Kinematics specifies the joint parameters and computes the configuration of the chain. For serial manipulators this is achieved by direct substitution of the joint parameters into the forward kinematics equations for the serial chain. The essential concept of forward kinematic is that the positions of particular parts of the model at a specified time are calculated from the position and orientation of the object, together with any information on the joints of an articulated model.
This course is designed to help students to understand the concept and use of a homogenous transformation matrix including kinematics of industrial robots and spherical wrist.
After completing this course, students will have expert knowledge on the basic principles of robot kinematics, dynamics, sensing and actuation, and control.
WHO SHOULD COMPLETE THIS COURSE
- Electronic engineers
- Automation Engineers
- Mechanical Engineers
- Consulting Engineers
- Electrical Engineers
- Maintenance technicians
- Instrumentation and Control Engineers
- Maintenance Engineers
- IT specialists
- Operations Engineers
- Process Engineers
- Process Operators
- Production Managers
- Project Managers
- System Integrators
COURSE OUTLINE
DOT PRODUCT
- Algebraic definition
- Properties
- Basic joints
- Math review
UNIT VECTOR
- Cartesian coordinates
- Cylindrical coordinates
- 1 and 3 dimensions
- Example
MATRIX ADDITION AND MULTIPLICATION
- Rules for matrix addition
- Matrix multiplication
- Identity matrix
USING MATLAB FOR MATRIX MANIPULATION
- Creating a matrix
- Transpose of matrix A
- Multiply these two matrices
- Summary
FRAME ATTACHMENT
- Description of position
- Description of orientation
- Mappings involving translated frames
- Mappings involving rotated frames
HOMOGENEOUS REPRESENTATION
- Translation
- Rotation
- Equivalent angle-axis representation
- Transform equations
- XYZ fixed angles
FORWARD KINEMATICS - LINK DESCRIPTION
- Link connection description
- Convention for Affixing Frames to links
- Link parameter in terms of the link frames
LINK-FRAME ATTACHMENT PROCEDURE
- Link frame assignment
- Two possible frame assignments
DERIVATION OF LINK TRANSFORMATIONS
- Mapping between kinetic descriptions
KINEMATICS OF INDUSTRIAL ROBOTS
- Link parameter of PUMA560
- Link transformation
- Product of all six link transform
DENAVIT HARTENBERG PARAMETERS
- Denavit and Hardenberg matrix
- Planar Elbow manipulator
THREE-LINK CYLINDRICAL ROBOT
- Three link cylindrical manipulator
SPHERICAL WRIST
- DH parameter for Stanford manipulator
- DH parameter of Revolute-Prismatic planar arm
INVERSE KINEMATICS
- Existence of solutions
- Multiple solutions
- Method solutions
ALGEBRAIC SOLUTION
- Algebraic solution to three link planar manipulator
GEOMETRIC SOLUTION
- Geometric approach to manipulator solution
ALGEBRAIC SOLUTION BY REDUCTION TO POLYNOMIAL
- The Unimation PUMA 560
- Yasukawa Motomart L-3
