Scribd
Upload
11 views15 pages

1 Robotics

Uploaded by

kskdell
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
11 views15 pages

1 Robotics

Uploaded by

kskdell
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
You are on page 1/ 15

Robotics

Kodukula Sravan Kumar


Roll No. 20ME31023
Introduction
Robotics is newly arising multidisciplinary area where its roots includes
many science and technology disciplinary like
1. Computer Science
2. Electrical and Electronic engineering
3. Mechanical Engineering
4. Mathematics

Definition of Robotics: A robot is an automatic device that performs


functions normally ascribed to humans.

Robotics is used in many fields like:


1. Manufacturing
2. Agriculture
3. Military
4. Entertainment
5. Transportation etc.
Laws of Robotics:
Law 1:
A robot may not injure a human being or, through inaction, allow a human
being to come to harm.
Law 2:
A robot must obey the orders given to it by human beings, except where
such orders would conflict with the 1st law.
Law 3:
A robot must protect its own existence as long such protection does not
conflict with the First and Second Laws.

Components of the robotic system:


Sensors: Robot sensors provide the robot with the ability to collect
information about the environment
Actuators: a device that converts energy, which may be electric, hydraulic,
pneumatic, etc., to mechanical in such a way that it can be controlled.
Controller: Brain of the robot
Links and Joints: The links are the rigid members connecting the joints. Real
time actions and movement can be done by the help of these.
Classification of Robots Based on the
Mobility

Robot

Fixed
Robots or Mobile
Manipulato Robots
rs
Classification of Robots Based on the
kinematic diagram

Fixed Robots
or
Manipulators

Serial Parallel
Manipulator Manipulator or Hybrid
Or open-chain Closed-loop Manipulator
manipulator manipulator
Classification of Robots Based on
locomotion

Mobile
Robots

Wheeled Tracked Legged Flying Swimmin


Robots Robots Robots Robot g Robot
Robot Locomotion
Wheel Locomotion: This is the most common locomotion mechanism. It
has the
following advantages:
• Easy mechanical implementation
• More than 3 wheels will guarantee you stability.
• Relatively power efficient.

Legged Locomotion: Compared with wheeled locomotion, legged


locomotion is more complex and more difficult to control. Legged
locomotion needs to be stable but it more near to humans or living being
locomotion.
Two types of legged locomotion
• Multi-legged Robot
• Biped Robot
Gait: Manner or sequence of the movement.
Multi-legged Robot: Stability of the multi-legged robot can be given by
both static and dynamic stability. For a statically stable gait in a legged
robot, its projected center of gravity must lie within its support region. This
support region is defined by a polygon whose vertices passing through its
supporting feet.
For dynamic stability gait for multi-legged robot can be found through duty
factor
Duty Factor = No of legs on the ground / Total no of legs
Biped Robot: Bipedal robots are machines equipped with two legs,
resembling the human form. They only rely on the dynamic stability. To
ensure the dynamic stability of a biped robot, the Zero Moment Point (ZMP)
should be inside the support region (foot-print polygons). The ZMP is the
point on the ground where the net moment of the total forces applied to
the biped is zero.

Serial Manipulator: These are the type of the robots that are the most
used in the industry.
Two types of teaching for the robot:
1) Online Teaching: Robot itself used while
teaching
i) Manual teaching: Point to point teaching sh

ii) Lead-through teaching: Continous path


teaching
2) Offline teaching: Robot is not used while
teaching. Programming the robot
EX: In case of UR5 (Universal Robot) a Graphical User Interface (GUI) used.
PolyScope is the GUI on the Teach Pendant that operates the Robot Arm,
Control Box, and executes programs.
The References:
1. Tool Center Point (TCP) is the point used to move the robot to a
Cartesian position.
To define a spatial point in PolyScope GUI with respect to the base
coordinate system, we need 6 parameters–
1. X-coordinate (X): The position of the point along the X-axis.
2. Y-coordinate (Y): The position of the point along the Y-axis.
3. Z-coordinate (Z): The position of the point along the Z-axis.
4. Orientation about X-axis (RX): The angle of rotation about the X-
axis.
5. Orientation about Y-axis (RY): The angle of rotation about the Y-
axis.
6. Orientation about Z-axis (RZ): The angle of rotation about the Z-
axis.
Waypoint: A waypoint is a reference point that helps us know where we
are and where we're going. Each waypoints will be store in the PolyScope
in the form of above six parameters.
Motion Path commands of UR5
MoveJ is a motion of TCP from one waypoint to another in the fastest
motion path. It has the following properties:
1. Non-linear path
2. Fastest motion
3. Path of TCP is not important
4. Requires free space

MoveL is a motion of TCP from one waypoint to another in a linear path.


It has the following properties:
1. Linear path
2. Path of TCP is important
3. Can be performed in a confined space.

MoveP is a motion of TCP from one waypoint to another while


maintaining a constant speed. It has the following properties:
1. Constant speed
2. No sharp corners; instead, fillet corners

Halt command : Stops the program.


Coordinate Axes:
As always a reference point and oriented is noted so the motion of the
robot can be expressed in terms of the this reference. We choose the right
hand coordinate system in whole course.

In the case of the serial manipulator the base of the manipulator is


considered as the origin of the reference coordinate system and suitable
orientation
Transformation of the coordinate system:
Rotation of coordinate system: Let the position of
the point P(xo, yo, zo) wrt initial reference frame
and then reference frame is rotated about the z axis
so the coordinates of the position P(x1, y1, z1).
=>
[xo, yo, zo]T = Rz(θ) . [x1, y1, z1]T

Rz is the rotation matrix of angle θ rotation

Rz, Rx, Ry are the rotation matrix about z axis, x axis, y axis respectively.
Matrix are given below.
Transformation Matrix:
It consists of the both rotation and translation of a reference frame in one
matrix

T = [Rz | Qdisp]
Where Qdisp is the origin displaced from the origin

Composite rotation matrix:


Reference frame rotated firstly about the z axis of angle α, next about y
axis of angle β, last about x axis of angle γ. Then the composite rotation
matrix would be

ROTcomposite = ROT(x, γ).ROT(y, β).ROT(z, α)

Similarly, we construct a transformation matrix. This matrix allows us to


relate various quantities, positions, and orientations of the robot.
Forward Kinematics and Inverse Kinematics:

Forward kinematics: Given the joint angle, using this data and
kinematic diagram of the robot gets the cartesian position of the end-
effector.

Inverse kinematics: Given cartesian coordinate of the end-effector and


kinematic of the robot gets the joint angles of the robot.
Thank you

You might also like