lectures on robotics -...

Lectures on Robotics

Outline of the class

1. Introduction: the state of the art in robotics

2. Forward kinematics: homogeneous transformation and DH representation

3. Inverse kinematics and velocity kinematics

4. Analytical mechanics I: constraints and the principle of virtual work

5. Analytical mechanics II: Lagrangian formulation

6. Analytical mechanics III: Hamiltonian mechanics

7. Independent joint control

8. Multivariable control (Lyapunov stability)

9. Task space control

10. Force control

11. Feedback linearization control

12. Other advanced control techniques (sliding mode control, adaptive control)

http://www.es.u-tokai.ac.jp/es_hp/stu/class/yamamoto/KMITLrobotics/Lectures_on_Robotics.html

Lectures based on lecture notes which are available as PDF filesvia Internet.

No textbook will be used in this class.

List of recommended books on robotics

• “Robot Modeling and Control”, M.W.Spong, S.Hutchinson and M.Vidyasagar, John Wiley, 2006. Recently revised from previous “Robot Dynamics and Control”, M.W.Spong and M.Vidyasagar, John Wiley, 1989

• “Foundations of Robotics”, Tsuneo Yoshikawa, MIT Press, 1990

Mathematically challenging, but good books (more on control)

• “A Mathematical Introduction to Robotic Manipulation”, R.M.Murray, Z.Li, S.S.Sastry, CRC Press, 1994

• “Applied Nonlinear Control”, J-J.Slotine, W.Li, Prentice Hall, 1991

• “Nonlinear Control Systems”, 3rd ed. A.Isidori, Springer, 1995

• “Nonlinear Dynamical Control Systems”, H.Nijmeijer, A.v.d.Schaft, Springer, 1993

Robot Related Technologies

I Element technology III Environmental recognition・ Sensor ・ Computer vision・ Actuator ・ Speech recognition・ Mechanism ・ Tactile sensing・ Material ・ Artificial intelligence

II　Control technology IV Robot systems・ Manipulator ・ Autonomous system・ Hand 　 ・ Communication・ Mobility 　 ・ Power resource・ Sensor applications ・ Reliability, safety,

maintenance

Element Technology （Sensors）

Interoceptive sensorsPosition/angle sensor （encoder, potentiometer）Angular velocity sensor （Tachometer, rate gyro）Accelerometer （piezoelectric, semiconductive）Inclinometer, declinometer

Exteroceptive sensors

Vision sensor （panoramic, stereo, active vision）Tactile sensor （conductive rubber, pneumatic,

semiconductive, photosensitive）Force sensor （strain gauge）Proximity sensor （infrared, eddy current, laser, capacity）Sonar sensor

Element Technology （Actuators）

Electric actuators

Hydraulic actuators

Pneumatic actuators

Others

DC servo motorAC servo motorStepping motor

Hydraulic motor, hydraulic cylinder

Ultrasound motor, shape memory alloy, piezoelectric element, mechanochemical,Micro-organism, magnetostrictive element

Element Technology （Mechanism）

Motion transmission mechanism

Reduction mechanism

Joint mechanism

Micro mechanism

gear, ball screw, timing belt, timing chain,lever, link, cam, traction, fluid transmission

harmonic drive, non-backlash gear

revolute joint, prismatic joint, universal joint

hinge mechanism, bimorph micro drive, micro machining via photolithography

Element Technology （Material）

For robot use

For sensor use

Structural materialLight weight materialHigh stiffness materialVibration-proof material

MetalSemiconductorOrganic InorganicComposite material

Classification of industrial robots via structure

Cartesian Cylindrical Spherical

ArticulatedSCARA Parallel

Cartesian robotGantry robotOrthogonal robotRectangular robot

P-P-P

Schematic Skeleton Workspace

Cylindrical robot

R-P-P

Schematic Skeleton Workspace

Spherical robotPolar robot

R-R-P

Schematic Skeleton Workspace

SCARA

Selective Compliance Articulated Robot Arm

R-R-P

Skeleton WorkspaceSchematic

Articulated robot

R-R-R

Schematic Skeleton Workspace

Parallel robot

Schematic Skeleton Workspace

Degree of freedom (DOF)

Number of independent variables needed to determine the configuration of a system of interest

How many DOF does aplanar mobile robot have?

Position　 2 DOF　X, YOrientation　 1 DOF　φTotal 　 3 DOF

How many DOF does a body in 3D space have?

This implies that a robot equipped with at least six independent joints (motors) can achieve an arbitrary position and orientation of the end effector within its workspace. A robot with less than six DOF, however, always is subjected to a constrained motion along a certain direction. Given the hand and the shoulder relatively fixed, how can one move his elbow?

Human body is very redundant!

Hand fixed on the object

Shoulder fixed on the body

Forward kinematics

Joint spacevariables

Task spacevariables

Inverse kinematics

2-DOF serial manipulator

・Joint space variable　q　q1, q2　（joint angles）

・Task space variable　p　X, Y　　（tip position）