ANNAJAH NATIONAL UNIVERSITY DEPARTMENT OF MECHANICAL ENGINEERING MANIPULATOR

ﺍﻟﺮﺣﻴﻢ ﺍﻟﺮﺣﻤﻦ ﺍﻟﻠﻪ ﺑﺴﻢ AN-NAJAH NATIONAL UNIVERSITY DEPARTMENT OF MECHANICAL ENGINEERING MANIPULATOR ( DESIGN AND CONTROL ) 1

Introduction to Robotics Manipulator Kinematics Trajectory Generation Motor Selection Design of Prototype Control of Manipulator 2

Introduction to Robotics v The word "Robot" comes from the Czech word "Robota" which means "labor doing compulsory manual works without receiving any remuneration v. Robotic device that can automatically control these are programmable Characteristics: 1. Unchanging. 2. Unthinking. 3. Untiring. 3

Introduction to Robotics Today robots perform many tasks: v. Make life easier on the people. v. To help people. v. The ability to work in hazardous conditions. v. Work on things that may be boring to us. 4

Introduction to Robotics Applications in Our Life Welding applications Spray painting applications 5

Introduction to Robotics Medical Robotics Space robotics 6

Introduction to Robotics Kinds of robot : Parallel robot Serial robots 7

Introduction to Robotics 8

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Inverse Kinematics Given a desired position (X, Y, Z) (q 1 … q n ) Find the joint variables which can bring the robot to the desired configuration. 10

Inverse Kinematics Joint variables (q 1 … q n) Forward K Inverse K Position of the end-effector (X, Y, Z) Workspace: volume of space which can be reached by the end effector. Factor that effect the workspace of a robot: 1. Limitation on joint angles. 2. Limitation on the number of degree of freedom of the robot. 11

Inverse Kinematics Method of solution Solutions numerical solutions Only returns a single solution Too many iterations closed form solutions many solution No need for iteration (direct solution) Unknown number of operations to solve. 12

Inverse Kinematics Closed-form Solutions We are interested in closed-form solutions: 1. Algebraic methods 2. Geometric methods 13

Inverse Kinematics • Distance from origin at this point L 3 X, Y, Z 0 - Z ө 3 α Z 18 β Y ө 2 L 2 d O X 14

Jacobians : Velocities and Static Force Jacobian can also be used to compute the set of {Joint Torques} required to generate them. Workspace boundary singularities: Occur when the manipulator is fully starched 15

Trajectory Generation move a manipulator from its initial position to some desired goal position in a smooth manner 16

Trajectory Generation Cubic Polynomials : initial and final values 17

Motor Selection AC Motor • Speed • Cooling • Controls 18

Motor Selection DC Motor • Electrical noise • Reliability • Speed • Cooling 19

Motor Selection Stepper Motor • Stepping speed • Cooling • Open loop operation 20