Robotics Project

Prepared by :

Naifar Slim
Sonya Bradai
Hbiri Imen
MSPR3: Introduction to Robotics:
Kinematics, Dynamics, Control and Vision (Part 1)
ACADEMIC YEAR 2011/2012
1
Outline
1. Introduction
2. Problem definition
3. Puma Robot Presentation
4. The forward kinematics
5. The inverse kinematics
6. The Jacobian of the manipulator and its singularities
7. Dynamical equations
8. PD control with simulations and animation
9. Conclusion
2
Introduction
A robot is a manipulator which can modify its environment.
This Figure shows a serial link manipulator (left) and a parallel link manipulator (right).
A parallel robot, by definition, contains two or more independent serial link chains.

We will focus our discussion on serial link manipulators with revolute or prismatic
joints.
3
Problem definition
In our Project we deal with the Kinematics , Dynamics and Control of
an industrial serial robot.
4
We select the
Puma 762
5
Puma Robot Presentation
High-precision material
handling
Machine loading
Inspection
Testing
Joining
Assembly in medium and
heavier weight applications
Puma Robot Presentation
6
Robot Arm Joint Identification and Axes
of Rotation
Robot Arm Joint Axes and Ranges of
Rotation
Puma Robot Presentation
Joint 1 2 3 4 5 6
Software Movement Limits (deg) 320 220 270 532 200 600
7
Robot Arm Joint Axes and Ranges of Rotation
Puma Robot Presentation
8
Dimensions of Robot Arm
Weight 590 kg (1298 lb)
Static Load 20 kg (44. 1 Ib)
Puma Robot Presentation
9
The forward kinematics
D-H Convention
10
Z
0

Z
2

Z
3

Z
4

Z
5,
Z
6

X
5

X
4

X
3

X
2

X
1

X
0

O
0

O
1

O
2

O
3

O
4
=O
5

O
6

Z
1

The forward kinematics
11
D-H Convention
The forward kinematics
Link a
i
(mm) d
i
(mm)
i

i

1 0 1120 -90
1

2 650 263 0
2

3 0 73 90
3

4 0 600 -90
4

5 0 0 90
5

6 0 125 0
6

Mechanism parameters of the Puma 762 robot
12
D-H Convention
The forward kinematics
1 1
1 1
1
cos( ) 0 sin( ) 0
sin( ) 0 cos( ) 0
A
0 1 0 1120
0 0 0 1
u u
u u
(
(
(
=
(
(

2 2 2
2 2 2
2
cos( ) sin( ) 0 650cos( )
sin( ) cos( ) 0 650sin( )
A
0 0 1 0
0 0 0 1
u u u
u u u
(
(
(
=
(
(

3 3
3 3
3
cos( ) 0 sin( ) 0
sin( ) 0 cos( ) 0
A
0 1 0 165
0 0 0 1
u u
u u
(
(

(
=
(
(

4 4
4 4
4
cos( ) 0 sin( ) 0
sin( ) 0 cos( ) 0
A
0 1 0 500
0 0 0 1
u u
u u

(
(
(
=
(
(

5 5
5 5
5
cos( ) 0 sin( ) 0
sin( ) 0 cos( ) 0
A
0 1 0 0
0 0 0 1
u u
u u
(
(

(
=
(
(

6 6
6 6
6
cos( ) sin( ) 0 0
sin( ) cos( ) 0 0
A
0 0 1 125
0 0 0 1
u u
u u

(
(
(
=
(
(

6 1 2 3 4 5 6
T = A .A .A .A .A .A
The forward kinematic equations are therefore given by
13
D-H Convention
The inverse kinematics
Objective: Find the joint variables in terms of the end-effector position
and orientation.
14
The Jacobian of the manipulator and its
singularities
Objective: Relate the linear and angular velocity of the end-effector to
the vector of joint velocities .
0 6 0 1 6 1 2 6 2 3 6 3 4 6 4 5 6 5
0 1 2 3 4 5
( ) ( ) ( ) ( ) ( ) ( ) Z O O Z O O Z O O Z O O Z O O Z O O
J
Z Z Z Z Z Z

(
=
(

The Manipulator Jacobian or Jacobian J for short is given by
15
The Jacobian of the manipulator and its
singularities
| |
1 0 6 0
( )
25. 1(26. 2 (24 5. 5). 23 5. 23. 4. 5) 1(336 125. 4. 5)
25. 1(26. 2 (24 5. 5). 23 5. 23. 4. 5) 1(336 125. 4. 5)
0
Jv Z O O
s c c s c c s c s s
c c c s c c s s s s
=
+ + + +
(
(
= + + + +
(
(

| |
2 1 6 1
( )
25. 1( 23.(24 5. 5) 26. 2 5. 4. 23. 5)
25. 1( 23.(24 5. 5) 26. 2 5. 4. 23. 5)
25( 2(26 (24 5. 5). 3 5. 3. 4. 5) 2( 3(24 5. 5) 5. 4. 2. 5))
Jv Z O O
c c c s c s s
s c c s c s s
c c s c c s s c c c s s
=
+ (
(
= +
(
( + + + + +

| |
3 2 6 2
( )
25. 1( 23.(24 5. 5) 5. 4. 23. 5)
25. 1( 23.(24 5. 5) 5. 4. 23. 5)
25( 3((24 5. 5). 2 5. 2. 4. 5) 3( 2(24 5. 5) 5. 4. 2. 5))
Jv Z O O
c c c c s s
s c c c s s
c c s c c s s c c c s s
=
+
(
(
= +
(
( + + + +

| |
4 3 6 3
( )
125( 4. 1 1. 23. 4). 5
125( 1. 4 23. 1. 4). 5
125. 23. 4. 5
Jv Z O O
c s c s s s
c c c s s s
s s s
=
+
(
(
=
(
(

| |
5 4 6 4
( )
125( 5. 1. 4 1( 2( 4. 5. 3 3. 5) 2( 3. 4. 5 3. 5)))
125( 5. 1. 4. 2. 3 1. 5. 4 3. 1. 2. 5 2. 1( 3. 4. 5 3 5))
125( 3( 4. 5. 2 2. 5) 3.( 2. 4. 5 2. 5))
Jv Z O O
c s s c s c c s c s s c c c s s
c s c s s c c s c s s s c s c c c s s
c c c s c s s c c c s s
=
+ + + (
(
= + +
(
( + +

| |
6 5 6 5
0
( ) 0
0
Jv Z O O
(
(
= =
(
(

16
A robot is defined to be in a singular configuration when the determinant of the
Jacobian is equal to 0.
The Jacobian of the manipulator and its
singularities
| | |
3 2 3 1 3 1 2 3 3
1 3 2 3 2 3 1 2 3 1 2 3
1 2 3 1 2 3
Det Jt 2437500cos( ) cos( ) 10 26cos ( ) 26cos( 2 ) 52cos( )
26cos( ) 10cos(2( )) 52cos(2 ) 26cos( 2 ) 5cos( 2( ))
5cos( 2( )) 48sin( ) 48sin(2( )) 24s
u u u u u u u u u
u u u u u u u u u u u u
u u u u u u
= + + +
+ + + + + + + + +
+ + + + +
|
1 2 3 1 2 3
in( 2( )) 24sin( 2( ) ) u u u u u u + + + +
| |
Det Jt 0 =
17
The Jacobian of the manipulator and its
singularities
Forearm boundary singularity of Puma 762 robot
3
cos( ) 0 u =
The elbow is fully extended.
18
The Jacobian of the manipulator and its
singularities
Forearm interior singularity of Puma 762 robot
2 3
cos( ) 0 u u + =
For this second singularity , the
wrist center intersects the axis
of the base rotation
19
|
1 3 1 2 3 3 1 3 2 3
2 3 1 2 3 1 2 3 1 2 3
1 2 3 1 2 3 1 2
10 26cos ( ) 26cos( 2 ) 52cos( ) 26cos( ) 10cos(2( ))
52cos(2 ) 26cos( 2 ) 5cos( 2( )) 5cos( 2( ))
48sin( ) 48sin(2( )) 24sin( 2( )) 24sin( 2(
u u u u u u u u u u
u u u u u u u u u u u
u u u u u u u u u
+ + + + +
+ + + + + + + +
+ + + + + + +
3
)) 0 =
The Jacobian of the manipulator and its
singularities
The interpretation of this term is complicated.
20
Dynamical equations
The equation of motion of the robot is given by
.. . .
( ) ( , ) ( ) t + + = D q q C q q q g q
21
Where:
D(q) : Inertia matrix
C: Centrifugal and Coriolis matrix
g(q): Gravity vector
22
Dynamical equations
( . . . . . . )
1
= +

=
vci vci wi wi
n
t t t
D m
J J J J R I R
i i i
i
i
1
[ ( - ) ]
0
j
J z O O
vcij ci

=
Where
[ ]
1 2 3
[ ( - ) 0 0]
1 0 1 0
[ ( - ) ( - ) 0]
2 0 2 0 0 2 1
[ ( - ) ( - ) ( - )]
3 0 3 0 0 3 1 0 3 2
[ ( - ) ( - ) ( - )]
4 0 4 0 0 4 1 0 4 2
5 6 4
J J J J
vc
vc vc vc
J z O O
vc c
J z O O z O O
vc c c
J z O O z O O z O O
vc c c c
J z O O z O O z O O
vc c c c
J J J
vc vc vc
=
=
=
=
=
= =
23
Dynamical equations
[ 0 0]
1 0
[ 0]
2 0 1
[ ]
3 0 1 2
5 6 4 3
=
=
=
= = =
J z
w
J z z
w
J z z z
w
J J J J
w w w w
( . . . . . . )
1
= +

=
vci vci wi wi
n
t t t
D m
J J J J R I R
i i i
i
i
1 2 3 2 3 3
2 3 2 3 3
3 3 3
+ + +
| |
|
= + +
|
|
\ .
I I I I I I
I I I I I I
I I I
24
. .
1
( )
2
1 1
c
c

c

= = +

`
c c c
= =

)

d
d
d
n n
kj ij
ki
c c q q q
kj ijk
q q q
i i
i j
k
( )
c
=
c
k
V
g q
q
3 2
2 2 3 2 2 3 2 3
. . .sin( ) . . .sin( ) . . .sin( )
2 2
d d
V m g m d g m g u u u u = + + +
Dynamical equations
PD control with simulations and animation
25
~ .
( )
P D
K q K q q t | = +
.. . .
( ) ( , ) ( ) t + + = D q q C q q q g q
.. . . ~ .
( ) ( , )
P D
D q q C q q q K q K q + =
26
PD control with simulations and animation
0 5 10 15 20 25 30 35 40 45 50
0
1
2
3
4
5
6
Time
p
o
s
i
t
i
o
n
q1(t), q2(t) q3(t)


q1(t)
27
PD control with simulations and animation
0 5 10 15 20 25 30 35 40 45 50
-1.5
-1
-0.5
0
0.5
1
1.5
2
2.5
3
3.5
Time
p
o
s
i
t
i
o
n
q1(t), q2(t) q3(t)


q2(t)
28
PD control with simulations and animation
0 5 10 15 20 25 30 35 40 45 50
-1.5
-1
-0.5
0
0.5
1
1.5
2
Time
p
o
s
i
t
i
o
n
q1(t), q2(t) q3(t)


q3(t)
29
PD control with simulations and animation
0 5 10 15 20 25 30 35 40 45 50
0
1
2
3
4
5
6
Time
p
o
s
i t
i o
n
q1(t), q2(t) q3(t)


q1(t)
0 5 10 15 20 25 30 35 40 45 50
0
1
2
3
4
5
6
Time
p
o
s
i t i o
n
q1(t), q2(t) q3(t)


q1(t)
0 5 10 15 20 25 30 35 40 45 50
-1.5
-1
-0.5
0
0.5
1
1.5
2
Time
p
o
s
i t
i o
n
q1(t), q2(t) q3(t)


q3(t)
30
PD control with simulations and animation
31
Conclusion
We have study Puma Robot six links.
We have deriving the forward kinematics equation and studying
the problem of inverse kinematics.
Then, we have determinated the Jacobian matrix and discuss the
singularities.
After that, we have computed the dynamical equation of motion
of the manipulator.
Finally, we have studied the control of the robot.
Robotics Project
PUMA 762
Slim Naifar & Sonya Bradai & Imen Hbiri
Thank You For
Your Attention
33
D-2C Skew Symmetric??
Symmetric??
D