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Control of Robotic Manipulator

The document discusses the control of robotic manipulators, focusing on trajectory generation for smooth and efficient motion planning. It outlines the mathematical representation of trajectories in both joint space and task space, including the use of inverse kinematics for task-space schemes. Additionally, it references key literature and resources for further study on robotic manipulator control.

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10 views9 pages

Control of Robotic Manipulator

The document discusses the control of robotic manipulators, focusing on trajectory generation for smooth and efficient motion planning. It outlines the mathematical representation of trajectories in both joint space and task space, including the use of inverse kinematics for task-space schemes. Additionally, it references key literature and resources for further study on robotic manipulator control.

Uploaded by

vermaviplav9
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Control of Robotic Manipulator

Presented by
Viplav Verma

Department of Electrical Engineering


(Control and Automation)
National Institute of Technology, Rourkela

1
Objective
• Ease and flexibility of planning.
• Sufficient smooth to reduce the jerky motion.
• Efficient representation in a computing environment.
• Ease of generation in rea time.

2
Introduction
• Trajectory generation
𝑥 𝑡
trajectory: Time history of position, velocity and
acceleration for each degree of freedom.
q(t) ; t ∈[0 𝑡𝑟 ]
let the trajectory equation,
𝑥 𝑡 = 𝑎0 + 𝑎1 (𝑡𝑓 - 𝑡0 )+ 𝑎2 (𝑡𝑓 − 𝑡0 )2 +𝑎3 (𝑡𝑓 − 𝑡0 )3 𝑡0 𝑡𝑓 𝑡

𝑥(𝑡0 ) = 𝑥0 :initial position 𝑥(𝑡𝑓 ) = 𝑥𝑓 :final position


𝑥(𝑡
ሶ 0 ) = 𝑥ሶ 0 :initial velocity 𝑥(𝑡
ሶ 𝑓 ) = 𝑥ሶ𝑓 :final velocity
𝑥0 = 𝑎0 𝑥𝑓 = 𝑎0 + 𝑎1 (𝑡𝑓 - 𝑡0 )+ 𝑎2 (𝑡𝑓 − 𝑡0 )2 +𝑎3 (𝑡𝑓 − 𝑡0 )3
𝑥ሶ 0 = 𝑎1 𝑥𝑓ሶ = 𝑎1 + 2𝑎2 (𝑡𝑓 − 𝑡0 )1 +3𝑎3 (𝑡𝑓 − 𝑡0 )2

3
In matrix form
𝑥0 1 0 0 0 𝑎0
𝑥ሶ 0 0 1 0 0 𝑎1
𝑥𝑓 = 1 (𝑡𝑓 − 𝑡0 ) (𝑡𝑓 − 𝑡0 )2 (𝑡𝑓 − 𝑡0 )3 𝑎2
𝑥ሶ𝑓 0 1 2(𝑡𝑓 − 𝑡0 ) 3(𝑡𝑓 − 𝑡0 )2 𝑎3
−1
𝑎0 1 0 0 0 𝑥0
𝑎1 0 1 0 0 𝑥ሶ 0
𝑎2 = 1 (𝑡𝑓 − 𝑡0 ) (𝑡𝑓 − 𝑡0 )2 (𝑡𝑓 − 𝑡0 )3 𝑥𝑓
𝑎3 0 1 2(𝑡𝑓 − 𝑡0 ) 3(𝑡𝑓 − 𝑡0 )2 𝑥ሶ𝑓

4
Graph of position, velocity and acceleration
𝑥ሶ 𝑡
𝑥 𝑡

𝑡 𝑡
𝑥ሷ 𝑡

𝑡
5
Trajectory generation scheme for manipulator
• Joint space(configuration space) scheme : Time history of single or multiple
actuated joints.
• Task-space scheme: Time history of position or orientation of the end effector.
• Initial and final position and velocities are specified
synchronized rotation
𝜃2

𝜃2𝑓 ⅇ
𝜃2𝑓
𝜃20
𝜃20
𝑦
𝜃1𝑓
𝜃10
𝑥
𝜃10 𝜃20 𝜃1

6
unsynchronized rotation
• First link rotate first then the second
𝜃2𝑓 ⅇ
link rotate 𝑦
𝜃20

𝜃1𝑓
Task space scheme 𝜃10
In task space scheme inverse kinematics is used. 𝑥
There are two task-space
• Linear interpolation
• Circular interpolation

7
Linear interpolation workspace

8
Refences
• Frank L.Lewis and Neil Munro Chapter 4 “computed torque control” in Robot
manipulator control second edition 2004
• “Mechanics and Control of Robotic Manipulators,” YouTube.
http://www.youtube.com/playlist?list=PLyqSpQzTE6M-tWPjnJjFo9sHGWxgCnGrh
(accessed feb.11, 2025).

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