ME4245: Robot Kinematics, Dynamics and Control

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ME4245 Robot Kinematics, Dynamics and Control

• Dr Marcelo H. Ang Jr
• Associate Professor
• Mechanical Engineering Dept
• E3A-04-09, mpeangh_at_nus.edu.sg, 65162555

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CHAPTER 0

• Introduction

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Learning Objectives

• Know what a robotic manipulator is
• Know what a robotic system is
• Different subsystems
• Analyze and synthesize robotic mechanisms
  including controllers

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Robotic Manipulators Mitsubishi PA-10 and PUMA
560
video of PA10 robot with Puma Visual servoing
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POLMAN 3x2 manipulator
Krzysztof Mianowski, WUT

• 6 degrees of freedom (DOF)
• Special paralell structure of 3 DOF linear and 3
  DOF angular motion
• Spherical wrist with 3 DOF (third class group
  with 3 DOFs)
• Decoupled position/orientation
• Simlicity and lightness of the mechanical
  structure

• Good kinematic manipulability, dexterity and
  versatility
• Very high (good) maneuverability
• Very low hysterezis (good Lost Motion
  LM?0.015mm)
• Good repeatibility of control (?0.02mm)
• Good absolute accuracy (?0.5mm)

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Polycrank Mechanism
Krzysztof Mianowski, WUT
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Robotic Manipulator Configurations
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Cartesian
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Cylindrical
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Spherical
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SCARA
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Articulated (PUMA)
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Articulated (Intelledix)
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ME4245E

• Robot Manipulator Kinematics (50)
• Robot Manipulator Dynamics (25)
• Robot Manipulator Control (25)

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Assessment

• One final examination (70)
• Quizzes (at least 2, 15 each)
• All quizzes and final examination are open
  book/notes
• Exercises / homeworks (not graded)

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Other aspects

• Motion Planning
• Task Planning
• Intelligence
• Mobile Robots
• Wheeled
• Omni-directional vs non-omnidirectional
• Legged

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Robotic System Architecture
Desired Interactionswith environment
Exteroceptive sensing
Control of Interactionwith environment
Commands to internal actuators
ProprioceptiveSensing
Control of Internal States
Machine and Environment