Kinematics

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??? ???? ?????? ?????? AN-NAJAH NATIONAL
UNIVERSITY DEPARTMENT OF MECHANICAL ENGINEERING
MANIPULATOR ( DESIGN AND CONTROL )
Ahmad Salah Anass Qrayeb Fakhry Abu Zahra
Supervisor Dr. Nidal Farhat
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Introduction to Robotics Manipulator
Kinematics Trajectory Generation Motor
Selection Design of Prototype Control of
Manipulator
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Introduction to Robotics

• The word "Robot" comes from the Czech word
  "Robota" which means "labor doing compulsory
  manual works without receiving any remuneration

• Robotic device that can automatically control thes
  e are programmable

Characteristics 1. Unchanging. 2. Unthinking. 3.
Untiring.
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Introduction to Robotics
Today robots perform many tasks

• Make life easier on the people.
• To help people.
• The ability to work in hazardous conditions.
• Work on things that may be boring to us.

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Introduction to Robotics
Applications in Our Life
Welding applications
Spray painting applications
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Introduction to Robotics
Medical Robotics
Space robotics
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Introduction to Robotics
Kinds of robot
Serial robots
Parallel robot
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Introduction to Robotics
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Inverse Kinematics
Inverse Kinematics
Given a desired position (X,Y,Z) (q1 qn
) Find the joint variables which can bring the
robot to the desired configuration.
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Inverse Kinematics
Position of the end-effector
Joint variables
Forward K
(q1 qn)
Inverse K
(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.
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Inverse Kinematics
Method of solution
Solutions
numerical solutions
closed form solutions

• many solution
• No need for iteration
• (direct solution)

• Only returns a single solution
• Too many iterations
• Unknown number of operations to solve.

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Inverse Kinematics
Closed-form Solutions
We are interested in closed-form solutions
1. Algebraic methods 2. Geometric methods
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Inverse Kinematics
Distance from origin at this point

X,Y,Z
Z
L3
a
?3
180-?3
Z
ß
L2
?2
Y
d
X
O
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Jacobians Velocities and Static Force
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
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Trajectory Generation
Trajectory Generation
move a manipulator from its initial position to
some desired goal position in a smooth manner
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Trajectory Generation
Cubic Polynomials
initial and final values
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Motor Selection
Motor Selection
AC Motor

• Speed
• Cooling
• Controls

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Motor Selection
DC Motor

• Electrical noise
• Reliability
• Speed
• Cooling

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Motor Selection
Stepper Motor

• Stepping speed
• Cooling
• Open loop operation