Introduction to Robotics Analysis, Systems, Applications

Size: px
Start display at page:

Download "Introduction to Robotics Analysis, Systems, Applications"

Transcription

1 Introduction to Robotics Analysis, Systems, Applications Saeed B. Niku Mechanical Engineering Department California Polytechnic State University San Luis Obispo Technische Urw/carsMt Darmstadt FACHBEREfCH IWFOR^ATiK BIBLIOTHEK Inventar-Nf.: M y ~ ol > SS Sachgobtete: Prentice Hall Prentice Hall Upper Saddle River, NJ 07458

2 1 Fundamentals Introduction What is a Robot? Classification of Robots What is Robotics? History of Robotics Advantages and Disadvantages of Robots Robot Components Robot Degrees of Freedom Robot Joints Robot Coordinates Robot Reference Frames Programming Modes Robot Characteristics Robot Workspace Robot Languages Robot Applications Other Robots and Applications 24 vii

3 viii Contents Social Issues Summary 25 References 26 Problems 27 2 Robot Kinematics: Position Analysis Introduction Robots as Mechanisms Matrix Representation Representation of a point in space Representation of a vector in space Representation of a frame at the origin of a reference frame Representation of a frame in a reference frame Representation of a Rigid Body Homogeneous Transformation Matrices Representation of Transformations Representation of a pure translation Representation of a pure rotation about an axis Representation of combined transformations Transformations relative to the rotating Inverse of Transformation Matrices Forward and Inverse Kinematics of Robots Forward and Inverse Kinematic Equations for Position Forward and Inverse Kinematic Equations for Orientation Forward and Inverse Kinematic Equations for Position and Orientation Denavit-Hartenberg Representation of Forward Kinematic Equations of Robots The Inverse Kinematic Solution of Robots Inverse Kinematic Programming of Robots Degeneracy and Dexterity The Fundamental Problem with the Denavit-Hartenberg Representation Design Project 1: A three-degree-of-freedom Robot Summary 86 References 87 Problems 88

4 ix 3 Differential Motions and Velocities Introduction Differential Relationships Jacobian Differential Motions of a Frame Differential Translations Differential Rotations Differential Rotation about a general axis k Differential Transformations of a Frame Interpretation of the Differential Change Differential Changes Between Frames Differential Motions of a Robot and Its Hand Frame Calculation of the Jacobian How to Relate the Jacobian and the Differential Operator Inverse Jacobian Design Project Summary 116 References 116 Problems Dynamic Analysis and Forces Introduction Lagrangian Mechanics: A Short Overview Effective Moments of Inertia Dynamic Equations for Multiple-Degree-of-Freedom Robots Kinetic Energy Potential Energy The Lagrangian Robot's Equations of Motion Static Force Analysis of Robots Transformation of Forces and Moments Between Coordinate Frames Design Project Summary 143

5 References 144 Problems Trajectory Planning Introduction Path vs. Trajectory Joint-Space vs. Cartesian-Space Descriptions Basics of Trajectory Planning Joint-Space Trajectory Planning Third-Order Polynomial Trajectory Planning Fifth-Order Polynomial Trajectory Planning Linear Segments with Parabolic Blends Linear Segments with Parabolic Blends and Via Points Higher Order Trajectories Other Trajectories Cartesian-Space Trajectories Continuous Trajectory Recording Design Project Summary 171 References 171 Problems Actuators Introduction Characteristics of Actuating Systems Weight, Power-to-Weight Ratio, Operating Pressure Stiffness vs. Compliance Use of Reduction Gears Comparison of Actuating Systems Hydraulic Devices Pneumatic Devices Electric Motors DC Motors AC Motors Brushless DC motors Direct Drive Electric Motors 189

6 xi Servomotors Stepper Motors Microprocessor Control of Electric Motors Pulse Width Modulation Direction Control of DC Motors with an H-Bridge Magnetostrictive Actuators Shape-Memory Type Metals : Speed Reduction Design Project Design Project Summary 216 References 217 Problems Sensors Introduction Sensor Characteristics Position Sensors Potentiometers Encoders Linear Variable Differential Transformers (LVDT) Resolvers Time-of-Travel Displacement Sensor Velocity Sensors Encoders Tachometers Differentiation of position signal Acceleration Sensors Force and Pressure Sensors Piezoelectric Force Sensing resistor Strain gauges Torque Sensors Microswitches Light and Infrared Sensors Touch and Tactile Sensors 234

7 xii Contents Proximity Sensors Magnetic Proximity Sensors Optical Proximity Sensors Ultrasonic Proximity Sensors Inductive Proximity Sensors Capacitive Proximity Sensors Eddy Current Proximity Sensors Range-finders Ultrasonic Range Finders Light Based Range Finders Sniff Sensors Vision Systems Voice Recognition Devices Voice Synthesizers Remote Center Compliance (RCC) Device Design Project Summary 246 References Image Processing and Analysis with Vision Systems Introduction Image Processing versus Image Analysis Two- and Three-Dimensional Image Types ' What is an Image Acquisition of Images Vidicon Camera Digital Camera Digital Images Frequency Domain vs. Spatial Domain Fourier Transform of a Signal and its Frequency Content Frequency Content of an Image; Noise, Edges Spatial Domain Operations: Convolution Mask Sampling and Quantization Sampling Theorem Image-Processing Techniques 267

8 xiii Histogram of Images Thresholding Connectivity Noise Reduction Convolution Masks Image Averaging Frequency Domain Median Filters Edge Detection Hough Transform Segmentation Segmentation by Region Growing and Region Splitting Binary Morphology Operations Thickening Operation Dilation Erosion Skeletonization Open Operation Close Operation Fill Operation Gray Morphology Operations Erosion Dilation Image Analysis Object Recognition by Features Basic Features Used for Object Identification Moments Template Matching Discrete Fourier Descriptors Computed Tomography Depth Measurement with Vision Systems Scene Analysis vs. Mapping Range Detection and Depth Analysis Stereo Imaging Scene Analysis with Shading and Sizes Specialized Lighting Image Data Compression Intraframe Spatial Domain Techniques Interframe Coding Real-Time Image Processing 304

9 xiv Contents Heuristics Applications of Vision Systems Design project Summary 306 References 307 Problems Fuzzy Logic Control Introduction Fuzzy Control: What is needed Crisp Values vs. Fuzzy Values Fuzzy Sets: Degrees of Membership and Truth Fuzzification Fuzzy Inference Rule Base Defuzzification 318 P.7.7. Center-of-Gravity Method Mamdani's Inference Method Simulation of Fuzzy Logic Controller Applications of Fuzzy Logic in Robotics Design Project Summary 328 References 328 Problems 328 APPENDIX A 331 A.I. Matrix Algebra and Notation: A Review 331 A.2. Calculation of an Angle From its Sine, Cosine, or Tangent 336 Problems 338 INDEX 339

Sensors Collecting Manufacturing Process Data

Sensors Collecting Manufacturing Process Data Sensors & Actuators Sensors Collecting Manufacturing Process Data Data must be collected from the manufacturing process Data (commands and instructions) must be communicated to the process Data are of

More information

EL5223. Basic Concepts of Robot Sensors, Actuators, Localization, Navigation, and1 Mappin / 12

EL5223. Basic Concepts of Robot Sensors, Actuators, Localization, Navigation, and1 Mappin / 12 Basic Concepts of Robot Sensors, Actuators, Localization, Navigation, and Mapping Basic Concepts of Robot Sensors, Actuators, Localization, Navigation, and1 Mappin / 12 Sensors and Actuators Robotic systems

More information

Actuators & Sensors. Assoc. Prof. Enver Tatlicioglu. Department of Electrical & Electronics Engineering Izmir Institute of Technology.

Actuators & Sensors. Assoc. Prof. Enver Tatlicioglu. Department of Electrical & Electronics Engineering Izmir Institute of Technology. Actuators & Sensors Assoc. Prof. Enver Tatlicioglu Department of Electrical & Electronics Engineering Izmir Institute of Technology Chapter 2 Assoc. Prof. Enver Tatlicioglu (EEE@IYTE) EE463 Introduction

More information

ACTUATOR DESIGN FOR ARC WELDING ROBOT

ACTUATOR DESIGN FOR ARC WELDING ROBOT ACTUATOR DESIGN FOR ARC WELDING ROBOT 1 Anurag Verma, 2 M. M. Gor* 1 G.H Patel College of Engineering & Technology, V.V.Nagar-388120, Gujarat, India 2 Parul Institute of Engineering & Technology, Limda-391760,

More information

INSTRUCTOR WORKBOOK Quanser Robotics Package for Education for MATLAB /Simulink Users

INSTRUCTOR WORKBOOK Quanser Robotics Package for Education for MATLAB /Simulink Users INSTRUCTOR WORKBOOK for MATLAB /Simulink Users Developed by: Amir Haddadi, Ph.D., Quanser Peter Martin, M.A.SC., Quanser Quanser educational solutions are powered by: CAPTIVATE. MOTIVATE. GRADUATE. PREFACE

More information

Robotics and Automation Blueprint

Robotics and Automation Blueprint Robotics and Automation Blueprint This Blueprint contains the subject matter content of this Skill Connect Assessment. This Blueprint does NOT contain the information one would need to fully prepare for

More information

Digital Image Processing

Digital Image Processing Digital Image Processing Using MATLAB Second Edition Rafael C. Gonzalez University of Tennessee Richard E. Woods MedData Interactive Steven L. Eddins The MathWorks, Inc. Gatesmark Publishing A Division

More information

Lecture 4: Kinesthetic haptic devices: Sensors and Actuators

Lecture 4: Kinesthetic haptic devices: Sensors and Actuators ME 327: Design and Control of Haptic Systems Autumn 2015 Lecture 4: Kinesthetic haptic devices: Sensors and Actuators Allison M. Okamura Stanford University a kinesthetic haptic system Motion Digital position

More information

DIGITAL IMAGE PROCESSING AND ANALYSIS

DIGITAL IMAGE PROCESSING AND ANALYSIS DIGITAL IMAGE PROCESSING AND ANALYSIS Human and Computer Vision Applications with CVIPtools SECOND EDITION SCOTT E UMBAUGH Uffi\ CRC Press Taylor &. Francis Group Boca Raton London New York CRC Press is

More information

W07 Sensors and Measurement (1/2) Yrd. Doç. Dr. Aytaç Gören

W07 Sensors and Measurement (1/2) Yrd. Doç. Dr. Aytaç Gören W07 Sensors and Measurement (1/2) Yrd. Doç. Dr. Aytaç Gören ELK 2018 - Contents W01 Basic Concepts in Electronics W02 AC to DC Conversion W03 Analysis of DC Circuits (self and condenser) W04 Transistors

More information

Image Processing Introduction and Overview

Image Processing Introduction and Overview Image Processing Introduction and Overview Prof. Eric Miller elmiller@ece.tufts.edu Fall 2007 EN 74-ECE Image Processing Lecture 1-1 Today s Lecture All the dull administrative stuff first Introduction

More information

Digital Image Processing

Digital Image Processing GONZ_FMv3.qxd 7/26/07 9:05 AM Page i Digital Image Processing Third Edition Rafael C. Gonzalez University of Tennessee Richard E. Woods MedData Interactive Upper Saddle River, NJ 07458 GONZ_FMv3.qxd 7/26/07

More information

Intelligent Submersible Manipulator-Robot, Design, Modeling, Simulation and Motion Optimization for Maritime Robotic Research

Intelligent Submersible Manipulator-Robot, Design, Modeling, Simulation and Motion Optimization for Maritime Robotic Research 20th International Congress on Modelling and Simulation, Adelaide, Australia, 1 6 December 2013 www.mssanz.org.au/modsim2013 Intelligent Submersible Manipulator-Robot, Design, Modeling, Simulation and

More information

ELECTRICAL ENGINEERING

ELECTRICAL ENGINEERING EE ELECTRICAL ENGINEERING See beginning of Section H for abbreviations, course numbers and coding. The * denotes labs which are held on alternate weeks. A minimum grade of C is required for all prerequisite

More information

LECTURE 4-1. Common Sensing Techniques for Reactive Robots. Introduction to AI Robotics (Sec )

LECTURE 4-1. Common Sensing Techniques for Reactive Robots. Introduction to AI Robotics (Sec ) LECTURE 4-1 Common Sensing Techniques for Reactive Robots Introduction to AI Robotics (Sec. 6.1 6.5) 1 Quote of the Week Just as some newborn race of superintelligent robots are about to consume all humanity,

More information

WASSCE / WAEC ELECTIVE / FURTHER MATHEMATICS SYLLABUS

WASSCE / WAEC ELECTIVE / FURTHER MATHEMATICS SYLLABUS Visit this link to read the introductory text for this syllabus. 1. Circular Measure Lengths of Arcs of circles and Radians Perimeters of Sectors and Segments measure in radians 2. Trigonometry (i) Sine,

More information

Active Vibration Isolation of an Unbalanced Machine Spindle

Active Vibration Isolation of an Unbalanced Machine Spindle UCRL-CONF-206108 Active Vibration Isolation of an Unbalanced Machine Spindle D. J. Hopkins, P. Geraghty August 18, 2004 American Society of Precision Engineering Annual Conference Orlando, FL, United States

More information

Response to Harmonic Excitation

Response to Harmonic Excitation Response to Harmonic Excitation Part 1 : Undamped Systems Harmonic excitation refers to a sinusoidal external force of a certain frequency applied to a system. The response of a system to harmonic excitation

More information

Response to Harmonic Excitation Part 2: Damped Systems

Response to Harmonic Excitation Part 2: Damped Systems Response to Harmonic Excitation Part 2: Damped Systems Part 1 covered the response of a single degree of freedom system to harmonic excitation without considering the effects of damping. However, almost

More information

Robot Manipulators. Position, Orientation and Coordinate Transformations. Fig. 1: Programmable Universal Manipulator Arm (PUMA)

Robot Manipulators. Position, Orientation and Coordinate Transformations. Fig. 1: Programmable Universal Manipulator Arm (PUMA) Robot Manipulators Position, Orientation and Coordinate Transformations Fig. 1: Programmable Universal Manipulator Arm (PUMA) A robot manipulator is an electronically controlled mechanism, consisting of

More information

Design-Simulation-Optimization Package for a Generic 6-DOF Manipulator with a Spherical Wrist

Design-Simulation-Optimization Package for a Generic 6-DOF Manipulator with a Spherical Wrist Design-Simulation-Optimization Package for a Generic 6-DOF Manipulator with a Spherical Wrist MHER GRIGORIAN, TAREK SOBH Department of Computer Science and Engineering, U. of Bridgeport, USA ABSTRACT Robot

More information

Mechanical 7 th sem Syllabus

Mechanical 7 th sem Syllabus Mechanical 7 th sem Syllabus ALL SUBJECT CREDIT 3 GE2022 TOTAL QUALITY MANAGEMENT UNIT I INTRODUCTION Introduction - Need for quality - Evolution of quality - Definition of quality - Dimensions of manufacturing

More information

Time Domain and Frequency Domain Techniques For Multi Shaker Time Waveform Replication

Time Domain and Frequency Domain Techniques For Multi Shaker Time Waveform Replication Time Domain and Frequency Domain Techniques For Multi Shaker Time Waveform Replication Thomas Reilly Data Physics Corporation 1741 Technology Drive, Suite 260 San Jose, CA 95110 (408) 216-8440 This paper

More information

Rotation: Kinematics

Rotation: Kinematics Rotation: Kinematics Rotation refers to the turning of an object about a fixed axis and is very commonly encountered in day to day life. The motion of a fan, the turning of a door knob and the opening

More information

Robot Sensors. Outline. The Robot Structure. Robots and Sensors. Henrik I Christensen

Robot Sensors. Outline. The Robot Structure. Robots and Sensors. Henrik I Christensen Robot Sensors Henrik I Christensen Robotics & Intelligent Machines @ GT Georgia Institute of Technology, Atlanta, GA 30332-0760 hic@cc.gatech.edu Henrik I Christensen (RIM@GT) Sensors 1 / 38 Outline 1

More information

ADVANCED LINEAR ALGEBRA FOR ENGINEERS WITH MATLAB. Sohail A. Dianat. Rochester Institute of Technology, New York, U.S.A. Eli S.

ADVANCED LINEAR ALGEBRA FOR ENGINEERS WITH MATLAB. Sohail A. Dianat. Rochester Institute of Technology, New York, U.S.A. Eli S. ADVANCED LINEAR ALGEBRA FOR ENGINEERS WITH MATLAB Sohail A. Dianat Rochester Institute of Technology, New York, U.S.A. Eli S. Saber Rochester Institute of Technology, New York, U.S.A. (g) CRC Press Taylor

More information

Electronics - Physics 2010/11. Transducers

Electronics - Physics 2010/11. Transducers Transducers Transducers Sensors Performance Type: Temperature, Light, Force, Motion, Displacement, Sound Interfacing Actuators Type: Heat, Light, Force, Displacement, Motion, Sound Interfacing Introduction

More information

Pre-requisites 2012-2013

Pre-requisites 2012-2013 Pre-requisites 2012-2013 Engineering Computation The student should be familiar with basic tools in Mathematics and Physics as learned at the High School level and in the first year of Engineering Schools.

More information

DIGITAL MACHINE AND ROBOTICS

DIGITAL MACHINE AND ROBOTICS University of Technology Electromechanical Engineering Dept. 4 th Year / Electromechanical Engineering Branch DIGITAL MACHINE AND ROBOTICS 2010-2011 Assist. Prof. Dr. Farag Mahel Mohammed References 1.

More information

Using angular speed measurement with Hall effect sensors to observe grinding operation with flexible robot.

Using angular speed measurement with Hall effect sensors to observe grinding operation with flexible robot. Using angular speed measurement with Hall effect sensors to observe grinding operation with flexible robot. François Girardin 1, Farzad Rafieian 1, Zhaoheng Liu 1, Marc Thomas 1 and Bruce Hazel 2 1 Laboratoire

More information

Robot coined by Karel Capek in a 1921 science-fiction Czech play

Robot coined by Karel Capek in a 1921 science-fiction Czech play Robotics Robot coined by Karel Capek in a 1921 science-fiction Czech play Definition: A robot is a reprogrammable, multifunctional manipulator designed to move material, parts, tools, or specialized devices

More information

Spacecraft Dynamics and Control. An Introduction

Spacecraft Dynamics and Control. An Introduction Brochure More information from http://www.researchandmarkets.com/reports/2328050/ Spacecraft Dynamics and Control. An Introduction Description: Provides the basics of spacecraft orbital dynamics plus attitude

More information

EDUMECH Mechatronic Instructional Systems. Ball on Beam System

EDUMECH Mechatronic Instructional Systems. Ball on Beam System EDUMECH Mechatronic Instructional Systems Ball on Beam System Product of Shandor Motion Systems Written by Robert Hirsch Ph.D. 998-9 All Rights Reserved. 999 Shandor Motion Systems, Ball on Beam Instructional

More information

MECE 102 Mechatronics Engineering Orientation

MECE 102 Mechatronics Engineering Orientation MECE 102 Mechatronics Engineering Orientation Mechatronic System Components Associate Prof. Dr. of Mechatronics Engineering Çankaya University Compulsory Course in Mechatronics Engineering Credits (2/0/2)

More information

MCE/EEC 647/747: Robot Dynamics and Control

MCE/EEC 647/747: Robot Dynamics and Control MCE/EEC 647/747: Robot Dynamics and Control Lecture 4: Velocity Kinematics Jacobian and Singularities Torque/Force Relationship Inverse Velocity Problem Reading: SHV Chapter 4 Mechanical Engineering Hanz

More information

BRUSHLESS DC MOTOR FAMILY

BRUSHLESS DC MOTOR FAMILY BRUSHLESS DC MOTOR FAMILY Series NT DYNAMO Geared Brushless DC Permanent Magnet Motor Spur Up to 600:1 Gear Ratio Up to 200 oz-in [1412 mn-m] of Torque AGMA 7 Gear Quality Planetary Wide Selection of Gear

More information

UNIT II Robots Drive Systems and End Effectors Part-A Questions

UNIT II Robots Drive Systems and End Effectors Part-A Questions UNIT II Robots Drive Systems and End Effectors Part-A Questions 1. Define End effector. End effector is a device that is attached to the end of the wrist arm to perform specific task. 2. Give some examples

More information

LIST OF CONTENTS CHAPTER CONTENT PAGE DECLARATION DEDICATION ACKNOWLEDGEMENTS ABSTRACT ABSTRAK

LIST OF CONTENTS CHAPTER CONTENT PAGE DECLARATION DEDICATION ACKNOWLEDGEMENTS ABSTRACT ABSTRAK vii LIST OF CONTENTS CHAPTER CONTENT PAGE DECLARATION DEDICATION ACKNOWLEDGEMENTS ABSTRACT ABSTRAK LIST OF CONTENTS LIST OF TABLES LIST OF FIGURES LIST OF NOTATIONS LIST OF ABBREVIATIONS LIST OF APPENDICES

More information

Worksheet to Review Vector and Scalar Properties

Worksheet to Review Vector and Scalar Properties Worksheet to Review Vector and Scalar Properties 1. Differentiate between vectors and scalar quantities 2. Know what is being requested when the question asks for the magnitude of a quantity 3. Define

More information

Prerequisites: Successful completion of Earth Science, Living Environment, & Chemistry.

Prerequisites: Successful completion of Earth Science, Living Environment, & Chemistry. Physics Honors Course Honors Physics Overview of Course Physics H 4410 Full Year 1 credit Grades 11, 12 Prerequisites: Successful completion of Earth Science, Living Environment, & Chemistry. Honors policy

More information

Laplace Transforms. (This command loads the functions required for computing Laplace and Inverse Laplace transforms)

Laplace Transforms. (This command loads the functions required for computing Laplace and Inverse Laplace transforms) Laplace Transforms For the design of a control system, it is important to know how the system of interest behaves and how it responds to different controller designs. To do this, the dynamic equations

More information

Models for DC Motors

Models for DC Motors Models for DC Motors Raul Rojas Free University of Berlin Institute of Computer Science Takustr. 9, 14195 Berlin, Germany http://www.fu-fighters.de Abstract. This document describes how to model a DC motor,

More information

Manipulator Kinematics. Prof. Matthew Spenko MMAE 540: Introduction to Robotics Illinois Institute of Technology

Manipulator Kinematics. Prof. Matthew Spenko MMAE 540: Introduction to Robotics Illinois Institute of Technology Manipulator Kinematics Prof. Matthew Spenko MMAE 540: Introduction to Robotics Illinois Institute of Technology Manipulator Kinematics Forward and Inverse Kinematics 2D Manipulator Forward Kinematics Forward

More information

Introduction to Robotics Analysis, systems, Applications Saeed B. Niku

Introduction to Robotics Analysis, systems, Applications Saeed B. Niku Saeed B. Niku 1. Introduction Fig. 1.1 (a) A Kuhnezug truck-mounted crane Reprinted with permission from Kuhnezug Fordertechnik GmbH. Fig. 1.1 (b) Fanuc S-500 robots performing seam-sealing on a truck.

More information

ECE497: Introduction to Mobile Robotics Lecture 1

ECE497: Introduction to Mobile Robotics Lecture 1 ECE497: Introduction to Mobile Robotics Lecture 1 Dr. Carlotta A. Berry Spring 06-07 Introduction 1 Quote of the Week Don't tell people how to do things. Tell them what to do and let them surprise you

More information

3.6 Solving Problems Involving Projectile Motion

3.6 Solving Problems Involving Projectile Motion INTRODUCTION 1-2 Physics and its relation to other fields introduction of physics, its importance and scope 1-5 Units, standards, and the SI System description of the SI System description of base and

More information

Displacement, and Position sensors

Displacement, and Position sensors Displacement, and Position sensors Displacement Measurement Measurement of displacement is the basis of measuring: Position Velocity Acceleration Stress Force Pressure Proximity Thickness 1 Displacement

More information

Content Map For Career & Technology

Content Map For Career & Technology Content Strand: Applied Academics CT-ET1-1 analysis of electronic A. Fractions and decimals B. Powers of 10 and engineering notation C. Formula based problem solutions D. Powers and roots E. Linear equations

More information

Geometry Essential Curriculum

Geometry Essential Curriculum Geometry Essential Curriculum Unit I: Fundamental Concepts and Patterns in Geometry Goal: The student will demonstrate the ability to use the fundamental concepts of geometry including the definitions

More information

Chapter 10 Rotational Motion. Copyright 2009 Pearson Education, Inc.

Chapter 10 Rotational Motion. Copyright 2009 Pearson Education, Inc. Chapter 10 Rotational Motion Angular Quantities Units of Chapter 10 Vector Nature of Angular Quantities Constant Angular Acceleration Torque Rotational Dynamics; Torque and Rotational Inertia Solving Problems

More information

Simulation of Trajectories and Comparison of Joint Variables for Robotic Manipulator Using Multibody Dynamics (MBD)

Simulation of Trajectories and Comparison of Joint Variables for Robotic Manipulator Using Multibody Dynamics (MBD) Simulation of Trajectories and Comparison of Joint Variables for Robotic Manipulator Using Multibody Dynamics (MBD) Jatin Dave Assistant Professor Nirma University Mechanical Engineering Department, Institute

More information

2013 International Symposium on Green Manufacturing and Applications Honolulu, Hawaii

2013 International Symposium on Green Manufacturing and Applications Honolulu, Hawaii Green Robotics, Automation, and Machine Intelligence; a new Engineering Course in Sustainable Design Joseph T. Wunderlich, PhD College, PA, USA 2013 International Symposium on Green Manufacturing and Applications

More information

Manufacturing Equipment Modeling

Manufacturing Equipment Modeling QUESTION 1 For a linear axis actuated by an electric motor complete the following: a. Derive a differential equation for the linear axis velocity assuming viscous friction acts on the DC motor shaft, leadscrew,

More information

Finite Element Formulation for Beams - Handout 2 -

Finite Element Formulation for Beams - Handout 2 - Finite Element Formulation for Beams - Handout 2 - Dr Fehmi Cirak (fc286@) Completed Version Review of Euler-Bernoulli Beam Physical beam model midline Beam domain in three-dimensions Midline, also called

More information

MODERN CONTROL ENGINEERING

MODERN CONTROL ENGINEERING Crease Crease Spine ABOUT THE AUTHOR Dr. K P Mohandas is currently Professor in Electrical Engineering and Dean (Post Graduate Studies and Research) in National Institute of Technology (formerly Regional

More information

PLCopen 4: Blurring the Lines between PLC, Robot, and Motion Control

PLCopen 4: Blurring the Lines between PLC, Robot, and Motion Control PLCopen 4: Blurring the Lines between PLC, Robot, and Motion Control Standard Combines Three Control Methods Into One Common Language Jamie Solt, Senior Motion Product Engineer Yaskawa America, Inc. Overview

More information

Essential Mathematics for Computer Graphics fast

Essential Mathematics for Computer Graphics fast John Vince Essential Mathematics for Computer Graphics fast Springer Contents 1. MATHEMATICS 1 Is mathematics difficult? 3 Who should read this book? 4 Aims and objectives of this book 4 Assumptions made

More information

Fast and Effective Embedded Systems Design

Fast and Effective Embedded Systems Design Fast and Effective Embedded Systems Design Applying the ARM mbed Rob Toulson Tim Wilmshurst AMSTERDAM BOSTON HEIDELBERG LONDON NEW YORK OXFORD чч*?? &Ш& PARIS SAN DIEGO SAN FRANCISCO SINGAPORE SYDNEY TOKYO

More information

CE801: Intelligent Systems and Robotics Lecture 3: Actuators and Localisation. Prof. Dr. Hani Hagras

CE801: Intelligent Systems and Robotics Lecture 3: Actuators and Localisation. Prof. Dr. Hani Hagras 1 CE801: Intelligent Systems and Robotics Lecture 3: Actuators and Localisation Prof. Dr. Hani Hagras Robot Locomotion Robots might want to move in water, in the air, on land, in space.. 2 Most of the

More information

Calculus C/Multivariate Calculus Advanced Placement G/T Essential Curriculum

Calculus C/Multivariate Calculus Advanced Placement G/T Essential Curriculum Calculus C/Multivariate Calculus Advanced Placement G/T Essential Curriculum UNIT I: The Hyperbolic Functions basic calculus concepts, including techniques for curve sketching, exponential and logarithmic

More information

MPEG, the MP3 Standard, and Audio Compression

MPEG, the MP3 Standard, and Audio Compression MPEG, the MP3 Standard, and Audio Compression Mark ilgore and Jamie Wu Mathematics of the Information Age September 16, 23 Audio Compression Basic Audio Coding. Why beneficial to compress? Lossless versus

More information

Online Courses for High School Students 1-888-972-6237

Online Courses for High School Students 1-888-972-6237 Online Courses for High School Students 1-888-972-6237 PHYSICS Course Description: This course provides a comprehensive survey of all key areas: physical systems, measurement, kinematics, dynamics, momentum,

More information

Big Ideas in Mathematics

Big Ideas in Mathematics Big Ideas in Mathematics which are important to all mathematics learning. (Adapted from the NCTM Curriculum Focal Points, 2006) The Mathematics Big Ideas are organized using the PA Mathematics Standards

More information

Inductive and Magnetic Sensors

Inductive and Magnetic Sensors Chapter 12 Inductive and Magnetic Sensors 12.1 Inductive Sensors A number of the actuators developed in previous chapters depend on the variation of reluctance with changes in angle or displacement. Since

More information

An Introduction to Mobile Robotics

An Introduction to Mobile Robotics An Introduction to Mobile Robotics Who am I. Steve Goldberg 15 years programming robots for NASA/JPL Worked on MSL, MER, BigDog and Crusher Expert in stereo vision and autonomous navigation Currently Telecommuting

More information

Universal Exoskeleton Arm Design for Rehabilitation

Universal Exoskeleton Arm Design for Rehabilitation Journal of Automation and Control Engineering Vol. 3, No. 6, December 215 Universal Exoskeleton Arm Design for Rehabilitation Siam Charoenseang and Sarut Panjan Institute of Field Robotics, King Mongkut

More information

Miniature Motors Deliver Big Performance for Medical Analyzers. by Udayan Senapati, Ph.D.

Miniature Motors Deliver Big Performance for Medical Analyzers. by Udayan Senapati, Ph.D. thinkmotion Miniature Motors Deliver Big Performance for Medical Analyzers by Udayan Senapati, Ph.D. Miniature Motors Deliver Big Performance For Medical Analyzers Medical analyzers are the workhorse of

More information

Chapter 5: Tool Dynamometers

Chapter 5: Tool Dynamometers Chapter 5: Tool Dynamometers LEARNING OBJECTIVES Different types of transducers used in Dynamometers Design Requirements Types of Dynamometers ---------------------------------------------------------------------------------------------------------------------

More information

Flow Charts and Servomotors (background to Lab #2) Things to learn about: flow charts for design. MECH452 2014 Lecture #2 flow charts & servos rev2

Flow Charts and Servomotors (background to Lab #2) Things to learn about: flow charts for design. MECH452 2014 Lecture #2 flow charts & servos rev2 MECH 452 Lecture #2 Flow Charts and Servomotors (background to Lab #2) 1 2 Handout #2 (highlights, questions) Things to learn about: flow charts for design Only 5 symbols (subroutine not shown) Flow charts

More information

Rotation: Moment of Inertia and Torque

Rotation: Moment of Inertia and Torque Rotation: Moment of Inertia and Torque Every time we push a door open or tighten a bolt using a wrench, we apply a force that results in a rotational motion about a fixed axis. Through experience we learn

More information

Digital vs. Analogue Control Systems

Digital vs. Analogue Control Systems Digital vs. Analogue Control Systems Presented at the 2011 Annual Meeting of the American College of Medical Physics, Chattanooga, TN, May 1, 2011 Ivan A. Brezovich, PhD, Dept. of Rad Onc, Univ of Alabama

More information

ITEC2620 Introduction to Data Structures

ITEC2620 Introduction to Data Structures ITEC2620 Introduction to Data Structures Lecture 8b Search Trees Traversals Typical covered as graph traversals in data structures courses I ve never seen a graph traversal in practice! AI background Tree

More information

Industrial Maintenance Mechanics

Industrial Maintenance Mechanics Measuring What Matters in Job Ready Assessment Blueprint Industrial Maintenance Mechanics Test Code: 2074 / Version: 01 Copyright 2007 General Assessment Information Industrial Maintenance Mechanics Blueprint

More information

FRC WPI Robotics Library Overview

FRC WPI Robotics Library Overview FRC WPI Robotics Library Overview Contents 1.1 Introduction 1.2 RobotDrive 1.3 Sensors 1.4 Actuators 1.5 I/O 1.6 Driver Station 1.7 Compressor 1.8 Camera 1.9 Utilities 1.10 Conclusion Introduction In this

More information

Object tracking & Motion detection in video sequences

Object tracking & Motion detection in video sequences Introduction Object tracking & Motion detection in video sequences Recomended link: http://cmp.felk.cvut.cz/~hlavac/teachpresen/17compvision3d/41imagemotion.pdf 1 2 DYNAMIC SCENE ANALYSIS The input to

More information

Elementary Differential Equations

Elementary Differential Equations Elementary Differential Equations EIGHTH EDITION Earl D. Rainville Late Professor of Mathematics University of Michigan Phillip E. Bedient Professor Emeritus of Mathematics Franklin and Marshall College

More information

UEI App Notes: Using Accelerometers in a Data Acquisition System

UEI App Notes: Using Accelerometers in a Data Acquisition System UEI App Notes: Using Accelerometers in a Data Acquisition System by Bob Judd Director of Marketing 1 Using Accelerometers in a Data Acquisition System Accelerometers are widely used in industry for measuring

More information

ANALYTICAL METHODS FOR ENGINEERS

ANALYTICAL METHODS FOR ENGINEERS UNIT 1: Unit code: QCF Level: 4 Credit value: 15 ANALYTICAL METHODS FOR ENGINEERS A/601/1401 OUTCOME - TRIGONOMETRIC METHODS TUTORIAL 1 SINUSOIDAL FUNCTION Be able to analyse and model engineering situations

More information

Appendix 3 IB Diploma Programme Course Outlines

Appendix 3 IB Diploma Programme Course Outlines Appendix 3 IB Diploma Programme Course Outlines The following points should be addressed when preparing course outlines for each IB Diploma Programme subject to be taught. Please be sure to use IBO nomenclature

More information

Optical Metrology. Third Edition. Kjell J. Gasvik Spectra Vision AS, Trondheim, Norway JOHN WILEY & SONS, LTD

Optical Metrology. Third Edition. Kjell J. Gasvik Spectra Vision AS, Trondheim, Norway JOHN WILEY & SONS, LTD 2008 AGI-Information Management Consultants May be used for personal purporses only or by libraries associated to dandelon.com network. Optical Metrology Third Edition Kjell J. Gasvik Spectra Vision AS,

More information

Robotic Sensors. Discussion of Term Projects Sensors MARYLAND. Proprioceptive Exteroceptive Interoceptive U N I V E R S I T Y O F.

Robotic Sensors. Discussion of Term Projects Sensors MARYLAND. Proprioceptive Exteroceptive Interoceptive U N I V E R S I T Y O F. Discussion of Term Projects Sensors Proprioceptive Exteroceptive Interoceptive 1 2014 David L. Akin - All rights reserved http://spacecraft.ssl.umd.edu Term Design Projects Astronaut assistance rover Sample

More information

System Modeling and Control for Mechanical Engineers

System Modeling and Control for Mechanical Engineers Session 1655 System Modeling and Control for Mechanical Engineers Hugh Jack, Associate Professor Padnos School of Engineering Grand Valley State University Grand Rapids, MI email: jackh@gvsu.edu Abstract

More information

Design of a Robotic Arm with Gripper & End Effector for Spot Welding

Design of a Robotic Arm with Gripper & End Effector for Spot Welding Universal Journal of Mechanical Engineering 1(3): 92-97, 2013 DOI: 10.13189/ujme.2013.010303 http://www.hrpub.org Design of a Robotic Arm with Gripper & End Effector for Spot Welding Puran Singh *, Anil

More information

NEW YORK STATE TEACHER CERTIFICATION EXAMINATIONS

NEW YORK STATE TEACHER CERTIFICATION EXAMINATIONS NEW YORK STATE TEACHER CERTIFICATION EXAMINATIONS TEST DESIGN AND FRAMEWORK September 2014 Authorized for Distribution by the New York State Education Department This test design and framework document

More information

Tracking Moving Objects In Video Sequences Yiwei Wang, Robert E. Van Dyck, and John F. Doherty Department of Electrical Engineering The Pennsylvania State University University Park, PA16802 Abstract{Object

More information

10. CNC Hardware Basics

10. CNC Hardware Basics CAD/CAM Principles and Applications 10 CNC Hardware Basics 10-1/10-20 by P.N.Rao 10. CNC Hardware Basics 10.1 Structure of CNC machine tools Table 10.1 Some design criteria for CNC machine tool design

More information

Alternative Linear Motion Systems. Iron Core Linear Motors

Alternative Linear Motion Systems. Iron Core Linear Motors Alternative Linear Motion Systems ME EN 7960 Precision Machine Design Topic 5 ME EN 7960 Precision Machine Design Alternative Linear Motion Systems 5-1 Iron Core Linear Motors Provide actuation forces

More information

Autonomous robot obstacle avoidance using a fuzzy logic control scheme

Autonomous robot obstacle avoidance using a fuzzy logic control scheme Autonomous robot obstacle avoidance using a fuzzy logic control scheme William Martin Submitted on December 4, 2009 CS311 - Final Project 1. INTRODUCTION One of the considerable hurdles to overcome, when

More information

Orbital Mechanics. Angular Momentum

Orbital Mechanics. Angular Momentum Orbital Mechanics The objects that orbit earth have only a few forces acting on them, the largest being the gravitational pull from the earth. The trajectories that satellites or rockets follow are largely

More information

Power Electronics. Prof. K. Gopakumar. Centre for Electronics Design and Technology. Indian Institute of Science, Bangalore.

Power Electronics. Prof. K. Gopakumar. Centre for Electronics Design and Technology. Indian Institute of Science, Bangalore. Power Electronics Prof. K. Gopakumar Centre for Electronics Design and Technology Indian Institute of Science, Bangalore Lecture - 1 Electric Drive Today, we will start with the topic on industrial drive

More information

Middle Grades Mathematics 5 9

Middle Grades Mathematics 5 9 Middle Grades Mathematics 5 9 Section 25 1 Knowledge of mathematics through problem solving 1. Identify appropriate mathematical problems from real-world situations. 2. Apply problem-solving strategies

More information

Engineering Mechanics I. Phongsaen PITAKWATCHARA

Engineering Mechanics I. Phongsaen PITAKWATCHARA 2103-213 Engineering Mechanics I Phongsaen.P@chula.ac.th May 13, 2011 Contents Preface xiv 1 Introduction to Statics 1 1.1 Basic Concepts............................ 2 1.2 Scalars and Vectors..........................

More information

EQUATIONS OF MOTION: ROTATION ABOUT A FIXED AXIS

EQUATIONS OF MOTION: ROTATION ABOUT A FIXED AXIS EQUATIONS OF MOTION: ROTATION ABOUT A FIXED AXIS Today s Objectives: Students will be able to: 1. Analyze the planar kinetics of a rigid body undergoing rotational motion. In-Class Activities: Applications

More information

GOVERNMENT COLLEGE OF ENGINEERING, BARGUR CONTROL SYSTEMS OBJECTIVE TYPE QUESTIONS

GOVERNMENT COLLEGE OF ENGINEERING, BARGUR CONTROL SYSTEMS OBJECTIVE TYPE QUESTIONS GOVERNMENT COLLEGE OF ENGINEERING, BARGUR CONTROL SYSTEMS OBJECTIVE TYPE QUESTIONS 1. In an open loop control system (a) Output is independent of control input (b) Output is dependent on control input

More information

Motion Control of 3 Degree-of-Freedom Direct-Drive Robot. Rutchanee Gullayanon

Motion Control of 3 Degree-of-Freedom Direct-Drive Robot. Rutchanee Gullayanon Motion Control of 3 Degree-of-Freedom Direct-Drive Robot A Thesis Presented to The Academic Faculty by Rutchanee Gullayanon In Partial Fulfillment of the Requirements for the Degree Master of Engineering

More information

C is a point of concurrency is at distance from End Effector frame & at distance from ref frame.

C is a point of concurrency is at distance from End Effector frame & at distance from ref frame. Module 6 : Robot manipulators kinematics Lecture 21 : Forward & inverse kinematics examples of 2R, 3R & 3P manipulators Objectives In this course you will learn the following Inverse position and orientation

More information

Two hours UNIVERSITY OF MANCHESTER SCHOOL OF COMPUTER SCIENCE. M.Sc. in Advanced Computer Science. Friday 18 th January 2008.

Two hours UNIVERSITY OF MANCHESTER SCHOOL OF COMPUTER SCIENCE. M.Sc. in Advanced Computer Science. Friday 18 th January 2008. COMP60321 Two hours UNIVERSITY OF MANCHESTER SCHOOL OF COMPUTER SCIENCE M.Sc. in Advanced Computer Science Computer Animation Friday 18 th January 2008 Time: 09:45 11:45 Please answer any THREE Questions

More information

Speed Computation for Industrial Robot Motion by Accurate Positioning

Speed Computation for Industrial Robot Motion by Accurate Positioning INTERNATIONAL JOURNAL OF COMPUTERS COMMUNICATIONS & CONTROL ISSN 1841-9836, 12(1):76-89, February 2017. Speed Computation for Industrial Robot Motion by Accurate Positioning L.M. Matica, H. Oros Liliana

More information

Algebra 1 2008. Academic Content Standards Grade Eight and Grade Nine Ohio. Grade Eight. Number, Number Sense and Operations Standard

Algebra 1 2008. Academic Content Standards Grade Eight and Grade Nine Ohio. Grade Eight. Number, Number Sense and Operations Standard Academic Content Standards Grade Eight and Grade Nine Ohio Algebra 1 2008 Grade Eight STANDARDS Number, Number Sense and Operations Standard Number and Number Systems 1. Use scientific notation to express

More information

SIMULATION OF WALKING HUMANOID ROBOT BASED ON MATLAB/SIMMECHANICS. Sébastien Corner

SIMULATION OF WALKING HUMANOID ROBOT BASED ON MATLAB/SIMMECHANICS. Sébastien Corner SIMULATION OF WALKING HUMANOID ROBOT BASED ON MATLAB/SIMMECHANICS Sébastien Corner scorner@vt.edu The Robotics & Mechanisms Laboratory, RoMeLa Department of Mechanical Engineering of the University of

More information