Fundamentals of Robotics

B Kinematic Robot Types

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 1
 Kinematic Robot Types (examples)

Introduction

Kinematic
Robot Types

Coordinate
Transformations

Motion Control
& Path Planning

Handling Systems

Robot Programming

Safety

Sensors
Vertical Horizontal Gantry Delta-Kinematic
Robot Hardware
articulated arm articulated arm (Cartesian, linear Axis)
(six-Axis) (SCARA)
Performance and
Accuracy

sources: Adept, Kuka. Fanuc

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 2
 Criteria for Choosing a Robot Type

Introduction  Size + shape of the workspace

Kinematic  Number of axes / flexibility of motion
Robot Types
 Payload (weight of object + tool + process forces)
Coordinate
Transformations
 Accuracy (absolute / repeatability)
Motion Control
& Path Planning  Speed
Handling Systems  Functionality of the controller
Robot Programming  Advanced computations
 Spline interpolation
Safety
 3-angle orientation interpolation
Sensors  Sensor integration
 Number of axes to be controlled.
Robot Hardware
 Quality of service by the vendor
Performance and
Accuracy  Cost
 Robot
 Additional periphery
 Engineering
 Return on investment..

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 5
 Introduction

Kinematic
Robot Types

Coordinate
Transformations

Motion Control

Robot Axes
& Path Planning

Handling Systems

Robot Programming

Safety

Sensors

Robot Hardware

Performance and
Accuracy

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 6
 Robot Axes

Introduction

Kinematic According to the type of motion rotational axes and translational

Robot Types
(linear) axes can be distinguished.
Coordinate
Transformations
They serve for generating defined motions for positioning and
Motion Control
& Path Planning
orientating objects.

Handling Systems Main axes mainly contribute to positioning the effector.

Robot Programming
Wrist axes mainly contribute to orientating the effector.
Safety

Sensors

Robot Hardware Auxiliary devices, for example for gripping or weaving

Performance and
(during welding) are not considered as robot axes.
Accuracy
according to VDI 2861

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 7
 Robot Axes / Joints <-> Arm Elements

5
Introduction

4 6
Kinematic
Robot Types

Coordinate
Transformations 3
Motion Control
& Path Planning

Handling Systems

Robot Programming

Safety

Sensors 2
Robot Hardware

Performance and
Accuracy

1
Source: KUKA

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 8
 Robot Axes

Introduction

Kinematic
Robot Types

Coordinate
Transformations
Not aligned
rotational axes
Motion Control
& Path Planning

Handling Systems

Robot Programming

Safety

Sensors

Robot Hardware Aligned

rotational axes
Performance and
Accuracy

Source: KUKA

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 9
 Aligned / not aligned rotational axes

Introduction J3
Kinematic
Robot Types

Coordinate
Transformations J6
Motion Control
J2 J4
& Path Planning
J5
Handling Systems

Robot Programming

Safety J1
Sensors

Robot Hardware

Performance and
Accuracy

Source: KUKA

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 10
 Axes

Introduction
Linear axis (not aligned)

Kinematic
Robot Types

Coordinate
Transformations

Motion Control
& Path Planning

Handling Systems

Robot Programming

Safety

Sensors

Robot Hardware

Performance and
Accuracy

source: Festo AG

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 11
 Axes

Introduction
Telescope axis (aligned)
Kinematic
Robot Types

Coordinate
Transformations

Motion Control
& Path Planning
source: Festo AG
Handling Systems

Robot Programming

Safety
Gantry axis drive
Sensors

Robot Hardware

Performance and
Accuracy

source: www.wittenstein.de

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 12
 Comparison of Joint Designs for Main Axes

Introduction

Kinematic Linear axes:

Robot Types
 Large workspace
Coordinate
Transformations
 Suitable design for handling, palletizing,
Motion Control cutting and welding applications
& Path Planning
 Accurate calibration is required
Handling Systems at the customer’s site
Robot Programming
(esp. large gantries)
Safety

Sensors Rotational axes:

Robot Hardware  Fast
Performance and  Cost-efficient for small workspaces
Accuracy
 Easy installation at the customer.

source: Reis

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 13
 Symbols to Represent the Kinematic Structure of Robots

symbols direction of motion

notes, examples
Introduction
Linear axis, aligned
Kinematic (telescope)
Robot Types

Coordinate Linear axis, not aligned

Transformations

Motion Control Linear axis

& Path Planning
(gantry)
Handling Systems

Rotational axis, aligned

Robot Programming

Safety Rotational axis,

not aligned
Sensors

Tool spray gun, welding gun

Robot Hardware

Performance and
Gripper different types of gripper
Accuracy
System border Interface, changeable tool

Borderline between main

and wrist axes

source: VDI 2861

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 14
 Robot Axes

Introduction

Kinematic According to the type of motion rotational axes and translational

Robot Types
(linear) axes can be distinguished.
Coordinate
Transformations
They serve for generating defined motions for positioning and
Motion Control
& Path Planning
orientating objects.

Handling Systems Main axes mainly contribute to positioning the effector.

Robot Programming
Wrist axes mainly contribute to orientating the effector.
Safety

Sensors

Robot Hardware Auxiliary devices, for example for gripping or weaving

Performance and
(during welding) are not considered as robot axes.
Accuracy

according to VDI 2861

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 15
 Main Axes vs. Wrist Axes

Introduction J3
Kinematic
Robot Types

Coordinate
Transformations J6
Motion Control
J2 J4
& Path Planning
J5
Handling Systems

Robot Programming

Safety J1
Sensors

Robot Hardware

Performance and
Accuracy

Source: KUKA

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 16
 Main Axes vs. Wrist Axes

Introduction

Kinematic
Robot Types

Coordinate
Transformations

Motion Control
& Path Planning

Handling Systems

Robot Programming

Safety

Sensors

Robot Hardware

Performance and
Accuracy

Source: Adept

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 17
 Introduction

Kinematic
Robot Types

Coordinate
Transformations

Motion Control

Working Ranges
& Path Planning

Handling Systems

Robot Programming

Safety

Sensors

Robot Hardware

Performance and
Accuracy

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 18
 Working Ranges (Working Spaces) of a Robot

Introduction

Kinematic Working range / Danger zone

Robot Types

Coordinate
Transformations

Motion Control Variable

Fixed working range
& Path Planning working range
Handling Systems

Robot Programming
Not usable
Usable working space
Safety space
Sensors

Robot Hardware
Secondary
Performance and
Main working space working
Accuracy space

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 19
 Working Ranges of a Robot

Introduction

Kinematic Working range / Danger zone

Robot Types

Coordinate
Transformations

Motion Control Variable

Fixed working range
& Path Planning working range
Handling Systems

Robot Programming

Safety
depends on the size of the tool (endeffector)

Sensors

Robot Hardware

Performance and
Accuracy

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 20
 Working Ranges (Working Spaces) of a Robot

Introduction

Kinematic Working range / Danger zone

Robot Types

Coordinate
Transformations

Motion Control Variable

Fixed working range
& Path Planning working range
Handling Systems

Robot Programming
Not usable
Working space
Safety space
Sensors

Robot Hardware
Is the result of peripheral elements or
Performance and
Accuracy attachment parts

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 21
 Working Ranges (Working Spaces) of a Robot

Introduction

Kinematic Working range / Danger zone

Robot Types

Coordinate
Transformations

Motion Control Variable

Fixed working range
& Path Planning working range
Handling Systems

Robot Programming
Not usable
Working space
Safety space
Sensors

Robot Hardware
Secondary
Performance and
Main working space working
Accuracy space

Minimum working space Depends on the orientation

even for bad orientations of the endeffector

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 22
 Working Range

Introduction

Kinematic
Robot Types

Coordinate
Transformations

Motion Control
& Path Planning

Handling Systems

Robot Programming

Safety

Sensors

Robot Hardware

Performance and
Accuracy

source: Reis

Such a data sheet can only help to get a rough impression of the real working space. If you
need exact and reliable information, simulation is necessary!

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 23
 Working Range

Introduction

Kinematic
Robot Types

Coordinate
Transformations

Motion Control
& Path Planning

Handling Systems

Robot Programming

Safety

Sensors

Robot Hardware

Performance and
Accuracy

If you need exact and reliable information, simulation is necessary!

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 24
 Working Range

If you need exact and reliable information, simulation is necessary!

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 26
 Working Range: Simulation results

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 27
 Working Range and Load Values

Introduction

Kinematic
Robot Types IRB 2400L:
Coordinate
• Payload 7 kg (1,8 m)
Transformations

Motion Control
& Path Planning

Handling Systems
With reduced workspace it
Robot Programming
is possible to increase load
Safety
while keeping the same
Sensors accuracy
Robot Hardware

Performance and
Accuracy

IRB 2400-10:
• Payload 12 kg (1,5 m)
source: ABB

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 28
 Working Range and Load Values

Introduction

Kinematic
Robot Types

Z
Coordinate
Transformations

Motion Control
& Path Planning
L
Handling Systems

Robot Programming

Safety

Sensors

Robot Hardware

Performance and
Accuracy

Load-Distance Diagram for IRB-2400-16

source: ABB

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 29
 Introduction

Kinematic
Robot Types

Coordinate
Transformations

Motion Control
& Path Planning

Handling Systems

Robot Programming
Combinations of Axes
Safety

Sensors

Robot Hardware

Performance and
Accuracy

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 30
 Combination of Main Axes (Vertical Articulated Arm)

Introduction

Kinematic
Robot Types

Coordinate
Transformations

Motion Control
& Path Planning

Handling Systems

Robot Programming

Safety

Sensors

Robot Hardware Kinematic Workspace

Performance and
Structure
Accuracy

sources: Fa. ABB, Wolf

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 31
 Combination of Main Axes (SCARA - Horizontal Articulated Arm)

Introduction
Kinematic structure
Kinematic
Robot Types

Coordinate
Transformations

Motion Control
& Path Planning

Handling Systems

Robot Programming

Safety
Workspace
Sensors

Robot Hardware

Performance and
Accuracy

source: www.staeubli.com, Wolf

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 32
 Combination of Main Axes (x,y,z-Gantry)

Introduction

Kinematic
Robot Types

Coordinate
Transformations

Motion Control
& Path Planning sources: Fa. ro-ber, Wolf

Handling Systems

Robot Programming

Safety

Sensors

Robot Hardware
Kinematic structure Workspace
Performance and
Accuracy

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 33
 Combination of Main Axes

Introduction
Configuration Kinematic Working space
Kinematic structure
Robot Types

Coordinate
Transformations

Motion Control
& Path Planning

Handling Systems

Robot Programming

Safety

Sensors

Robot Hardware

Performance and
Accuracy

source: Wolf

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 35
 Introduction

Kinematic
Robot Types

Types of
Coordinate
Transformations

Motion Control
& Path Planning

Handling Systems

Robot Programming
Kinematic Chains:
Safety

Sensors
Open / Closed
Robot Hardware

Performance and
Accuracy

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 36
 Basic Kinematic Chains

Introduction
Open, closed and partly closed kinematic chains
Kinematic
Robot Types

Coordinate
Transformations

Motion Control
& Path Planning

Handling Systems

Robot Programming

Safety

Sensors

Robot Hardware

Performance and
Accuracy

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 37
 Open Kinematic Chains

Introduction Example: Vertical articulated arm robot

Kinematic
• 6 Axes each of which each has a drive
Robot Types
• Gripper or effector at the end of the chain has
Coordinate 6 degrees of freedom
Transformations
• Applications:
Motion Control
& Path Planning  Cutting & Welding
 Glueing
Handling Systems
 Handling
Robot Programming
 Assembly
Safety  Measurement and testing.
Sensors

Robot Hardware

Performance and
Accuracy

source: ABB

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 38
 Characterisation of Open Kinematic Chains

Introduction

Kinematic
Robot Types
Advantages Disadvantages
Coordinate
Transformations
 Suitable for a great variety of  Weak stiffness
Motion Control
& Path Planning tasks  High moved masses
Handling Systems  Produced in big lotsizes   Prone to Eigen-frequencies
Low costs (vibrations, dynamic overload)
Robot Programming
 Small footprint  Lower acceleration
Safety
(does not require much space )
 Lower accuracy.
Sensors  Good access to narrow areas
Robot Hardware  Proven offline-programming
Performance and
systems available.
Accuracy

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 39
 Applications of Open Kinematic Chains

Introduction

Kinematic
Robot Types

Coordinate
Transformations

Motion Control
& Path Planning

Handling Systems

Robot Programming

Safety

Sensors

Robot Hardware

Performance and
Accuracy

KUKA

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 40
 Application of a 6-DoF Robot: Grinding of a water-tap

Introduction

Kinematic
Robot Types

Coordinate
Transformations

Motion Control
& Path Planning

Handling Systems

Robot Programming

Safety

Sensors

Robot Hardware

Performance and
Accuracy

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 41
 SCARA - Selective Compliance Assembly Robot Arm

Introduction
 Because of the SCARA's parallel-axis joint layout, the arm is slightly compliant in the X-Y
plane but rigid in the ‘Z’ direction
Kinematic  Advantageous for many types of assembly operations, e.g. inserting a pin into a hole
Robot Types
 SCARA robots always have 4 degrees of freedom
Coordinate  SCARAs are generally faster and cleaner than comparable cartesian systems
Transformations
 Advantage: small footprint (they don’t need a lot of space) compared to cartesian
Motion Control robots
& Path Planning
 More complex controller than a cartesian robot (linear Axes): needs inverse kinematics
Handling Systems for linear movement
 More expensive than comparable cartesian systems.
Robot Programming

Safety

Sensors

Robot Hardware

Performance and
Accuracy

[Sources: Stäubli, Adept, Kuka]

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 42
 Horizontal Articulated Arm Robot

A collection of Epson robots at a trade fair

Source: Epson

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 43
 Kinematic Chains

Introduction
Closed kinematic chain:
Kinematic
Robot Types
Example: Hexapod
Coordinate
Transformations
• 6 “Legs”
• Work platform has 6 degrees of
Motion Control
& Path Planning freedom
Handling Systems
• Applications:
 Medical applications (accuracy)
Robot Programming
 Milling applications (stiffness)
Safety  Accurate positioning.
Sensors
M-850 Hexapod 6D MicroMotion Robot
Robot Hardware Physik Instrumente PI, Karlsruhe

Performance and
Accuracy

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 44
 Combination of Main Axes (Hexapod / Stewart Platform)

Introduction

Kinematic
Robot Types

Coordinate
Transformations

Motion Control
& Path Planning

Handling Systems

Robot Programming

Safety

Sensors Kinematic
M-850 Hexapod 6D MicroMotion Robot Structure
Robot Hardware Physik Instrumente PI, Karlsruhe

Performance and
Accuracy

Workspace

source: Wolf

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 45
 Combination of Main Axes (Hexapod / Stewart Platform)

Introduction

Kinematic
Robot Types

Coordinate
Transformations

Motion Control
& Path Planning

Handling Systems

Robot Programming

Safety
Kinematic
Sensors Structure
Robot Hardware

Performance and source: Lufthansa Flight Training

Accuracy

Workspace

source: Wolf

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 46
 Application in High Precision TIG/WIG-Welding

Introduction

Kinematic
Robot Types

Coordinate
Transformations

Motion Control
& Path Planning

Handling Systems

Robot Programming

Safety

Sensors

Robot Hardware

Performance and
Accuracy

Castro GmbH, Augsburg

TIG (english): Tungsten Inert Gas Welding (Argon or Helium)
WIG (german): Wolfram Inert Gas

Process: Welding in an atmosphere without oxygen. Housing is filled with an inert gas.

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 47
 Characteristics of Closed Kinematic Chains

Introduction

Kinematic
Robot Types
Advantages Disadvantages
Coordinate
Transformations

Motion Control
 High stiffness  Small working space
& Path Planning
 Low moved masses  Collision of arms possible
Handling Systems
 High accuracy  Direct kinematics is time-
Robot Programming
consuming
 Many equal parts
Safety
 Singularities in working
Sensors
 Short computation times
space
for inverse kinematics
Robot Hardware
 Offline programming not jet
Performance and fully developed.
Accuracy

source: following Brillowski, FH Giessen Friedberg

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 48
 Special application: Delta Kinematic Robots

Introduction

Kinematic
Robot Types

Coordinate
Transformations

Motion Control
& Path Planning

Handling Systems

Robot Programming
 The basic idea behind the Delta parallel robot design is the use of
Safety parallelograms.
 The use of three such parallelograms restrain completely the orientation of
Sensors
the mobile platform which remains only with three purely translational
Robot Hardware degrees of freedom. (Other types possible)
Performance and
 The use of base-mounted actuators and low-mass links allows the mobile
Accuracy platform to achieve accelerations of up to 50 G in experimental environments
and 12 G in industrial applications.
 This is really fast…

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 49
 ABB FlexPicker

Introduction

Kinematic
Robot Types

Coordinate
Transformations

Motion Control
& Path Planning

Handling Systems

Robot Programming

Safety

Sensors

Robot Hardware

Performance and
Accuracy

source: ABB

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 50
 Delta Kinematic: adept Quattro vs. WiiMote

Introduction

Kinematic
Robot Types

Coordinate
Transformations

Motion Control
& Path Planning

Handling Systems

Robot Programming

Safety

Sensors

Robot Hardware
Motions of the tray are not pre-programmed,
Performance and
Accuracy
but controlled arbitrarily by a person using the WiiMote controller

adept Quattro
Sources: adept, Vlad Savov

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 51
 Partly closed Kinematic Chain - Example: “Tricept”

Introduction

• Main axes
Kinematic
Robot Types designed as closed kinematic chain
Coordinate
Transformations
• Wrist axes
designed as open kinematic chain
Motion Control
& Path Planning
• 6 degrees of freedom
Handling Systems
• Applications:
Robot Programming
 Measuring
Safety
 Friction welding
Sensors
 Sawing
Robot Hardware
 Milling
Performance and
Accuracy
 Laser cutting.

source: ABB

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 52
 Characteristics of partly closed Kinematic Chains

Introduction

Kinematic
Robot Types

Coordinate Advantages Disadvantages

Transformations

Motion Control
& Path Planning  High stiffness  Rather small working space
Handling Systems
 High velocity  High costs (3x)
 High accuracy  Poor offline programming.
Robot Programming

Safety

Sensors

Robot Hardware

Performance and
Accuracy

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 53
 Partly closed Kinematic Chain - Example: “Tricept” for Milling + Cutting

Introduction

Kinematic
Robot Types

Coordinate
Transformations

Motion Control
& Path Planning

Handling Systems

Robot Programming

Safety

Sensors

Robot Hardware

Performance and
Accuracy

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 54
 Introduction

Kinematic
Robot Types

Coordinate
Transformations

Motion Control
& Path Planning

Handling Systems

Robot Programming
Degrees of Freedom
Safety

Sensors

Robot Hardware

Performance and
Accuracy

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 55
 Degrees of Freedom

Introduction

Kinematic
Robot Types

Coordinate
Transformations

Motion Control
The number of axes of a robot
& Path Planning
has to be at least equal to
Handling Systems
or higher than
Robot Programming the required number of degrees of freedom
Safety for the desired movement of the object moved by the robot.
Sensors

Robot Hardware

Performance and
Accuracy

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 56
 Types of Joints

name illustration degrees of

Introduction freedom f
Kinematic revolute f=1
Robot Types
joint
Coordinate
Transformations

Motion Control
& Path Planning
sliding joint f=1
Handling Systems

Robot Programming

Safety

Sensors screw joint f=1

Robot Hardware

Performance and
Accuracy
turning-and- f=2
sliding joint

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 57
 Types of Joints

name illustration degrees of

Introduction freedom f
Kinematic plate joint f=3
Robot Types

Coordinate
Transformations

Motion Control
& Path Planning
ball joint f=3
Handling Systems

Robot Programming

Safety

Sensors
cardan joint f=2

Robot Hardware

Performance and
Accuracy
Combinations of different joints possible.
Example:

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 58
 Degrees of Freedom

Example
Introduction

Kinematic
Robot Types

Coordinate
Main axes:
Transformations
2 rotational
Motion Control + 1 translational
& Path Planning

Handling Systems
Wrist axis:
Robot Programming
1 rotational
Safety

Sensors
source: Adept

Robot Hardware

Number of joints: 4 4 Degrees of freedom (Tool)

Performance and
Accuracy

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 59
 Degrees of Freedom

Example
Introduction

Kinematic
Robot Types

Coordinate
Main axes:
Transformations
3 rotational
Motion Control
& Path Planning

Handling Systems Wrist axes:

Robot Programming 3 rotational
Safety

Sensors

Robot Hardware source: Kuka

Performance and
Accuracy
 Number of joints: 6 6 Degrees of freedom (Tool)

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 60
 Degrees of Freedom

Introduction

Kinematic
Robot Types

Coordinate
Transformations

Motion Control Main axes :

& Path Planning
1 translational
Handling Systems
+ 2 rotational
Robot Programming

Safety
Wrist axes :

Sensors 3 rotational

Robot Hardware
source: KUKA

Performance and
Accuracy

 Number of joints: 6 6 Degrees of freedom (Tool)

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 61
 Degrees of Freedom

Introduction

Kinematic
Robot Types

Coordinate
Transformations

Motion Control Main axis :

& Path Planning
1 translational (external)
Handling Systems
+ 3 rotational
Robot Programming

Safety Wrist axis :

Sensors 3 rotational

Robot Hardware
source: KUKA
Performance and
Accuracy

 Number of joints: 7 6 Degrees of freedom (Tool)

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 62
 Degrees of Freedom: Redundant Kinematic Chains

Introduction
 The number of degrees of freedom (DoF) of a robot or manipulator
should match the number required by the task.
Kinematic
Robot Types  Not all tasks require 6 DoF.
Coordinate  The maximum number of DoF is 6. For such a configuration 6 joints
Transformations
are necessary at least.
Motion Control
& Path Planning  For some tasks robots with more than 6 axes are used.
Handling Systems
They are called robots
Robot Programming with redundant kinematics
Safety
Advantages:
Sensors
- Can reach around
Robot Hardware
obstacles
Performance and
Accuracy
- Large workspace
- High flexibility

Disadvantage:
- Complexity in control. Manipulator for cleaning aircrafts

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 63
 Degrees of Freedom: Redundant Kinematic Chains

Introduction

Kinematic
Robot Types

Coordinate
Arm of a
Transformations
concrete pump
Motion Control
& Path Planning

Handling Systems Axes (joints): n = 5

Robot Programming
Degrees of
Safety Freedom: f=3
Sensors

Robot Hardware

Performance and
Accuracy

Tool

source: H. Raab, Uni Duisburg Essen

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 64
 Introduction

Kinematic
Robot Types

Coordinate
Transformations

Motion Control
& Path Planning

Handling Systems

Robot Programming
Special Kinematics
Safety

Sensors

Robot Hardware

Performance and
Accuracy

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 65
 Special Kinematic: Redundant Kinematic Chain

Introduction

Kinematic
Robot Types

Coordinate
Transformations

Motion Control
& Path Planning

Handling Systems

Robot Programming

Safety

Sensors
x
Robot Hardware

Performance and
Accuracy

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 67
 Special Kinematic: Wrist Axes

Introduction

Kinematic
Robot Types

Coordinate
Transformations

Motion Control
& Path Planning

Handling Systems

Robot Programming

Safety

Sensors

Robot Hardware

Performance and
Accuracy

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 68
 Special Kinematic: Narrow Spaces / Danger of Collision

Introduction

Kinematic
Robot Types

Coordinate
Transformations

Motion Control
& Path Planning

Handling Systems

Robot Programming

Safety

Sensors

Robot Hardware

Performance and
Accuracy

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 69
 Special Kinematic: Simulation

Introduction

Kinematic
Robot Types

Coordinate
Transformations

Motion Control
& Path Planning

Handling Systems

Robot Programming

Safety

Sensors

Robot Hardware

Performance and
Accuracy

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 70
 Special Kinematic due to Restrictions of Sensors

Introduction

Kinematic
Robot Types

Coordinate
Transformations

Motion Control
& Path Planning

Handling Systems

Robot Programming

Safety

Sensors

Robot Hardware

Performance and
Accuracy

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 71
 Learning Objectives of this Lecture - Kinematic Robot Types

 Name the criteria for choosing a robot type and explain them with a few words.

 What are the advantages of linear axes and the advantages of rotational axes?

 Explain in a few words the different zones of a robot‘s working space.

 What are the advantages and disadvantages of open kinematic chains?

 What are the characteristics of SCARA robots?

 Name advantages, disadvantages and applications of Hexapods / Stewart

Platforms (closed kinematic chains).

 Name advantages, disadvantages and applications of Tripods.

 How many axes does a robot need to have in relation to the required number of
degrees of freedom of the desired movement?

 What are the advantages and disadvantages of robots with redundant

kinematics?

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 73
 Next Lecture / Tutorial

Next lecture (in classroom): Coordinate Transformations I 03.11.2023

Next tutorial (on Moodle): Kinematic Robot Types 31.10.2023

Thank you for your attention!

Control and cyberphysical systems (RCS) PD Dr.-Ing Jobst Bickendorf Fundamentals of Robotics 74