Scribd
Upload
18 views

LAB2 - Robotics

Uploaded by

Ahmed Abdulbary AL-Qarm
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
18 views

LAB2 - Robotics

Uploaded by

Ahmed Abdulbary AL-Qarm
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 40

Robotics

Lab 1 : Introduction to Robotics


Eng. Najm Addin Al-Shuaibi
Objectives
• Robot Definition.
• Degree of Freedom. (DOF).
• Types of Robots.
• Types of Joints.
Definition of a Robot
• reprogrammable,
multifunctional manipulator
designed to move material,
parts, tools, or specialized
devices through variable
programmed motions for the
performance of a variety of
tasks.
Definition of a Workspace

• A robot's workspace is the


specific physical area or volume
within which it can perform
tasks or manipulate objects.
Definition of a Workspace

• Reachable.
• Reach the point by at least one
orientation.
• Dextrous.
Joints and Links
Joints and Links
Degree of Freedom (DOF)

• Degree of freedom in robotics


refers to the number of
independent ways a robot can
move or change its configuration.
Degree of Freedom (DOF)
Degree of Freedom (DOF)

• Degree of freedom in robotics


refers to the number of
independent ways a robot can
move or change its configuration.
Singularity

• Is a configuration in which the


robot end effector becomes
blocked in certain directions.

• Also defined as a particular


point in a robot workspace that
causes the robot to lose one or
more degrees of freedom
Types of Robots

1. Cartesian Robot
(PPP or 3P)
Three linear motion in X , Y and Z
Types of Robots

2. Cylindrical Robot
(RPP or R2P)
Types of Robots

3. Spherical Robot
(2RP)
Types of Robots

4. Articulated Robot
(3R)
Types of Robots

5. SCARA Robot
(3RP)
Homework 1

Download robotics MATLAB


toolbox and install it in your
laptop.

Robotics MATLAB
TOOLBOX
Know every function inside
the RVC tools library
Term Assignments

• Attendance – 10%
• HomeWorks. – 40%
• Final Term Project – 50%
Final Term Project – Due Week 8

• ABB robot Studio.


1. Introduction to Robotics Studio (program Interface).
2. Welding RoboticStudio.
3. CNC Robot.
4. 3D Printing Robot.
5. Pick and Place Robot in Robotic Studio.
6. Painting robot in Robotic Studio.
Final Term Project – Due Week 8

• Each group should be at least 3 and maximum 6


students.
• Each group should deliver the following.
• A presentation how the group made the project.
• A demo of the final project.
• A documentation of how the project was done (pptx or docx).
• Upload the files to the following telegram bot.
Robotics
Lab 2 : Positions, orientations, and frames.
Eng. Najm Addin Al-Shuaibi
Objectives
• What is a frame.
• Translation matrix.
• 2D Rotation.
• Rot-Z
• Transformation matrix.
Frame
• Frames in a robot define a
coordinate system that the
robot uses to know where it
is and where to go. A frame
consists of six main
components: an X, Y, & Z
axis and a rotation about
each of these axes.
Point in 2D-Space

A
3
P 5
P

5
1 A 3 X

3x1 Point Movement


Translation Matrix
Y

• that represents a movement


Y
or shift in position, typically
used to describe the
displacement of objects or
points in 3D space. 5
B X

A 3 X

Frame Movement
Translation Matrix
Y

B
P A 5
B X

A 3 X

Frame Movement
Translation Matrix -2D Space
Y

Y
1 0 3
0 1 5
5
0 0 1 B X

3x3 A 3 X

Frame Movement
Translation in a 3D Transformation
Matrix Y

1 0 0 3
0 1 0 5 5
B X
0 0 1 0
0 0 0 1 A 3 X

4x4 Frame Movement


Rotation Matrix

Rotation x Rotation y Rotation z


MATLAB – rvctools
MATLAB – translation

>> transl2(3, 5) ans =

1 0 4
0 1 5
0 0 1
>> trplot2(transl2(4, 5));
MATLAB – rotation 2D
 Rotation matrix representing a rotation of theta in radians:

>> rot2(pi/2)
ans =
0.0000 -1.0000
1.0000 0.0000

 Homogeneous transformation (3 ×3) representing a rotation of


theta in radians:
>> trot2(pi/2)
ans =
0.0000 -1.0000 0
1.0000 0.0000 0
0 0 1.0000
MATLAB – transformation 2D
 We create a homogeneous transformation using the function se2:
which represents a translation of (1, 2) and a rotation of 30°:
>> T1=se2(2,3,60*pi/180)
T1 =
0.5000 -0.8660 2.0000
0.8660 0.5000 3.0000
0 0 1.0000

 We can plot this, relative to the world coordinate frame, by


>> axis([0 5 0 5])
>> trplot2(T1, 'frame', '1', 'color', 'b')
MATLAB – transformation 2D
 We create a homogeneous transformation using the function se2:
which represents a translation of (1, 2) and a rotation of 30°:
>> T1=se2(2,3,60*pi/180)
T1 =
0.5000 -0.8660 2.0000
0.8660 0.5000 3.0000
0 0 1.0000

 We can plot this, relative to the world coordinate frame, by

>> axis([0 5 0 5])


>> trplot2(T1, 'frame', '1', 'color', 'b')
MATLAB – transformation 2D - Example
 Create the four homogeneous transformation with dimension as shown.
- Frame 1: Translation of (1,2) and rotation by 30.
- Frame 2: (see the Figure)
- Frame 3: is Frame1 * Frame2
- Frame 4: is Frame2 * Frame1
- point: (see the Figure).
 Create the point as a homogeneous form.
 Determine the coordinate of the point
with respect to frame {3}.

 Determine the coordinate of the point


with respect to frame {4}.
MATLAB – transformation 2D - Example
MATLAB – transformation 2D - Example
 Create the four homogeneous transformation with dimension as shown.
- Frame 1: Translation of (1,2) and rotation by 30. >> T1 = se2(1, 2, 30*pi/180);
- Frame 2: (see the Figure) >> T2 = se2(2, 1, 0);
- Frame 3: is T1*T2 >> T3 = T1*T2;
- Frame 4: is T2*T1 >> T4 = T2*T1;
- point: (see the Figure). >> P = [3 ; 2 ;1];
 Create the point as a homogeneous form. >> P3=inv(T3)*P
 Determine the coordinate of the point P3 =
>> P4=inv(T4)*P
with respect to frame {3}. >>P4=h2e( P4 )
-0.2679
-2.0000
1.0000

 Determine the coordinate of the point P4 =

with respect to frame {4}. -0.5000


-0.8660
1.0000
MATLAB – transformation 2D - HW

Create a frame with the following properties


1-rotation of -60 degrees.
2-translation of (2,1).
3-translation of (-1,2) along the generated axis.
4-rotation of 45.

You might also like