Robotics Manipulation and Control: An Introduction to Industrial Robots, Essays (university) of Robotics

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Robotics

Manipulation and control

University of Strasbourg Telecom Physique Strasbourg, ISAV option Master IRIV, AR track Introduction

Outline of the lecture

— Introduction : Overview

— 1. Theoretical background

◦ 1.1. Rigid motions ◦ 1.2. Kinematics ◦ 1.3.Velocity Kinematics

— 2. Modeling kinematics

◦ 2.1. Denavit-Hartenberg convention ◦ 2.2. Forward kinematic model ◦ 2.3. Inverse kinematic model

Outline of the lecture

— 5. Control

◦ 5.1. Joint position control ◦ 5.2. Path planning ◦ 5.3. Software architecture

Outline of the introduction

— 1. History and definitions

— 2. Categories of robots

— 3. Specific vocabulary

— 4. Robot main characteristics

— 5. Different kinds of manipulators

— 6. Robot usage

— 7. Statistics

— 8. References

1. History and definitions

— Short history

◦ 1939 : “ Elektro ”, humanoid robot presented at the world fair in New- York from the Westinghouse Electric Corporation. ◦ 1956 : “ Unimate ”, first commercial industrial manipulator from the Unimation Company. It was first installed in 1961 in a General Motors plant. ◦ 1973 : “ Famulus ”, first 6 axis industrial robot from KUKA robotics.

1. History and definitions

— Definition

◦ A robot is a mechanical articulated and actuated system controlled by a computer.

3. Specific vocabulary

Actuator = motor Joint = axis Link End-effector Tool Base

4. Robot main characteristics 4.1 Geometry

— Two types of joint

◦ Translational / prismatic : ◦ Rotational :

— Geometric characteristics

◦ Number of joints ◦ Architecture (serial or parallel) ◦ Joint sequence ◦ Number of degrees of freedom 1 2 1 2 1 2 1 2 1 2 1 2 1 2 1 2 1 2

4. Robot main characteristics 4.1 Geometry — Examples ◦ 3 joints, serial, RRR, 3DoF ◦ 3 joints, serial, PPP, 3DoF ◦ 4 joints, parallel, RP+RP, 3DoF

4. Robot main characteristics 4.2 Workspace — Definitions ◦ Reachable workspace : whole set of points reachable by a point on the end-effector, usually the tool center point. ◦ Dexterous workspace : whole set of points that a point on the end-effector can reach without limitation in its orientation.

4. Robot main characteristics 4.3 Accuracy / Repeatability — Definitions ◦ Accuracy : how closely the robot can reach a reference position in its workspace. ◦ Repeatability : how closely a robot can return to a previously learned position in its workspace. — Notes ◦ The repeatability of a robot is usually far better than its accuracy. ◦ The vast majority of installed robots is used to cyclically repeat a programmed sequence of positions. ◦ The norm ISO 9283 specifies the conditions of assessment of the repeatability. It should be measured at maximal payload.

4. Robot main characteristics 4.4 Dynamic performances — Maximal velocity ◦ Given for each joint and also sometimes for the end-effector in the most favourable case. — Maximal acceleration ◦ Given for each joint in the most unfavourable case ( i.e. in the maximal inertia configuration). ◦ Usually, an industrial robot is in an acceleration/deceleration state most of the time. The joints have rarely the time to reach their maximum velocity.

4. Robot main characteristics 4.6 Example : the KUKA KR — 6R anthropomorphic industrial robot :

4. Robot main characteristics 4.6 Example : the KUKA KR — Workspace :