Presentation robotic systems

4 Computers and Automation Engineering – “Robotic Systems”




Robotic Systems
Attach frames to the various
parts of the mechanism.

,Forward kinematics VS. Inverse kinematics
X end-effector
(Tool)
Z Position and Orientation
Y
(𝒙 , 𝒚 , 𝒛 , 𝑹𝒙 , 𝑹𝒚 , 𝑹𝒛 )
Object (Goal)
IK
Y
FK
Base
X
Z Manipulator’s
[𝜽𝟏 , 𝜽𝟐 , ⋯ , 𝜽𝒏 , 𝒅𝟏 , 𝒅𝟐 , ⋯ , 𝒅𝒎 ]
Parameters




Robotic 20-21 / Dr. Aghiad Kh. (email: )

,Transform Equations
U A
All transforms are known except: A T
U
T T TU A

T  DAT UBT  CBT  CDT
D A D U
A
U 
U
DT UBT  CBT  CDT C

B
U
A T  T T T T
U
B
B
C
C
D
D
A

U
A T UBT  CBT  CDT  DAT 1
Graphical Representation (Frame Dia


Robotic 20-21 / Dr. Aghiad Kh. (email: )

, Manipulator Links
 Link is considered only as a rigid body that defines:
 The relationship between two neighboring joint axes of a
manipulator. Joint 3
Link 3



 The links are numbered: Joint 2
Link 2
 Starting from the immobile base of the arm, called: link 0. Link 1

 The first moving body is: link 1, Joint 1
Link 0
 The Second moving body is: link 2,
The base  n degrees
 …….. …….. …….. and So On,  n Joints
 Out to the free end of the arm, which is: link n.



Robotic 20-21 / Dr. Aghiad Kh. (email: )