Ecole Nationale des sciences Appliquées de Fès

Département Génie Industriel

Robotics

Chapter 1
Introduction
Ecole Nationale des sciences Appliquées de Fès
Département Génie Industriel

Texts
Primary:
M. Spong, S. Hutchinson, and M.
Vidyasagar, “Robot Modeling and
Control”, Wiley

Secondary:
Li, Murray, Sastry, “A Mathematical
Introduction to Robotic
Manipulation”, CRC Press

Thirdly :
John J. Craig, “Introduction to Robotics
Mechanics and Control”, Prentice Hall
 Ecole Nationale des sciences Appliquées de Fès
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Lab

• Multiple experiments with a 6-axis industrial

robotic arm (RRR)
– Forward/inverse kinematics
– Velocity kinematics
– Control
– Path planning
– Manipulation
• Will require extensive use of Matlab/Simulink
 Ecole Nationale des sciences Appliquées de Fès
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Course outline
• First 2/3: traditional analysis of robotic manipulators
– Homogeneous transforms
– Forward/inverse kinematics
– Velocity kinematics, dynamics
– Motion planning
– Control
• Final 1/3: introduction to special topics
– Sensors and actuators
– Mobile agents, SLAM
– Computer vision
– MEMS, microrobotics
– Surgical robotics, teleoperation
– Biomimetic systems
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1. Introduction

• Historical perspective
– The acclaimed Czech playwright Karel Capek
(1890-1938) made the first use of the word
‘robot’, from the Czech word for forced labor or
serf.
– The use of the word Robot was introduced into
his play R.U.R. (Rossum's Universal Robots)
which opened in Prague in January 1921. In
R.U.R., Capek poses a paradise, where the
machines initially bring so many benefits but in
the end bring an equal amount of blight in the
form of unemployment and social unrest.
• Science fiction
– Asimov, among others glorified the term
‘robotics’, particularly in I, Robot, and early films
such as Metropolis (1927) paired robots with a
dystopic society
• Formal definition (Robot Institute of America):
– "A reprogrammable, multifunctional manipulator
designed to move material, parts, tools, or
specialized devices through various
programmed motions for the performance of a
variety of tasks".
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2. Robots in everyday use and popular culture

• 100s of movies
• Chances are, something you
eat, wear, or was made by a
robot

Roomba: $142M in sales for 2005

$616.8M in sales for 2015

Number of robots in various countries 2014 / 10000 employees

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3. Common applications
• In Classrooms
• Industrial
– Robotic assembly

• Commercial
– Household chores
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3. Common applications
• Military

• Medical
– Robot-assisted surgery
– Lifting and repositioning patients.
– Delivering medications to patients' rooms.
– Acting as mobile supply closets, following
nurses from room to room.
– Delivering lab samples and reports.
– Conducting routine monitoring of patients —
taking temperatures, blood pressure, glucose
and so on.
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3. Common applications
• Planetary Exploration
– Fast, Cheap, and Out of Control
– Mars rover
• Undersea exploration

JHUROV; Johns Hopkins

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3. Common applications
• On the Farm

• Food Preparation
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4. Industrial robots
• High precision and repetitive tasks
– Pick and place, painting, etc
• Hazardous environments
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5. Representations

• For the majority of this class, we will consider robotic

manipulators as open or closed chains of links and joints
– Two types of joints: revolute (q) and prismatic (d)
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6. Definitions

• End-effector/Tool
– Device that is in direct contact with the environment. Usually very task-
specific
• Configuration
– Complete specification of every point on a manipulator
– set of all possible configurations is the configuration space
– For rigid links, it is sufficient to specify the configuration space by the joint
angles q = q1 q2 ... qn 
T

• State space
– Current configuration (joint positions q) and velocities q
• Work space
– The reachable space the tool can achieve
• Reachable workspace
• Dextrous workspace
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7. Common configurations
wrists
• Many manipulators will be a sequential chain of links and joints
forming the ‘arm’ with multiple DOFs concentrated at the ‘wrist’
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7. Common configurations
Example end-effector: Grippers
• Anthropomorphic or task-specific
– Force control v. position control

Utah MIT hand

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7. Common configurations
elbow manipulator
• Anthropomorphic arm: ABB IRB1400
• Very similar to the lab arm (RRR)
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7. Common configurations
Workspace: elbow manipulator
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7. Common configurations
Stanford arm (RRP)
• Spherical manipulator (workspace forms a set of concentric
spheres)
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7. Common configurations
SCARA (RRP)

Adept Cobra Smart600 SCARA robot

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7. Common configurations
cylindrical robot (RPP)
• workspace forms a cylinder

Seiko RT3300 Robot

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7. Common configurations
Cartesian robot (PPP)
• Increased structural rigidity, higher precision
– Pick and place operations
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7. Common configurations
Workspace comparison

(a) spherical
(b) SCARA
(c) cylindrical
(d) Cartesian
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8. Parallel manipulators
• some of the links will form a closed chain with ground
• Advantages:
– Motors can be proximal: less powerful, higher bandwidth, easier to control
• Disadvantages:
– Generally less motion, kinematics can be challenging

6DOF Stewart platform ABB IRB6400 ABB IRB940 Tricept

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9. Simple example: control of a 2DOF planar

manipulator
• Move from ‘home’ position and follow the path AB with a constant contact force F
all using visual feedback
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10. Coordinate frames & forward kinematics

• Three coordinate frames: 0 1 2
• Positions:
 x1  a1 cos(q1 )
 y  =  a sin(q )  2
 1  1 1 

 x2  a1 cos(q1 ) + a2 cos(q1 + q 2 )  x 

 y  =  a sin(q ) + a sin(q + q )    y 
 2  1 1 2 1 2   t
• Orientation of the tool frame:
0 1
1 0
xˆ 0 =  , yˆ 0 =  
0 1
cos(q1 + q 2 ) − sin(q1 + q 2 )
xˆ 2 =  ˆ =
 2  cos(q + q ) 
, y
 sin(q1 + q 2 )   1 2 

 xˆ  xˆ yˆ 2  xˆ 0  cos(q1 + q 2 ) − sin(q1 + q 2 )
R20 =  2 0  = 
 xˆ 2  yˆ 0 yˆ 2  yˆ 0   sin(q1 + q 2 ) cos(q1 + q 2 ) 
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11. Inverse kinematics

• Find the joint angles for a desired tool position
xt2 + y t2 − a12 − a22
cos(q 2 ) =  D  sin(q 2 ) =  1 − D 2
2a1a2

−1  1 − D 2  q = tan−1 y  − tan−1 a2 sin(q 2 ) 
q 2 = tan     a + a cos(q ) 
 
1
 D   x  1 2 2 

• Two solutions!: elbow up and elbow down

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12. Velocity kinematics: the Jacobian

• State space includes velocity

 x 2  − a1 sin(q1 )q1 − a2 sin(q1 + q 2 )(q1 + q2 )

 y  =  
 2   a1 cos(q1 )q1 + a2 cos(q1 + q 2 )(q1 + q2 ) 
− a sin(q1 ) − a2 sin(q1 + q 2 ) − a2 sin(q1 + q 2 ) q1 
= 1  
 a1 cos(q1 ) + a2 cos(q1 + q 2 ) a2 cos(q1 + q 2 )  q2 

= Jq

• Inverse of Jacobian gives the joint velocities:

 
q = J −1x
1  a2 cos(q1 + q 2 ) a2 sin(q1 + q 2 )   x 
=
a1a2 sin(q 2 ) − a1 cos(q1 ) − a2 cos(q1 + q 2 ) − a1 sin(q1 ) − a1 sin(q1 + q 2 )  y 

• This inverse does not exist when q2 = 0 or p, called singular

configuration or singularity
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13. Path planning

• In general, move tool from position A to position B while avoiding
singularities and collisions
– This generates a path in the work space which can be used to solve for joint
angles as a function of time (usually polynomials)
– Many methods: e.g. potential fields

• Can apply to mobile agents or a manipulator configuration

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14. Joint control

• Once a path is generated, we can create a desired tool path/velocity
– Use inverse kinematics and Jacobian to create desired joint trajectories

desired trajectory
error controller system dynamics

measured trajectory (w/ sensor noise) actual trajectory

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15. Other control methods

• Force control or impedance control (or a hybrid of both)

– Requires force/torque sensor on the end-effector
• Visual servoing
– Using visual cues to attain local or global pose information
• Common controller architectures:
– PID
– Adaptive
– Repetitive
• Challenges:
– Underactuation
– Nonholonomy (mobile agents)
– nonlinearity
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16. Sensors and actuators

• sensors
– Motor encoders (internal)
– Inertial Measurement Units
– Vision (external) Basic quantities for
– Contact and force sensors both:
• motors/actuators • Bandwidth
– Electromagnetic • Dynamic range
– Pneumatic/hydraulic
• sensitivity
– electroactive
• Electrostatic
• Piezoelectric
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17. Computer Vision

• Simplest form: estimating the position and orientation of yourself or
object in your environment using visual cues
– Usually a statistical process
– Ex: finding lines using the Hough space

• More complex: guessing what the object in your environment are

• Biomimetic computer vision: how do animals accomplish these tasks:
– Obstacle avoidance
– Object recognition
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18. MEMS and Microrobotics

• Difficult definition(s):
– Robotic systems with feature sizes < 1mm
– Robotic systems dominated by micro-scale physics
• MEMS: Micro ElectroMechanical Systems
– Modified IC processes to use ‘silicon as a mechanical
material’

Fearing; Berkeley Donald; Dartmouth

Pister; Berkeley
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Next class…

• Homogeneous transforms as the basis for forward

and inverse kinematics