Ws 01 Introrobots

ECE 5330/6311: Intro to Robotics Class Worksheet – Lecture 1
Name:
1. Define the following terms

Robot (official RIA definition):
Configuration:
Configuration space:
Degrees of freedom:
State:
State space:
reachable workspace:
dexterous workspace:
accuracy:
repeatability:
controller resolution:
Page 1 of 7
Chapter 2
Forward Kinematics: determine position and orientation of end effector or tool in terms of joint
variables
Location of end effector
𝑥10 = 𝑟1 cos(𝜃1 )
𝑦10 = 𝑟1 sin(𝜃1 )
𝑥20 = 𝑟1 cos(𝜃1 ) + 𝑟2 cos(𝜃1 + 𝜃2
𝑦20 = 𝑟1 sin(𝜃1 ) + 𝑟2 sin(𝜃1 + 𝜃2
cos(𝜃1 + 𝜃2 ) − sin(𝜃1 + 𝜃2 )
𝑥2 ∙ 𝑥0 𝑦2 ∙ 𝑥0 ( ) cos(𝜃1 + 𝜃2 )
𝑅20 = [𝑥 ∙ 𝑦 𝑦2 ∙ 𝑦0 ] = [ sin 𝜃1 + 𝜃2 ]
2 0
Page 2 of 7
Chapter 3: Inverse Kinematics: mathematical process of calculating the variable joint parameters
needed to place the end of a robot manipulator in a given position and orientation relative to the
start of the chain.
Law of cosines: triangle sides a,b,c, and angle

opposite c is 𝜃𝑐 :
𝑐 2 = 𝑎 2 + 𝑏 2 − 2𝑎𝑏 cos (𝜃𝑐 )
𝜃𝑐 = 𝜋 − 𝜃2
cos(𝜃𝑐 ) = cos(𝜋 − 𝜃2 )
cos(𝛼 ± 𝛽 ) = cos(𝛼) cos(𝛽 ) ∓ 𝑠𝑖𝑛(𝛼) sin(𝛽 )
cos(𝜋 − 𝜃2 ) = cos(𝜋) cos (𝜃2 sin(𝜋) sin(𝜃2 )

cos(𝜋 − 𝜃2 ) = −cos (𝜃2 )
𝑥 2 + 𝑦 2 − (𝑟12 + 𝑟22 )
cos(𝜃2 ) = ≔𝐷
2𝑟1 𝑟2
sin(𝜃2 ) = ±√1 − 𝐷2
sin (𝜃 ) ±√1−𝐷2
𝜃2 = tan−1 (cos (𝜃2 )) = tan−1 ( )
2 𝐷
Page 3 of 7
Chapter 4: Velocity Kinematics
Differentiate kinematic equations:
𝑑 𝑑
𝑥 = (𝑟1 cos(𝜃1 ) + 𝑟2 cos(𝜃1 + 𝜃2 ))
𝑑𝑡 𝑑𝑡
𝑑 𝑑
𝑦 = (𝑟1 sin(𝜃1 ) + 𝑟2 sin(𝜃1 + 𝜃2 ))
𝑑𝑡 𝑑𝑡
𝑥̇ = −𝑟1 sin(𝜃1 )𝜃̇1 − 𝑟2 sin(𝜃1 + 𝜃2 )(𝜃̇1 + 𝜃̇2 )

𝑦̇ = 𝑟1 cos(𝜃1 )𝜃̇1 + 𝑟2 cos(𝜃1 + 𝜃2 )(𝜃̇1 + 𝜃̇2 )
𝑥 𝜃1
𝐱=[ 𝑦 ], 𝐪 = [𝜃 ]
2
(𝜃1 + 𝜃2 )
−𝑟1 sin(𝜃1 ) − 𝑟2 sin(𝜃1 + 𝜃2 ) −𝑟2 sin
𝐱̇ = [ ] 𝐪̇
+𝑟1 cos(𝜃1 ) + 𝑟2 cos(𝜃1 + 𝜃2 ) +𝑟2 cos(𝜃1 + 𝜃2 )
𝐽 = Matrix Jacobian
𝐱̇ = 𝐪̇
Page 4 of 7
Inverse velocity Kinematics
−𝑟 sin(𝜃1 ) − 𝑟2 sin(𝜃1 + 𝜃2 ) −𝑟2 sin(𝜃1 + 𝜃2 )
𝐱̇ = [ 1 ] 𝐪̇
+𝑟1 cos(𝜃1 ) + 𝑟2 cos(𝜃1 + 𝜃2 ) +𝑟2 cos(𝜃1 + 𝜃2 )
𝐱̇ = 𝐽𝐪̇
𝐪̇ = 𝐽−𝟏 𝐱̇
𝑎 𝑏
𝐴=[ ]
𝑐 𝑑
1 𝑑 −𝑏
𝐴−1 = det (𝐴) [ ], where det(𝐴) = 𝑎𝑑 − 𝑏𝑐
−𝑐 𝑎
1 𝑟2 cos(𝜃1 + 𝜃2 ) 𝑟2 sin(𝜃1 + 𝜃2 )
𝐽−𝟏 = 𝑟 [ ]
1 𝑟2 sin (𝜃2 ) −𝑟1 cos(𝜃1 ) − 𝑟2 cos(𝜃1 + 𝜃2 ) −𝑟1 sin(𝜃1 ) − 𝑟2 sin(𝜃1 + 𝜃2 )
Derivation of determinant (you can skip this)
det(𝐽) =(𝑟2 cos(𝜃1 + 𝜃2 ))(−𝑟1 sin(𝜃1 ) − 𝑟2 sin(𝜃1 + 𝜃2 ))

−(−𝑟2 sin(𝜃1 + 𝜃2 ))(+𝑟1 cos(𝜃1 ) + 𝑟2 cos(𝜃1 + 𝜃2 ))
=(−𝑟1 sin(𝜃1 ) 𝑟2 cos(𝜃1 + 𝜃2 ) − 𝑟2 sin(𝜃1 + 𝜃2 )𝑟2 cos(𝜃1 + 𝜃2 )

+(+𝑟1 cos(𝜃1 ) 𝑟2 sin(𝜃1 + 𝜃2 ) + 𝑟2 𝑟2 sin(𝜃1 + 𝜃2 ) cos(𝜃1 + 𝜃2 )
=(−𝑟1 sin(𝜃1 ) 𝑟2 cos(𝜃1 + 𝜃2 ) −𝑟2 sin(𝜃1 + 𝜃2 )𝑟2 cos(𝜃1 + 𝜃2 )

+(+𝑟1 cos(𝜃1 ) 𝑟2 sin(𝜃1 + 𝜃2 ) +𝑟2 𝑟2 sin(𝜃1 + 𝜃2 ) cos(𝜃1 + 𝜃2 )
= −𝑟1 sin(𝜃1 ) 𝑟2 cos(𝜃1 + 𝜃2 ) + (𝑟1 cos(𝜃1 ) 𝑟2 sin(𝜃1 + 𝜃2 ), 𝛼 = 𝜃1 + 𝜃2 , 𝛽 = 𝜃1 ,
= 𝑟1 𝑟2 (− sin(𝛽) 𝑟2 cos(𝛼) + cos(𝛽) sin ( 𝛼)),
Property: sin(𝛼 − 𝛽) = sin(𝛼) cos(𝛽) − cos (𝛼)sin (𝛽)
= 𝑟1 𝑟2 (cos(𝛽) sin ( 𝛼) − sin(𝛽) 𝑟2 cos(𝛼)),
= 𝑟1 𝑟2 sin (𝜃2)
Page 5 of 7
In class assignment:
2. Suppose that the tip of a single link travels a distance d between two points. A linear axis would travel
the distance d while a rotational link would travel through an arc length ℓ𝜃 as shown.
2a. Write the law of cosines for a triangle with sides a,b,c, and side c opposite angle θc,:
2b. Use the law of cosines to determine d.
𝑑 = √2𝑙 2 − 2𝑙 2 cos 𝜃 = 𝑙√2(1 − cos 𝜃)
Page 6 of 7
ECE 5330/6397: Intro to Robotics, Class Worksheet – Preparation for Lecture 2
3. (10 pts) Use the law of cosines to derive the equation for cos 𝜃2 .
4. (20 pts) Derive inverse equation for the two-link manipulator at right:
𝑟2 sin 𝜃2 α γ
𝜃1 = tan−1(𝑦/𝑥) − tan−1 ( )
𝑟1 + 𝑟2 cos 𝜃2
5. [use a calculator or computer] For the two-link manipulator, suppose 𝑟1 = 5, 𝑟2 = 2.

3 1
• (20 pts) Find coordinates of the tool when 𝜃1 = − 4 𝜋, 𝜃2 = 2 𝜋
• (10 pts) If joint velocities are constant at 𝜃̇1 = 2, 𝜃̇2 = 5, what is the velocity of the tool (symbolically,
leave in terms of 𝜃1 and 𝜃2 )
3 1
• (20 pts) What is the instantaneous tool velocity when 𝜃1 = − 𝜋, 𝜃2 = 𝜋? (evaluate this, two
4 2
scalars)
6. (20 pts) Go to http://demonstrations.wolfram.com/ForwardAndInverseKinematicsForTwoLinkArm/, take

two screenshots of the manipulator in different singular configurations. Attach them to this document
Page 7 of 7

Ws 01 Introrobots

Uploaded by

Copyright:

Available Formats

Ws 01 Introrobots

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Ws 01 Introrobots

Uploaded by

Copyright:

Available Formats

ECE 5330/6311: Intro to Robotics Class Worksheet – Lecture 1

1. Define the following terms

Location of end effector

𝑥20 = 𝑟1 cos(𝜃1 ) + 𝑟2 cos(𝜃1 + 𝜃2

𝑦20 = 𝑟1 sin(𝜃1 ) + 𝑟2 sin(𝜃1 + 𝜃2

Law of cosines: triangle sides a,b,c, and angle

𝑐 2 = 𝑎 2 + 𝑏 2 − 2𝑎𝑏 cos (𝜃𝑐 )

cos(𝛼 ± 𝛽 ) = cos(𝛼) cos(𝛽 ) ∓ 𝑠𝑖𝑛(𝛼) sin(𝛽 )

cos(𝜋 − 𝜃2 ) = cos(𝜋) cos (𝜃2 sin(𝜋) sin(𝜃2 )

Differentiate kinematic equations:

𝑥̇ = −𝑟1 sin(𝜃1 )𝜃̇1 − 𝑟2 sin(𝜃1 + 𝜃2 )(𝜃̇1 + 𝜃̇2 )

Derivation of determinant (you can skip this)

det(𝐽) =(𝑟2 cos(𝜃1 + 𝜃2 ))(−𝑟1 sin(𝜃1 ) − 𝑟2 sin(𝜃1 + 𝜃2 ))

=(−𝑟1 sin(𝜃1 ) 𝑟2 cos(𝜃1 + 𝜃2 ) − 𝑟2 sin(𝜃1 + 𝜃2 )𝑟2 cos(𝜃1 + 𝜃2 )

=(−𝑟1 sin(𝜃1 ) 𝑟2 cos(𝜃1 + 𝜃2 ) −𝑟2 sin(𝜃1 + 𝜃2 )𝑟2 cos(𝜃1 + 𝜃2 )

= −𝑟1 sin(𝜃1 ) 𝑟2 cos(𝜃1 + 𝜃2 ) + (𝑟1 cos(𝜃1 ) 𝑟2 sin(𝜃1 + 𝜃2 ), 𝛼 = 𝜃1 + 𝜃2 , 𝛽 = 𝜃1 ,

= 𝑟1 𝑟2 (− sin(𝛽) 𝑟2 cos(𝛼) + cos(𝛽) sin ( 𝛼)),

Property: sin(𝛼 − 𝛽) = sin(𝛼) cos(𝛽) − cos (𝛼)sin (𝛽)

= 𝑟1 𝑟2 (cos(𝛽) sin ( 𝛼) − sin(𝛽) 𝑟2 cos(𝛼)),

2b. Use the law of cosines to determine d.

𝑑 = √2𝑙 2 − 2𝑙 2 cos 𝜃 = 𝑙√2(1 − cos 𝜃)

5. [use a calculator or computer] For the two-link manipulator, suppose 𝑟1 = 5, 𝑟2 = 2.

6. (20 pts) Go to http://demonstrations.wolfram.com/ForwardAndInverseKinematicsForTwoLinkArm/, take

You might also like

Pfad - The Proxy pFad of © 2024 Garber Painting. All rights reserved.