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Learning Robot Kinematics using RoboAnalyzer*
Hands-on Sessions on Learning Robot Kinematics using RoboAnalyzer* Prof. S. K. Saha Dept of Mech Engg IIT Delhi Mr. Rajeevlochana G. Chittawadigi Amrita School of Engineering, Bengaluru *Developed at IIT Delhi
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Contents Robotics Robotics Education Homogenous Transformation
Denavit-Hartenberg Parameters Forward Kinematics Inverse Kinematics Motion Planning (Virtual Robot Module)
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Source: Mechatronics Lab and PAR Lab, IIT Delhi
Robotics Design, development, control and application Industries Academics Research Entertainment Medical applications etc. Included in curriculum of universities Source: Mechatronics Lab and PAR Lab, IIT Delhi
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Source: http://images.google.com
Robotics Education Courses* usually include: Theory: Design and working of robot in the form of drawing and pictures Mathematically intensive 2. Practical: CAD modeling and simulation Real robots in action Not many institutes have facilities *Mechanical Engineering Source:
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Robotics Concepts Homogenous Transformations DH Parameters Kinematics
Dynamics Motion Planning … Difficult to Visualize RoboAnalyzer Software: Priceless!! Free to use:
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RoboAnalyzer 3D Model Based Robotics Learning and Teaching Software
Developed by Prof. S. K. Saha and Team (IIT Delhi) Main Developer: Mr. Rajeevlochana G. Chittawadigi Other Developers Dr. Suril V Shah Mr. Ratan Sadanand Mr. Ravi Joshi Mr. Amit Jain Ms. Jyoti Bahuguna Mr. Sasanka Sekhar Sinha Mr. Sai Vikas Maram Mr. Yashaswi Kuruganti …
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RoboAnalyzer Website:
Download latest version (V7.5) from After download, unzip it RoboAnalyzer.exe
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Homogenous Transformation Matrix (HTM) Module
Top Panel Button of RoboAnalyzer Window Translation Local Frame Global Frame Rotation Homogenous Transformation Matrix (HTM)
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Task 1: Translation in HTM
Translate along X, Y and Z axes Observe the last column (fourth) of the HTM Translation alone is commutative
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Task 2: Rotation in HTM Rotate about X, Y and Z axes
Observe the first 3x3 matrix of the HTM Direction Cosine Projection of smaller axis vector on bigger frame 3 columns => 3 vector projections Rotation is not commutative
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Task 3: Local v/s Global in HTM
Current transformation => Multiplication of individual HTMs Local transformation => Post-Multiplication of HTMs Global transformation => Pre-Multiplication of HTMs
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Geometric Model of a Serial Robot
moves in Cartesian frame controlled at joints Mapping Geometric model Robot Architecture Denavit-Hartenberg (DH) Parameters
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Line represented with respect to a coordinate frame
Denavit-Hartenber (DH) Parameters Line represented with respect to a coordinate frame Common normal between Z and line Generally used in Robotics
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Denavit-Hartenber (DH) Parameters
1. Frame and Line 2. Z axis of Frame 3. Find Common Normal (Shortest Distance) between Z axis of Frame and Line
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Denavit-Hartenber (DH) Parameters
α θ b 1. Translate Z (b) till Intersection of Z axis and Common Normal Joint Offset 2. Rotate Z (θ) so that X axis aligns with Common Normal Joint Angle 3. Translate X (a) till Intersection of Common Normal and Line Link Length 4. Rotate X (α) so that Z axis aligns with the Line Twist Angle
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Video on DH Parameters
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Joint Axes
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Joint Axes
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Joint Axes
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Joint Axes
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DH Parameters α1 Geometrical description 4 parameters α2
X1 θ1 θ2 α2 b1 a1 b2 a2 X2 Z2 Z1 X3 Z3 α1 Demo Geometrical description 4 parameters Joint offset (b) Joint angle (θ) Link length (a) Twist angle (α) Relates frames attached on consecutive links
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Visualize DH Parameters
A. 3 DOF and 3R Robot C. Visualize with Animation B. Modify DH Parameters
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Kinematics Study of motion of links without considering the forces Forward Kinematics θ1 and θ2 Joint Angles Demo Inverse Kinematics
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[ ] Q Forward Kinematics Demo Joint to Cartesian space
End-effector configuration in base frame Tee = T1 T2 T3 = [ ] Q Px Py Pz
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Task 4: Transformations
RoboAnalyzer Main Application 2R Robot (Spatial) DH Parameters Verify Transformation Try for Different Joint Angles =
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Task 5: Forward Kinematics
KUKA KR5 Arc FKin Animation Plots Verify Position of EE Config Try Different Motion
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Task 6: Inverse Kinematics
Ikin Button MTAB Aristo Robot IKin: 8 Solutions Verify in RA Visualize in RA Try Different Robots
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Dynamics Demo Study of forces and moments causing the motion of links
Forward Dynamics Inverse Dynamics Forward Dynamics Joint Force Joint Accl. Inverse Dynamics Demo Due to complexity, these are usually not taught in most of the UG courses
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Virtual Robot Module Joint Jogging Cartesian Jogging 17 Robots
Integration with MATLAB Interface with Physical Teach Pendant Demo
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Task 7: Virtual Robot Module
VRM_XML… ABB IRB1520 Start Record Motion Cartesian Control Draw a Square of Side 100mm Stop Record Motion Read and Playback
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Contest: Virtual Robot Module
VRM_XML… ABB IRB1520 Start Record Motion Cartesian Control Draw a Cube of Side 100mm Stop Record Motion Read and Playback Least Number of Motion Sequences!!!
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RoboAnalyzer Team www.roboanalyzer.com Subir K. Saha (1996- present)
S. Goel and S. Ramakrishnan ( ) A. Patle ( ) Rajat Jain ( ) Suril V. Shah ( ) Rajeevlochana G. Chittawadigi (2009 – 2013, 2015-present) Amit Jain ( ) Jyoti Bahuguna ( ) Ratan Sadanand ( ) Ravi Joshi ( ) Keshav Bimbraw and Ishaan Mehta (2016 Summer) Sasanka Sekhar Sinha (2017-present) Sai Vikas Maram and Yashaswi Kuruganti ( ) The feedback/suggestion of the below are sincerely acknowledged: Mr. Arun Dayal Udai (2010): Suggested importing of CAD files in STL format Dr. Sandipan Bandyopadhyay (2012): Suggested to make RA/VRM as an API/COM server to be integrated with other software Prof. Sudipto Mukherjee ( ): Suggested an interfacing with MATLAB Dr. Nayan Kakoty (2013): Suggested to have custom trajectory file input for joints Prof. Peter Corke (2015): Discussion on integration of RoboAnalyzer (VRM) with Robotics Toolbox Mr. Vinay Gupta (2016): Suggestion on having a link in the software for online feedback and contact form Mr. Dharmender Jaitly, Dr. Majid Koul, Mr. Aamir Hayat, Mr. Riby Boby, many more
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Complementary Illustrations Examples Effective!!!
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Feedback
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Thank You rg_chittawadigi@blr.amrita.edu saha@mech.iitd.ac.in
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