Sultan Moulay Slimane University

Faculty of Science and Technology Beni Mellal

Engineer's degree: Productivity and Mechatronics

Robotics

Realized by : BBELLAHNA Boubker Supervised by : Professor M.ZEKRAOUI

LAARAJ Mustapha

2018 / 2019
 GENERAL INTRODUCTION

Robotics is an interdisciplinary branch of engineering and science

that includes mechanical engineering, electronic engineering,
information engineering, computer science, and others. Robotics deals
with the design, construction, operation, and use of robots, as well as
computer systems for their control, sensory feedback, and information
processing.
A robot is a mechatronic system (combining mechanical, electronic
and computer) designed to automatically perform tasks imitating or
reproducing, in a specific field, human actions. The design of these
systems is the subject of a scientific discipline, a branch of automation
called robotics.
To understand the mechanical design of a robot we need to study
matrix, vectors, derivate, integral and basic physics, servo motor
selection and design in addition to choose the gears and linking
methods. Hydraulics and pneumatics are quite important in this field
and to know how we can create communication between sensors and
actuators through a programmable logic system, finally programming is
the method of communication.

Many of us are wondering how a robot functions, what types of

technologies are used in a robot and why we need a robot in our life.
The aim is to provide the reader with a clear, simple explanation of
robotics. The information is directed towards engineering students, and
engineers who are interested in a robotics.
2.14 Develop a general formula to obtain 𝐵𝐴𝑇, where, starting from
̂ where 𝐾
initial coincidence, {B} is rotated by 𝜃 about 𝐾 ̂ passes
through the point 𝐴𝑃 (not through the origin of {A} in general).
Solution

2.24 [45] Prove Cayley's formula for proper orthonormal matrices.

Solution
2.29 [15] Referring to Fig.2.25, give the value of B
T
C

We have two solutions in this case.

First solution will only be described and the second solution will be
given in details
First Solution:
To obtain frame {C}, we need two steps.
First, from frame {B} to frame {TEMP}
Frame {TEMP} which is rotated relative to frame {B} about Yˆ by 90
degrees and translated 0 units in Xˆ , and 0 units in Yˆ , and 0 units in Zˆ
B B B

.
Second, from frame {TEMP} to frame {C}
Frame {C} which is rotated relative to frame {TEMP} about X̂ by 210
degrees and translated 2 units in Xˆ (-2), and 0 units in Yˆ , and 0 units
B B

in Zˆ . Finally, the definition of frame {C} is

B
 Ẑ Ẑ

X̂

Yˆ X̂ Yˆ

{B} TO {TEMP}
Ẑ Yˆ Ẑ

X̂ Yˆ X̂

{TEMP} TO {C}

B
CT   TEMPB R.TEMPC R B
TEMP R.TEMP PCORG  B PTEMPORG 

Second Solution:
T  BAT . CAT
B
C

 AB R B
PAORG   BA RT  BA RT A PBORG 
T 
B
A  
0 0 0 1  0 0 0 1 
0 1 0  0 1 0   3 
 
 A RT  BA RT A PBORG  1 0 0  1 0 0  . 0  
 B 
0 0 0 1  0 0 1  0 0 1 0  
 
 0 0 0 1 
0 1 0 0
1 0 0 3

0 0 1 0
 
0 0 0 1

 1 0 0 2
 0 0.5 0.87 0 
CT 
A  
 0 0.87 0.5 3
 
0 0 0 1
 01 0 0   1 0 0 2
1 0 0 3  0 0.5 0.87 0 
 
CT 
B 
0 0 1 0   0 0.87 0.5 3
  
0 0 0 1  0 0 0 1
 0 0.5 0.87 0 
 1 0 0 1

 0 0.87 0.5 3
 
0 0 0 1

2.30 [15] Referring to Fig.2.25, give the value of C

T
A

 AC R C
PAORG   CA RT  CA RT A PCORG 
C
AT   
0 0 0 1  0 0 0 1 
0 1 0  0 1 0   3 
 
 A RT  CA RT A PCORG  1 0 0  1 0 0  . 0  
 C 
0 0 0 1  0 0 1  0 0 1 0  
 
 0 0 0 1 
0 1 0 0
1 0 0 3

0 0 1 0
 
0 0 0 1
 4.17. [25] A 4R manipulator is shown schematically in Fig.
4.16. The nonzero link parameters are 𝛼1 = —90°, d2 = 1,
𝛼2 = 45°, d3 = 1, and 𝛼3 = 1, and the mechanism is
pictured in the configuration corresponding to

𝜃 = [0, 0, 90°, 0]T.

Each joint has ±180° as limits. Find all values of 𝜃3 such

that
0P
4ORG = [0.0, 1.0, 1414]T

Solution

A 4R manipulator is shown schematically in Figure 6. The

nonzero link parameters are 1 = –  2 , d2 = 1 , 2 = –  4
, d3 = 1 and a3 = 1 and the mechanism is pictured in the
configuration corresponding to,
 = 0 0   2 0T .
Each joint has limits of  . Find all values of 3 such that,

0P
4ORG = 0 12T .

FIGURE 4.16: A 4R manipulator shown in the position 0 =

[0,0, 900, 0]T (Exercise 4.17).
3.11 [17] Figure 3.33 shows the schematic of a wrist which has three
intersecting axes that are not orthogonal. Assign link frames to this
wrist (as if it were a 3-DOF
manipulator), and give the link parameters.

Solution :
Mechanism lies in page as draw. All 𝑋̂ –axes are normal to page.
PROGRAMMING EXERCISE (PART 2 -Q5) :
Statement:
The following frame definitions are given as known:

These frames are input in the user representation [x, y, 9] (where 9 is in

degrees).
Draw a frame diagram (like Fig. 2.15, only in 2-D) that qualitatively shows their
arrangement. Write a program that calls TMIJLT and TINVERT (defined in
programming exercises 3 and 4) as many times as needed to solve for T. Then
print out T in both internal and user representation.

Solution :
Procedure TMULT:

Subroutine to multiply two transforms

together.
La procedure TINVERT :

Subroutine to invert a transform.

Les procedures UTOI and ITOU :

"UTOI" stands for "User form TO

Internal form.

ITOU stands for "internal form TO user

form
The main program :
The main program to
solve 𝐵𝐶𝑇

Print out 𝐵𝐶𝑇 in internal

representation.

Print out 𝐵𝐶𝑇 in user

representation.

List of abbreviations used in the program:

TMULT : multiply two transforms
TINVERT : invert a transform
UTOI : user form to internal form
ITOU : internal form to user form
VAR : variable
BRELA : 𝐵𝐴𝑇
CRELA : 𝐴𝐶𝑇

IFORM : internal form

UFORM : user form