motion and manipulation - universiteit utrecht · joints • prismatic and revolute joints provide...
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Motion and Manipulation
Robotics
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Robotic Manipulators
SCARA: Selective Compliant Assembly Robot Arm
PUMA: Programmable Universal Machine for Assembly
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Robot Components
• Links: individual rigid bodies that make up the arm • Joints: contact between two links allowing relative
(single-coordinate) motion – revolute (R): rotation – prismatic (P): translation
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Joints
• Axis of joint or axis of motion: line about or along which the relative rotation or translation takes place.
• Joint variable or joint coordinate: describes the magnitude of the rotation about or translation along the axis of joint/motion.
• Joint can be – active: controlled by actuator – passive (inactive, free): determined by active joint
coordinates 4
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Joints
• Revolute joints
• Prismatic joints
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Joints
• Prismatic and revolute joints provide one degree of freedom; number of joints equals the number of degrees of freedom (DOF) of the manipulator.
• Manipulator in a 3D world should have six DOF: three for positioning, three for orientation.
• Manipulator with more than six DOF is kinematically redundant.
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Robot Components
• Manipulator: main body consisting of links and joints
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Example Manipulator
• SCARA
kinematic diagram
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Robot Components
• Wrist: three revolute joint axes intersecting in a single point
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Robot Components
• End-effector: part mounted on the last link to carry out the robot’s task; example: gripper.
• Wrist and end-effector together sometimes referred to as a hand.
• Actuators: controllable electric/hydraulic/pneumatic drivers to change the robot’s configuration
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Robot Components
• Sensors: elements that detect and collect information about internal and environmental states, such as joint position, velocity, acceleration, force
• Controller: collects and processes sensor information, plans motions of the robot structure, and organizes information.
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Robot Geometry
• Serial/open-loop manipulator: no cycles in geometry • Parallel/closed-loop manipulator: geometry is cyclic • Hybrid manipulator: both open-loop and closed-loop
substructures • Adjacent joints can be
– parallel: ∥ – orthogonal (intersecting at right angle): ⊢ – perpendicular (right angle with respect to common
normal: ⊥
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Example
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Example
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Example
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Example
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Example
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Example
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Classification
• Workspace: volume of space reachable by the end-effector – reachable workspace: reachable in at least one
orientation of the end-effector – dexterous workspace: reachable in any orientation
of the end-effector
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Classification
• Actuator type
• Control method – servo or closed loop – non-servo or open loop
• Application type
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