1. AN-NAJAH NATIONAL UNIVERSITY DEPARTMENT OF MECHANICAL ENGINEERING
بسم الله الرحمن الرحيم
AN-NAJAH NATIONAL UNIVERSITY
DEPARTMENT OF MECHANICAL ENGINEERING
MANIPULATOR
( DESIGN AND CONTROL )
Ahmad Salah
Anass Qrayeb
Fakhry Abu Zahra
Supervisor:
Dr. Nidal Farhat

2. Introduction to Robotics
Manipulator Kinematics
Trajectory Generation
Motor Selection
Design of Prototype
Control of Manipulator

3. 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 these are programmable
Characteristics:
1. Unchanging.
2. Unthinking.
3. Untiring.

4. Today robots perform many tasks:
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.

5. Applications in Our Life
Introduction to Robotics
Applications in Our Life
Welding applications
Spray painting applications

6. Introduction to Robotics
Medical Robotics
Space robotics

7. Introduction to Robotics
Kinds of robot :
Parallel robot
Serial robots

8. Introduction to Robotics

10. Inverse Kinematics Given a desired position (X,Y,Z) (q1 … qn )
Find the joint variables
which can bring the robot
to the desired configuration.

11. (q1 … qn) (X,Y,Z) Factor that effect the workspace of a robot:
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.

12. Method of solution Solutions numerical solutions closed form solutions
Inverse Kinematics
Method of solution
Solutions
numerical solutions
closed form solutions
Only returns a single solution
Too many iterations
Unknown number of operations to solve.
many solution
No need for iteration
(direct solution)

13. Closed-form Solutions
Inverse Kinematics
Closed-form Solutions
We are interested in closed-form
solutions:
1. Algebraic methods
2. Geometric methods

14. Z Distance from origin at this point X,Y,Z α ө3 Z β ө2 Y d O
Inverse Kinematics
Distance from origin at this point
X,Y,Z Z L3 α ө3
180-ө3 Z β L2 ө2 Y d O X

15. 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

16. Trajectory Generation
move a manipulator from its initial position to
some desired goal position in a smooth manner

17. Trajectory Generation
Cubic Polynomials
: initial and final values

18. Motor Selection
Motor Selection
AC Motor
Speed
Cooling
Controls

19. Motor Selection
DC Motor
Electrical noise
Reliability
Speed
Cooling

20. Stepper Motor Stepping speed Cooling Open loop operation
Motor Selection
Stepper Motor
Stepping speed
Cooling
Open loop operation