ROBOT PROGRAMMING AND CONTROL.
Theory contents. 2021-2022 course.
| I: Introduction
to Robotics |
| 1: Introduction
to Robotics |
- Introduction
and definition
- History
- Automation and Robotics
- Classifications of robots
- Industrial robots and their applications
- Robot mechanical structure
- Robot features
- Typical manipulator structures: cartesian, cylindrical,
spherical, antropomorphic, Scara, other structures |
|
| II: Review of
mathematics and physics |
| 2: Transformations
used in robotics |
Introduction
to joint and task spaces
- Task, operational space. Task coordenates
- Joint space. Joint coordenates
- Introduction to redundant robots
Spatial transformations applied to a rigid
body
- Pose of a rigid body. Position description
and translation transformation
- Planar rotation matrix
- 3D elementary rotations
- Rotation of a vector
- Composition of rotation matrices
- Translation and rotation transformations
- Euler angles. Wrist angles. Direct, inverse
and singular solutions
- Roll, pitch and yaw angles. Direct, inverse
and singular solutions
- Angle and axis
- Unit quaternion
- Homogeneous transformations. Robots (arm, wrist,
end efector) examples
- Graphic model to describe the position and orientation
of a rigid body. Transformation diagrams applied
to a robotic system
Physics transformations applied to a rigid
body
- Vector derivate in rotating frame
- Cylindrical kinematic structure: position, linear
velocity and linear acceleration
- Spherical kinematic structure: position, linear
velocity and linear acceleration
- Combination (simultaneous) motions. Robotic
examples: spherical structure motion and Euler
wrist motion
- Centroid. Basic examples: triangle, semisphere
- Center of mass. Basic axamples: semisphere
- Moment of inertia. Basic axamples: cylinder,
cone
- Inertia matrix for spatial movement of a rigid
body. Basic example: parallelepiped
- Mechanical energy
- Kinematic energy of a rigid body: translational
energy and rotational energy
- Potential energy of a rigid body
- Static laws of a rigid body
|
|
| III: Kinematics |
| 3.1: Direct
Kinematics Problem (D.K.P.) |
- Introduction
to the Direct Kinematics Problem
- Direct kinematics analysis and solution
- Denavit-Hartenber convention. Conditions and
parameters
- Procedure applied to the D.K.P.
- Kinematics of typical manipulator structures:
two-link planar arm, three-link planar robot,
scara manipulator, Stanford manipulator, Euler
wrist |
|
| 3.2: Inverse
Kinematics Problem (I.K.P.) |
- Introduction
to the Direct Kinematics Problem
- Existence and uniqueness of I.K.P. solutions
- Geometric and algebraic methods
- I.K.P. of a 2D planar arm. Geometric and algebraic
solutions
- I.K.P. decoupling into two subproblems: the
position arm I.K.P. and the orientation wrist
I.K.P.
- I.K.P. of a three-link planar manipulator
- I.K.P. of a Scara robot |
|
| 3.3: Velocity
mapping. The Jacobian matrix |
- The geometric
Jacobian
- Derivate of a rotation matrix
- Link velocities and accelerations
- Jacobian computation
- Jacobian of typical manipulator structures:
two-link planar arm, three-link planar arm, scarar
robot
- Kinematic singularities
- Singularity decoupling: arm and wrist singularities
- Singularities of typical manipulator structures:
two-link planar arm, Euler wrist, Scara robot |
|
| 3.4: Statics
and manipulator design |
- Static laws
applied to a link
- Forces acting on a link i
- Moments acting on a link i
- Static laws applied to a two-link manipulator
- Recursive calculations. Force and moments vectors
- Static of a two-link planar arm |
|
| IV: Dynamics |
| 4.1: Lagrange-Euler
formulation |
- Lagrange equation
- Computation of kinetic energy
- Computation of potential energy
- Equations of motion
- Dynamic model of simple manipulator structures:
two-link cartesian arm, two-link planar arm |
|
| 4.2: Newton-Euler
formulation |
- Introduction
to the Newton-Euler formulation
- Link velocities y accelerations
- Recursive algorithm
- Dinamic model of simple manipulator structures:
two-link cartesian arm, two-link planar arm |
|
|
| V: Kinematic control.
Trajectory planning |
| 5.1: Kinematic
control |
- Introduction
to path planning
- Kinematic model and kinematic control
- Trajectory spaces and types of paths
- Path primities |
|
|
| VI: Introduction
to robot control |
| 6.1: Dynamic
robot control |
- Introduction
to control problem
- Control spaces and types of control
- Independent joint control and multivariable control
- PID independent control
- Feedforward compensation
- PD control with gravity compensation |
|
|
| VII: Robot programming |
| 7.1: Robot
systems programming |
- Robot programming
methods
- Robot control system hardware
- Programming languages
- Robot programming examples |
|
|
| VIII: Introduction
to robotics technology |
| 8.1: Components
included in a industrial robot |
- Introduction
to robotics components
- Actuators: electric actuators (stepper motors,
dc motors, brushless motors, ac motors), pneumatic
actuators (cylinder and motors), hydraulic actuators
(cylinder and motors)
- Internal sensors: position sensors (encoders,
potenciometers, LVDT, synchros and resolvers),
velocity sensors (tachometers, hall-effect sensors),
acceleration sensors, force sensors
- Grippers: mechanical grippers, magnetic grippers,
vacuum grippers, adherise grippers, other grippers
- Mechanical gears
|
|
|
