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Lecture 8 - Manipulator Velocities

The document outlines Lecture 8 of the ME-489 Robotics and Automation course, focusing on manipulator velocities and the relationship between joint and end-effector velocities. It details a group project involving a 6 DOF manipulator, with assignments on forward and inverse kinematics, and programming using Arduino. Deadlines for the assignments and group presentations are specified, along with encouragement for creativity in project work.

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kam834
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8 views17 pages

Lecture 8 - Manipulator Velocities

The document outlines Lecture 8 of the ME-489 Robotics and Automation course, focusing on manipulator velocities and the relationship between joint and end-effector velocities. It details a group project involving a 6 DOF manipulator, with assignments on forward and inverse kinematics, and programming using Arduino. Deadlines for the assignments and group presentations are specified, along with encouragement for creativity in project work.

Uploaded by

kam834
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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ME – 489:

Robotics and Automation


LECTURE 8: MANIPULATOR VELOCITIES
Outline

 Manipulator Velocities
 Project

08-Dec-2021 ME-489: ROBOTICS AND AUTOMATION 2


Outline

 Manipulator Velocities
 Project

08-Dec-2021 ME-489: ROBOTICS AND AUTOMATION 3


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Introduction
Previously we discussed the relationship
between joint coordinates and end-effector
pose – the manipulator kinematics.
Now we investigate the relationship between
the rate of change of these quantities –
between joint velocity and velocity of the end-
effector.
This is called the velocity or differential
kinematics of the manipulator.

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Introduction
• Forward Kinematics

• Inverse Kinematics

• Velocity Transform

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Differentiation of vector
We see that we are calculating the derivative of Q relative to
frame {B}. For example,
◦ if Q is not changing in time relative to {B}, then the velocity
calculated is zero—even if there is some other frame in
which Q is varying. Thus, it is important to indicate the
frame in which the vector is differentiated.

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Outline

 Manipulator Velocities
 Project

08-Dec-2021 ME-489: ROBOTICS AND AUTOMATION 11


Project
 This project involves ROT3U robot which is a
6 DOF manipulator.
(5 DOF robot arm + 1 DOF gripper)

 The project will be carried out in groups of 4


students.

 You are encouraged to come up with a


creative name for your group.

 Share the details of your group on Microsoft


Teams by 10pm tonight.

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Project
 Module 1:
 Forward kinematics of this robot arm.

 It will be considered as your Assignment 1.

 Deadline: Sunday (19th December) by 10pm.

 Hard Deadline (with 20% marks deduction):


Sunday (26th December) by 10pm.

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Project
 Module 2:
 Inverse kinematics of this robot arm.

 It will be considered as your Assignment 2.

 Deadline: Sunday (26th December) by 10pm.

 Hard Deadline (with 20% marks deduction):


Sunday (2nd January 2022) by 10pm.

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Project
 Module 3:
 Use Arduino to program this robot.

 Develop an application for this robot.

 Extra marks for creativity.

 Group Presentations: During the lecture on


Wednesday (5th January 2021), 1400-
1550hrs.

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Any Questions?

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That’s it for today.

See you next week.

08-Dec-2021 ME-489: ROBOTICS AND AUTOMATION 18

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