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Ellipsis manipulability
p p y
Force/velocity performances
/ yp
Cartesian manipulator
Equal motors Different motors
Velocityy Force
Vn ,max const Fn ,max const
Vt , max max Ft , max Cmax /
Vn , max
Fr ,max
max
C max
Prof. Legnani Course of Robotics and Servosystems
Università degli Studi di Brescia
Singular configurations, repeatability, velocity
g g p y y
singular configurations : one of the ellipsis axis has null or infinite diameter
Prof. Legnani Course of Robotics and Servosystems
Università degli Studi di Brescia
SCARA maximum velocities
y
P
O1 O2 x
SCARA maximum forces
y F max y
P P
b2
O2 O2
O1 x O1 x
b1
Motor 1 Motor 2
M
Motors 3/4
SCARA robot: isotropic
p
configuration
Hypothesis: equal performances of two motors
End effector 135
y
P O
O P’
P
l22 0 PO P A
J J JJ
t t
l1 2l2
0 l22
P O | P A
Prof. Legnani Course of Robotics and Servosystems
Università degli Studi di Brescia
Ellipsis manipulability: definition
p p y
Velocity, force
S JQ Fq J T Fs
Not weighted
1 qi2 Q T Q
1 S T J t J 1 S
1 f i F Fq 2
q
T
1 Fs JJ T Fs
T
weighted
qi2
1
q 2
Q T DvT DvQ
1 S T J t DvT Dv J 1 S
i , max
1
f
fi 2
2
F T DTf D f F
1 Fs JDTf D f J T Fs
T
i , max
1 1
q 0 0 0 0
f
1 max 1 max
1
Dv 0 0 Df 0
1
0
q2 max f 2 max
0 0 0 0
Inertia ellipsis
p
Fs J T Fq
Fq MQ
S JQ
Fs
S
FS J T MJ 1 S
E i l
Equivalent mass
Ellipsis of elasticity
p y
Inverse of rigidity
Yelding at joints
dS
Fs
k1 0 0
K q 0 k2 0
dQ K q Fq 0 0
dS JdQ se k1=k2=...
se k =
dS JK q J t Fs
dS k JJ t Fs
Fs J Fq T
Ks
Di l
Displacement consequent to a unitary force
i f
Prof. Legnani Course of Robotics and Servosystems
Università degli Studi di Brescia
Example of inertia ellipsis
p p
y u2
u1 u2
m2 a
a
m2
x
Fs
m1 m1 u1
mass
direction x m1+m2
direction y m2
elasticity:
isotropic
Polar SCARA
y y
u2 u1 u1
u2
m2
Jg1 m2
m1
m1
g1 O2
O1 x O1 x
direction u
direction u1
1 m2
direction u1
1 m2+ m1 /sin(b)
( )
direction u2 m2 + (Jg1+m1 g12 )/ r2 direction u2 m2
Figure 2.5: 5 Manipulability ellipsis in force (left) and velocity (right)
Figure 2.6: 5 SCARA robot: Manipulability ellipsis in repeatability (left) and
Figure 2 6: 5 SCARA robot: Manipulability ellipsis in repeatability (left) and
comparison between force and velocity ellipsis (right)
ui eigenvectors li eigenvalues
A i di ti
Axis dierction
ellipsis Ellipsis matrix radius
velocity
1 S T J t DvT Dv J 1 S AV J t DvT Dv J 1 ui ri
1
i
force
T
1 Fs JDTf D f J T Fs AF JDTf D f J T ui ri
1
i
mass
FS J T MJ 1 S M s J T M J 1 ui ri i
elasticity
dS JK q J t Fs K s JK q J 1 ui ri i
ellipsis drawing: diameter and radii are known
p g
ui matrix eigenvectors axis direction
i matrix eigenvalues
matrix eigenvalues semi axis
semi axis length (radii)
x r1 cos
y r sin
2 y’
u1 u2 u2
u1
x' cos 0 sin 0 x r1
y ' sin cos y r2 0
0 0
x’