
)13()33(
1
xx
xx
Td
pR
p),H(RXX
YY
ZZ
yy
xx
zz
pp
20. Example
Can you show that H from the previous slide is the same as H(p)
H(z,90˚)where frame xyz is first offset from the base frame by p = [200
100 0]T
, followed by a 90˚ rotation applied about the frame (or body) z
axis?
agrees!>−
−
=
−
=
1000
0100
100001
200010
1000
0100
0001
0010
1000
0100
100010
200001
H
H = H(p) H(z, 90˚)
22. Transferring/Resolving Vectors
Transfer v to XYZ by
u = H v
where
Note: To resolve v into the base frame only the 3x3 R matrix
should be used and the 1 dropped off the v vector.
XX
YY
ZZ
yy
xx
zz
pp
uu
vv
uuxx
uuyy
uuzz
11
u =
vvxx
vvyy
vvzz
11
v =
23. Example of resolving vectors
Rotate u = [0 1 0]T
by 90˚ CW (-) about Z and 90˚ CW (-) about Y (note that both
rotations are about base axes). What are the final coordinates in XYZ axes? If
rotation order is changed, will the final coordinates be the same?
Solution:
v = R (Z, -90˚) u
w = R (Y, -90˚) v
Thus,
w = R (y, -90˚) R (z, -90˚) u
−
−
=
=
0
1
0
100
001
010
001
010
100
1
0
0
w
Rotations are not commutative, thus
final coordinates will not be the
same!
24. Relative Transformations
If we post-multiply a transformation representing a frame by a
second transformation, we make the transformation with respect to the
frame axes of the first transformation. Pre-multiplying the frame
transformation by the second transformation causes the transformation
to be made with respect to the base reference frame.
25. Kinematics Loop
Forward*: T = H1 H2…Hi…Hn G
Inverse*: H1 H2…Hi…Hn = TG-1
…..complex solution!
*Note that Hi is a function of joint variable; thus, 6 joints, 6 joint variables!s!
26. Forward Kinematics
Homogeneous transformations can be described in Denavit-Hartenberg (D-H) coordinates
which only requires 4 parameters to pose one frame relative to another. In these
coordinates the z axis is always aligned along the joint axis.
D-H parameters:
ai = minimum distance between joint i axis (zi) and joint i-1 axis (zi-1)
di = distance from minimum distance line (xi-1 axis) to origin of ith joint frame
measured along zi axis.
αi = angle between zi and zi-1 measured about previous joint frame xi-1 axis.
θi = angle about zi joint axis which rotates xi-1 to xi axis in right hand sense.
27. Joint Interpolated Motion
• Examine each joint for the changes in joint angles.
• Estimate the time to accomplish each joint change at the
speed setting, given the speed allowables for each joint.
• Determine the joint which will take the longest time to
accomplish the joint change.
• Slow the remaining joints down so that all accomplish their
change in the same period.
• The joint interpolated setting is usually a number between 0
and 1 which represents the fractional % of full speed for
each joint.
28. Example
A simple mechanism has two joints described as follows:
Joint 1: Joint 2:
Type = Prismatic (sliding) Type = Revolute (rotational)
Joint speed maximum = 100 mm/s Joint speed maximum = 180˚/s
If the robot joint speed setting is set to 50%, then approximate the time to move from a
configuration of 20 mm, 125.3˚ to a configuration of 134.5 mm, 34.5˚, and also determine
the joint speeds in doing so. Which joint is controlling the motion and which is following
the motion? Neglect the acceleration and deceleration times.
Solution:
29. Robot Programming
· Teach Pendant
· Lead Through
· Off-Line
· Programming Languages:
DARL
VAL II
RAIL
AML
KAREL
Robpac/C
etc.
30. Standards
• Robotics Industries Association (RIA)
• SME/RI
• Typical areas covered:
- Definitions such as accuracy/repeatability
- Teach pendant safety regulations
- Controller wiring
31. Summary
•Robotics - integration of computers and controlled mechanisms
to make devices re-programmable and versatile.
• Modern mathematic representations are used to plan robotic
tasks and integrate sensors into the task planning.
• There are decided advantages to using robots, namely flexibility
and performance quality.
• Down side is that robotics effects the labor pool and increases
the educational requirements for manufacturing personnel.
• Robotics are used in most industries and will be used even more
in the decades to come.
32. ThankThank You !!!You !!!
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