Beruflich Dokumente
Kultur Dokumente
Tugino, ST MT
tugino@sttnas.ac.id
Jurusan Teknik Elektro STTNAS
Yogyakarta
1
Pendahuluan
Robot Manipulators
Konfigurasi Robot
S
Spesifikasi
ifik i R
Robot
b t
Kinematics
Preliminary
Direct kinematics
Inverse kinematics
Tugino, ST MT
Manipulators
Lengan Robot , Robot industri
Rigid bodies (links) connected
by joints
Joints: revolute or prismatic
Drive: electric or hydraulic
End-effector (tool) mounted on
a flange or plate secured to
the wrist jjoint of robot
Tugino, ST MT
Manipulators
R(revolute) or P( prismatic)
Robot Configuration:
Cartesian: PPP
Cylindrical: RPP
Spherical: RRP
Hand coordinate:
SCARA: RRP
Articulated: RRR
Tugino, ST MT
Robots Cartesian
Cartesian robot
Arm moves in 3 linear
axes. X,y,z axes
x
y
Tugino, ST MT
Tugino, ST MT
Manipulators
Motion Control Methods
P i t tto point
Point
i t control
t l
Tugino, ST MT
Manipulators
Robot Specifications
Number of Axes
Major axes, (1-3) => Position the
wrist
Minor axes, (4-6) => Orient the
tool
Redundant, (7-n) => reaching
around obstacles, avoiding
undesirable configuration
Degree of Freedom (DOF)
Workspace
Which one is more important?
Payload (load capacity)
MTPrecision v.s. Repeatability
Sekolah Tinggi Teknologi Nasional Yogyakarta
8
Tugino, ST
Kinematik
Forward kinematics
x0 = l cos
y0
y1
x1
y0 = l sin
Inverse kinematics
= cos ( x0 / l )
1
x0
Tugino, ST MT
Tugino, ST MT
10
Tugino, ST MT
11
A Simple Example
Revolute and
Prismatic Joints
Combined
Finding :
y
= arctan( )
x
More Specifically:
(x , y)
y
= arctan 2( )
x
1
X
Tugino, ST MT
Finding S:
S = (x 2 + y 2 )
Sekolah Tinggi Teknologi Nasional Yogyakarta
12
Given: l1, l2 , x , y
Find:
Redundancy:
l2
l1
1, 2
(x , y)
Tugino, ST MT
13
Preliminary
Robot Reference Frames
World
W
ld fframe
Joint frame
Tool frame
z
z
y
x
y
W
Tugino, ST MT
R
Sekolah Tinggi Teknologi Nasional Yogyakarta
x
14
Preliminary
Coordinate Transformation
Reference coordinate frame
OXYZ
Body-attached frame Ouvw
Pxyz = [ p x , p y , p z ]T
r
Pxyz = p x i x + p y jy + p z k z
w
v
r
Puvw = pu i u + pv jv + pwk w
O, O
pu = p x pv = p y pw = p z
Tugino, ST MT
15
Preliminary
Properties: Dot Product
3
Let x and y be arbitrary vectors in R and be
the angle from x to y , then
x y = x y cos
v v
i j =0
v v
i k = 0
v v
k j =0
Tugino, ST MT
Unit vectors
v
i
| |= 1
v
| j |= 1
v
| k |= 1
Sekolah Tinggi Teknologi Nasional Yogyakarta
16
Preliminary
Coordinate Transformation
Rotation only
r
Pxyz = p x i x + p y jy + p z k z
r
Puvw = pu i u + pv jv + pwk w
P
y
w
v
u
Pxyz = RPuvw
Tugino, ST MT
17
Preliminary
Basic Rotation
p x , p y,
Since
P = pu i u + pv jv + pw k w
p x = i x P = i x i u pu + i x jv pv + i x k w pw
p y = jy P = jy i u pu + jy jv pv + jy k w pw
p z = k z P = k z i u pu + k z jv pv + k z k w pw
Tugino, ST MT
18
p x = i x P = i x i u pu + i x jv pv + i x k w pw
p y = jy P = jy i u pu + jy jv pv + jy k w pw
p z = k z P = k z i u pu + k z jv pv + k z k w pw
px i x i u
p = j i
y y u
p z k z i u
Tugino, ST MT
i x jv
i x k w pu
jy k w pv
k z k w pw
j y jv
k z jv
19
Preliminary
Basic Rotation Matrix
p x i x i u i x jv i x k w pu
p = j i
p
j
j
j
k
y
y
u
y
v
y
w
v
p z k z i u k z jv k z k w pw
Rotation about x-axis with
1 0
Rot ( x, ) = 0 C
0 S
Tugino, ST MT
0
S
C
P v
u
x
y
20
10
Preliminary
Is it True?
0
p x 1
p = 0 cos
y
p z 0 sin
0 pu
sin pv
cos pw
P v
p x = pu
p y = pv cos pw sin
p z = pv sin + pw cos
Tugino, ST MT
u
x
21
1 0
Rot ( x, ) = 0 C
0 S
C
Rot ( y, ) = 0
S
R t ti about
Rotation
b t z-axis
i with
ith
Pxyz = RPuvw
Tugino, ST MT
C
Rot ( z , ) = S
0
Sekolah Tinggi Teknologi Nasional Yogyakarta
0
S
C
S
1 0
0 C
0
S
C
0
0
0
1
22
11
Preliminary
Basic Rotation Matrix
ix iu
R = jy i u
k z i u
i x jv
j y jv
k z jv
ix k w
jy k w
k z k w
Pxyz
Pxyz = RPuvw
Puvw
pu i u i x i u jy i u k z px
p = j i
v v x jv jy jv k z p y
pw k w i x k w jy k w k z pz
QR = R T R = R 1 R = I 3
Puvw = QPxyz
Q = R 1 = RT
Tugino, ST MT
23
Example 2
A point auvw = (4,3,2) is attached to a rotating frame, the frame
24
12
Example 3
A point a xyz = (4,3,2)is the coordinate w.r.t. the
25
matrix multiplications
p
do not commute
rules:
Tugino, ST MT
26
13
Example 4
Find the rotation matrix for the following
operations:
Rotation about OY axis
0 S C
1 0 S
0 C 0
CC
= S
SC
Answer...
0 1 0
0 0 C
1 0 S
C
0
SS CSC
CC
SSC + CS
0
S
C
CSS + SC
CS
CC SSS
Tugino, ST MT
27
Example 5
Translation along Z-axis with h:
1
0
Trans ( z, h) =
0
0
1
0
0
0
0
1
0
0
0
h
x 1
y 0
=
z 0
1 0
0 0 0 pu pu
1 0 0 pv pv
=
0 1 h pw pw + h
0 0 1 1 1
P
w
v
Tugino, ST MT
O, O
O, O
x
28
14
Example 6
Rotation about the X-axis by
1 0
0 C
Rot ( x, ) =
0 S
0 0
0
0
0
0
S
C
0
0
x 1 0
y 0 C S
=
z 0 S C
0
1 0 0
0 pu
0 pv
0 pw
1 1
P v
u
Tugino, ST MT
29
Homogeneous Transformation
Composite Homogeneous Transformation
Matrix
Rules:
Tugino, ST MT
30
15
Example 7
Find the homogeneous transformation matrix (T) for
T = Tz , Tz ,d Tx,aTx, I 44
C
S
=
0
S
C
0
0
0 0 1
0 0 0
1 0 0
0 1 0
0
1
0
0
0
0
1
0
0 1
0 0
d 0
1 0
0
1
0
0
0
0
1
0
a 1 0
0 0 C
0 0 S
1 0 0
0
S
C
0
0
0
0
Tugino, ST MT
31
Homogeneous Representation
A frame in space (Geometric
P( px , p y , p z )
Interpretation)
R
F = 33
0
P31
1
nx
n
F= y
nz
sx
sy
ax
ay
sz
0
az
0
a (z)
s(y)
px
p y
pz
n (X)
y
32
16
Homogeneous Transformation
Translation
a
s
1
0
Fnew =
0
0
nx
n
= y
nz
0 0 d x nx s x
1 0 d y n y s y
0 1 d z nz s z
0 0 1 0 0
sx ax px + d x
s y a y p y + d y
sz az pz + d z
0 0
1
ax
ay
az
0
px
p y
pz
a
s
n
y
Tugino, ST MT
33
Orientation Representation
Euler Angles Representation ( , , )
Euler Angle I
Euler Angle II
Roll-Pitch-Yaw
Sequence
about OZ axis
about OZ axis
about OX axis
of
about OU axis
about OV axis
about OY axis
Tugino, ST MT
about OW axis
about OZ axis
34
17
Orientation Representation
Euler Angle I
cos
Rz = sin
0
Rw''
cos
= sin
0
sin
cos
0
sin
cos
0
Tugino, ST MT
0
0
1
0 , Ru ' = 0 cos
0 sin
1
0
1
sin ,
cos
35
Euler Angle I
Resultant eulerian rotation matrix:
R = Rz Ru ' Rw''
cos cos
sin cos
+ cos sin cos
sin sin
Tugino, ST MT
cos sin
sin cos cos
sin sin
+ cos cos cos
cos sin
Sekolah Tinggi Teknologi Nasional Yogyakarta
sin sin
cos sin
cos
36
18
v"'
v' =v"
y
u"'
"'
u'
u"
x
Sekolah Tinggi Teknologi Nasional Yogyakarta
Tugino, ST MT
37
v'"
v"
v'
y
u'"
u' =u"
x
Tugino, ST MT
38
19
Orientation Representation
Matrix with Euler Angle II
i sin
i
sin
cos sin
+ sin cos cos
cos sin
sin
i cos
sin cos cos
cos cos
sin cos cos
sin sin
cos sin
sin sin
cos
Tugino, ST MT
39
Orientation Representation
Description of Roll Pitch Yaw
Z
X
Quiz: How to get rotation matrix ?
Tugino, ST MT
40
20
Terimakasih
z
z
x
z
y
x
y
x
Tugino, ST MT
41
Coordinate Transformations
position vector of P
in {B} is transformed
to position vector of P
in {A}
description of {B} as
seen from an observer
in {A}
42
21
Coordinate Transformations
Two Special Cases
r = ARB B r P + Ar o '
A P
1 Translation
1.
T
l ti only
l
Axes of {B} and {A} are
parallel
A
RB = 1
y
2. Rotation only
Origins of {B} and {A}
are coincident
r =0
A o'
Tugino, ST MT
43
Homogeneous Representation
Coordinate transformation from {B} to {A}
A P A
r = RB B r P + Ar o '
A r P A RB
=
1 013
r Br P
1 1
A o'
Homogeneous
g
transformation matrix
A RB
TB =
013
Tugino, ST MT
r R33
=
1 0
A o'
P31
1
Scaling
Rotation
matrix
Position
vector
44
22
Homogeneous Transformation
Special cases
1. Translation
I
TB = 33
013
A o'
2. Rotation
A RB
TB =
013
031
Tugino, ST MT
l2
(x , y)
45
c 2 = a 2 + b 2 2ab cos C
2
( x 2 + y 2 ) = l1 + l2 2l1l2 cos(180 2 )
cos(180 2 ) = cos( 2 )
2
l1
cos( 2 ) =
sin B sin C
=
b
c
sin 1 sin(180 2 )
sin( 2 )
=
=
2
2
l2
x +y
x 2 + y2
y
Tugino, ST MT
= arctan
2
x
x 2 + y 2 l12 l2 2
2 = arccos
2
l
l
1 2
1 = 1 +
x 2 + y 2 l1 l2
2l1l2
l sin( )
y
2
+ arctan 2
1 = arcsin 2
x 2 + y2
x46
Sekolah Tinggi Teknologi Nasional Yogyakarta
23
l2
(x , y)
c 1 = cos 1
c 1 + 2 = cos( 2 + 1 )
(1) x = l1 c 1 + l 2 c 1 + 2
l1
(2) y = l1 s 1 + l 2 sin
(1) 2 + (2) 2 = x 2 + y 2 =
1+ 2
(3) = 1 + 2
) (
= l1 + l2 + 2l1l2 c 2
Only Unknown
Note:
+
arccos
2 =Tugino,
+
+
47
ST MT
sin(aYogyakarta
2l1l2 SekolahTinggi Teknologi Nasional
b) = (cosa)(sinb) (cosb)(sina)
Note:
x = l1 c 1 + l 2 c 1 + 2
= l1 c 1 + l 2 c 1 c 2 l 2 s 1 s 2
= c 1 ( l1 + l 2 c 2 ) s 1 ( l 2 s 2 )
y = l1 s 1 + l 2 sin
1+ 2
= l1 s 1 + l 2 s 1 c 2 + l 2 s 2 c 1
= c 1 ( l 2 s 2 ) + s 1 ( l1 + l 2 c 2 )
c1 =
y=
=
s1 =
x + s1 ( l 2 s 2 )
( l1 + l 2 c 2 )
x + s1 ( l 2 s 2 )
( l 2 s 2 ) + s 1 ( l1 + l 2 c 2 )
( l1 + l 2 c 2 )
1
x l 2 s 2 + s 1 ( l1 2 + l 2 2 + 2 l1 l 2 c 2 )
( l1 + l 2 c 2 )
y ( l1 + l 2 c 2 ) x l 2 s 2
2
x + y
Tugino, ST MT
y ( l1 + l 2 c 2 ) x l 2 s 2
1 = arcsin
x2+ y2
48
24
Homogeneous Transformation
Composite Homogeneous Transformation Matrix
z1
z2
y2
z0
y1
A1
y0
A2
x1
x0
?
i 1
x2
1
A2 = 0A1 1 A2
Ai
Tugino, ST MT
49
Example 8
For the figure shown below, find the 4x4 homogeneous transformation matrices
and
0 5
fori 1i=1,
A
A 2, 3, 4,
i
nx
n
F = y
nz
z3
b
y3
z5
x3
d
x5
y5
z4
x4
z2
y4
x2
z1
z0
x0
x1
y2
sx
ax
sy ay
sz
0
az
0
0
1 0 0
px
p y 0 A = 0 0 1 e + c
1
0 1 0 a d
pz
1
0 0 0
1
b
0 1 0
0 0 1 a d
1
A2 =
1 0 0
0
1
0 0 0
0
1
0
y0
=
A
Can you find the answer by observation
2
0
based on the geometric interpretation of
b
0 0 e + c
0 1
0
0 0
1 50
1 0
25
Orientation Representation
R
F = 33
0
P31
1
Tugino, ST MT
51
26