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Robotics

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8 views7 pages

Robotics

Uploaded by

ojaswalke
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Robotics

Robotics is a multidisciplinary field that includes the design, manufacturing,


simulation and operation of intelligent machines capable of performing tasks
autonomously or semi-autonomously. Robot may be defined as a system that contains
sensors, control systems, manipulators, power supplies and software all working
together to perform a task.

Robot kinematics is defined as the study of the motion geometry of a robotic


arm with respect to a fixed reference coordinate system without consideration of
forces or the torques responsible for the robot motion.

basic components of a Robotic aRm


Body/Frame: The structure of the robot that holds all the components together.

Actuators: These are responsible for movement, include motors and hydraulic
systems.

Sensors: Robots use sensors to detect their environment, include cameras (vision),
microphones (hearing), and touch sensors.

Control System: The brain of the robot, often a computer or microcontroller,


processes sensor data

Power Supply: The energy source that powers the robot, batteries or solar panels.
DegRee of fReeDom (Dof).
Degrees of freedom (DOF) can be defined as a term that describes a robot's
freedom of motion in three Dimensional space. It is the ability of the robot arm to
move forward and backward, up and down, and to the left and to the right.

DOF refers to the number of independent movements that define the robot's
position and orientation. It indicates how many ways a robot can move or be
controlled or it corresponds to a specific movement along an axis or around an axis.
matRix in Homogenous foRm
A robotic manipulator consists of joints with rotational and translatory
movements. A normal rotation matrix is 3x3 in size and does not account for linear
movement in joint configurations. To accommodate translation, it is necessary to
express the rotational matrix into 4x4 homogenous matrix. Follow, all the rotation
matrix and translation matrix in homogenous form. The transformation matrix that
represents relationship between two frames is represented as follows

Rotation matrix: A rotation matrix in robotics represents the orientation of an


object or a coordinate frame in three-dimensional space.

Translation or position vector: The translation vector or position vector represents


the displacement of an object or a coordinate frame in three-dimensional space.

Perspective transformation: A transformation that involves the projection of


three-dimensional points onto a two-dimensional plane, mostly used in computer
graphics and not in robotics.

Scaling or stretching: Scaling or stretching refers to the transformation of size or


dimensions of objects or coordinate frames, not used in robotics.
Rotation Matrix

A robot's end-effector orientation can be determined by a combination of


rotations along x, y, z direction. Following matrices are used to determine rotation
along x, y and z axis.

Rotation about z-axis


Rotation about x-axis

Rotation about y-axis

Translation Matrix
Denavit - Hartenberg Model

D H representation is a method to represent and model robots to establish


their equations of motion. A robot has number of links and joints resulting in a set
of motions like translation, rotation, and its combinations. This method use of D H
parameters to get robot's total transformation matrix.

DH Parameters

D H representation requires four parameters namely ai,alpha αi ,di and θi Let


us first define these parameters and then understand their application by an
illustration of a 2 link robot manipulator.

Link Length (ai): The distance between two adjacent joint axes along the common
normal (usually along the X-axis of the current frame). This is a fixed distance for
a given robot design.

Link Twist (α i) : The angle between the Z-axes of two consecutive frames,
measured along the X-axis of the current frame. This describes the orientation
difference between two links.

Link Offset (di): The distance along the Z-axis between two consecutive X-axes.
This parameter is variable if the joint is prismatic (linear movement) but constant
for revolute joints (rotational movement).

Joint Angle (θi): The angle between the X-axes of two consecutive frames,
measured along the Z-axis. This parameter is variable if the joint is revolute but
constant for prismatic joints.
Steps How to use D-H parameters

i. Assign Frames: Assign a coordinate frame to each joint in the robot, typically at
the intersection of the joint axis with the preceding link.

ii. Determine Parameters: For each joint, identify the four D-H parameters
(ai, ai, di, θί).

iii. Transformation Matrix: Create a transformation matrix using the D-H


parameters for each link. The transformation matrix relates the position and
orientation of one frame to the next.

iv. Multiply Matrices: Multiply all the transformation matrices from the base to the
end effector to get the final position and orientation of the end effector.

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