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Introduction Robotics
dr Dragan Kosti WTB Dynamics and Control September-October 2009
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Outline
Recapitulation Forward kinematics Inverse kinematics problem
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Recapitulation
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Robot manipulators
Kinematic chain is series of links and joints.
SCARA geometry
Types of joints:
rotary (revolute, ) prismatic (translational, d).
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di
where
zi-1 qi xi-1
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0 Link twist i is angle between zi-1 and zi measured in plane normal 0 y0 x0 to xi (right-hand rule).
Link offset di is distance from origin of frame i-1 to the intersection xi with zi-1, measured along zi-1. Joint angle i is angle from xi-1 to xi measured in plane normal to zi-1 (right-hand rule).
Introduction Robotics, lecture 3 of 7
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1. Assign zi to be the axis of actuation for joint i+1 (unless otherwise stated zn
coincides with zn-1). 2. Choose x0 and y0 so that the base frame is right-handed.
3. Iterative procedure for choosing oixiyizi depending on oi-1xi-1yi-1zi-1 (i=1, 2, , n-1): a) zi1 and zi are not coplanar; there is an unique shortest line segment from zi1 to zi, perpendicular to both; this line segment defines xi and the point where the line intersects zi is the origin oi; choose yi to form a right-handed frame, b) zi1 is parallel to zi; there are infinitely many common normals; choose xi as the normal passes through oi1; choose oi as the point at which this normal intersects zi; choose yi to form a right-handed frame, c) zi1 intersects zi; axis xi is chosen normal to the plane formed by zi and zi1; its positive direction is arbitrary; the most natural choice of oi is the intersection of zi and zi1, however, any point along the zi suffices; choose yi to form a right-handed frame.
Introduction Robotics, lecture 3 of 7
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Forward Kinematics
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Ai specifies position and orientation of oixiyizi w.r.t. oi-1xi-1yi-1zi-1. Homogenous transformation matrix Tji expresses position and orientation of ojxjyjzj with respect to oixiyizi:
i Tj
= Ai +1 Ai +2 K A j 1 A j
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q = [q1 L qn ]
Introduction Robotics, lecture 3 of 7
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y3
-q3
x3 z3 a3
y1
z2 a2
shoulder y0
z1
waist
Introduction Robotics, lecture 3 of 7
q1
x0
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where
q = [ q1 q2 q3 ]T
x0 3 (q ) = [ x
z ]T
013 = [0 0 0]
Introduction Robotics, lecture 3 of 7
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z = a3sin( q2 + q3 ) + a2sinq2 + d1
Orientation of end-effector: cosq1cos( q2 + q3 ) cosq1sin( q2 + q3 ) sinq1 0 R3 = sinq1cos( q2 + q3 ) sinq1sin( q2 + q3 ) cosq1 cos( q2 + q3 ) 0 sin( q2 + q3 )
Introduction Robotics, lecture 3 of 7
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Inverse Kinematics
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Here, H represents the desired position and orientation of the tip coordinate frame onxnynzn relative to coordinate frame o0x0y0z0 of the base; T0n is product of homogenous transformation matrices relating successive coordinate frames:
Introduction Robotics, lecture 3 of 7
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FK of Stanford manipulator
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One solution:
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Nature of IK solutions
FK problem has always unique solution whereas IK problem may or may not have a solution; if IK solution exists, it may or may not be unique; solving IK equations, in general, is much too difficult. It is preferable to find IK solutions in closed-form:
faster computation (e.g. at sampling time of 1 [ms]), if multiple IK solutions exist, then closed-form allows us to develop rules for choosing a particular solution among several.
Existence of IK solutions depends on mathematical as well as engineering considerations. We assume that the given position and orientation is such that at least one IK solution exists.
Introduction Robotics, lecture 3 of 7
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Let oc be the intersection of the last 3 joint axes; as z3, z4, and z5 intersect at oc, the origins o4 and o5 will always be at oc; the motion of joints 4, 5 and 6 will not change the position of oc; only motions of joints 1, 2 and 3 can influence position of oc.
Introduction Robotics, lecture 3 of 7
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q1, q2, q3
Introduction Robotics, lecture 3 of 7
q4, q5, q6
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Inverse tangent function Atan2(xc,yc) is defined for all (xc,yc)(0,0) and equals the unique angle 1 such that: xc yc cos 1 = , sin 1 = . 2 2 2 2 xc + yc xc + yc Introduction Robotics, lecture 3 of 7
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*
Introduction Robotics, lecture 3 of 7
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Law of cosines:
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2 1
2=1- 2
1=Atan2(r,s) 2=Atan2(a2+a3cos3,a3sin3)
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Equation to solve:
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If not both right-hand sides of the first two equations are zero:
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