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Case Study Robotics

This case study examines the maneuverability and workspace of a robot. It includes 3 group members and was submitted on April 26, 2016. It introduces maneuverability and discusses the instantaneous center of rotation of the robot. It also covers the degree of mobility, steerability, and maneuverability. Finally, it examines the reachable workspace of the robot and the characteristics of polar, cylindrical, and Cartesian robot anatomies.

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Anurag Sharma
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66 views7 pages

Case Study Robotics

This case study examines the maneuverability and workspace of a robot. It includes 3 group members and was submitted on April 26, 2016. It introduces maneuverability and discusses the instantaneous center of rotation of the robot. It also covers the degree of mobility, steerability, and maneuverability. Finally, it examines the reachable workspace of the robot and the characteristics of polar, cylindrical, and Cartesian robot anatomies.

Uploaded by

Anurag Sharma
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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Case Study

Case study on Maneuverability &


Workspace of robot.

Group Members-
Anurag Sharma 12stuhhme0128

Vineet Saini 12stuhhme0303

Vs Vikas Singh 12stuhhme0180

Submission Date-
26-04-2016
Introduction to Maneuverability of a robot
A controlled change in movement or direction of a moving robot,as in the flight path of an
aircraft. The kinematic mobility of a robot chassis is its ability to directly move in the
environment .The basic constraint limiting mobility is the rule that every wheel must
satisfy its sliding constraint. In addition to instantaneous kinematic motion a mobile robot
is able to further manipulate its position, overtime, by steering steerable wheels.

The overall maneuverability of a robot is thus a combination of the mobility available


based on the kinematic sliding constraints of standard wheels,plus the additional freedom
contributed by steering and spinning the steerable standard wheel.

Using the instantaneous centre of rotation (ICR) of the chassis to describe this motion is a
well established method. But the ICR is a mathematical concept which is hardly achieved
on a real robot.

INSTANTANEOUS CENTER OF ROTATION OF ROBOT (ICR)


The ICR is defined as being the point in the robot frame that instantaneously does not
move in relation to the robot.

For a non-holonomic robot(state depends on the path taken in order to achieve it) using
conventional wheels, this corresponds to the point where the propulsion axis of each
wheel intersect.

Mobile Robot Locomotion


The position of the ICR in the robot frame is defined (non redundantly) by two
coordinates. However, most omnidirectional robots have more than two active wheels. As
the number of controllable degrees of freedom (DOF) is higher than the DOF of the
platform, the system of equations needed to calculate the ICR becomes over-determined.
Degree of Mobility

Degree of mobility mathematical equation


Degree of Steerability

Degree of Maneuverability
Introduction to workspace of robot

The reachable workspace of a robot's end-effector is the manifold of reachable frames.

The dextrous workspace consists of the points of the reachable workspace where the
robot can generate velocities that span the complete tangent space at that point, i.e., it
can translate the manipulated object with three degrees of freedom, and rotate the
object with three degrees of rotation freedom.

The relationships between joint space and Cartesian space coordinates of the object
held by the robot are in general multiple-valued: the same pose can be reached by the
serial arm in different ways, each with a different set of joint coordinates. Hence the
reachable workspace of the robot is divided in configurations (also called assembly
modes), in which the kinematic relationships are locally one-to-one.

Workspace of polar, cyclindrical and cartesian


robot anatomies
• Main characteristics of the workspace
• In the computation of robot workspace, what is most important is its shape and
volume (dimensions and structure). Both aspects have a significant importance
due to their impact on the design and manipulability of the robot.
• For using a robot, the exact knowledge about the shape, dimensions and
structure of its workspace is important since:
• The shape is important for the definition of the environment where the robot will
work.
• The dimensions are important for determination the reach of the end-effector.
• The structure of workspace is important for assuring kinematic characteristics
of the robot which are in relation with the interactions of the robot to its
environment.
• Additionally, shape, dimensions and structure of the workspace depend on the
properties of the robot under consideration:
• The major influence on the dimensions of workspace is exerted by the
dimensions of links of the robot and the mechanical limitations of the joints (both
active and passive).
• The shape may vary depending on the geometrical structure of the robot
(interference between links) as well as properties of the DoF (quantity, type of
joint and joint limits, both active and passive).
• The structure of workspace is defined by the structure of the robot and the
dimensions of its links

Advantages & disadvantages of workspace

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