MAE 512 Robotics and Mechatronics

MAE512
512Robotics
Robotics and
and Mechatronics
MAE
Mechatronics

Robotics: Modeling, Planning and Control by

Siciliano et al., Springer, 2009
A Mathematical Introduction to Robotic
Manipulation by Murray et al., CRC Press, 1994

 References:

Introduction to Robotics by Craig, 3rd edition,

Prentice Hall, 2005
Robot Modeling and Control by Spong et al.,
John Wiley & Sons, 2006

 Textbooks:

Class Information (contd)

Introduction,
Homogeneous Transformations,
and Coordinate frames

Lecture 1

MAE 512: Robotics and Mechatronics

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Homework: 20% in total

Class attendance: 5%
Midterm exam: 25%
Final exam: 25%
Final project: 25%

 Class website: http://sakai.rutgers.edu

 Other class policies: see syllabus for details

 Grading Policy:

Class Information (contd)

 Grader: To Be Announced
 Office hours: TT 3:30-5pm in D-157, or by
appointment
 Exams: One midterm exam and one final
exam
 Project: One final project

Office: Engineering Building D-157

Email: jgyi@rutgers.edu, Tel: 848-445-3282

 Lecture: TT 5-6:20pm in SEC217

 Instructor: Jingang Yi, Associate Professor

Class Information

MAE512
512Robotics
Robotics and
and Mechatronics
MAE
Mechatronics

MAE512
512Robotics
Robotics and
and Mechatronics
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Industry
Medical

 Robot in life

Modern Robots

 Introduction to robotics, rigid motions and

homogeneous transformation
 Forward and inverse kinematics
 Jacobians: Velocity kinematics and static forces
 Manipulator dynamics and path generation
 Linear and nonlinear control of manipulators
 Actuators and sensors for manipulators
 Force control of manipulators
 Geometric nonlinear control
 Mobile robots and motion planning

Course Schedule

MAE512
512Robotics
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Home/Entertainment

 Robot in life

Modern Robots

 Robots in movie

Introduction

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by Robot Institute of America

11

 A robot is a reprogrammable
multifunctional manipulator designed to
move material, parts, tools, or
specialized devices through variable
programmed motions for the
performance of a variety of tasks

What is a Robot?

Military/Unmanned Vehicle

 Robots in life

Modern Robots
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Planning

Rigid body
mechanics

Kinematics

Dynamics

Control

Sensing

Scope of MAE 512

12

10

 Mobile robots (wheeled, legged, tracked, etc.)

 Aerial robots (fixed-wing, helicopter, quadrotors,
etc.)
 Bio-inspired robots
 Micro/nano robots
 Medical robots
 Modular robots
 Service robots


More Modern Robots

MAE 512 Robotics and Mechatronics

MAE 512 Robotics and Mechatronics

Rigid body
mechanics

Kinematics

Dynamics

Control

Sensing

 Mechanical design of robots is not covered

 Advanced topics, such as computer vision and visual
servoing, probabilistic motion planning, etc. not covered13

Planning

Scope of MAE 512

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Generalized Coordinates

Robots live in 3D Euclidean space

 Matrix

Description Coordinate System

 Norm

Distance

 Basis vectors

Type Physical, Geometry, Functional

Dimension & Direction

 Space

Spatial Descriptions and

Transformations

14

MAE 512 Robotics and Mechatronics

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>v1

|v|

v2  vn @

v12  v22  ...  vn2

Norm of a vector

v1
v
2


vn

Column vector and row vector

 Vectors

A review of vectors and matrix

End-Effector Configuration
Parameters

19

MAE 512 Robotics and Mechatronics

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vxw

cos T

 If |v|=|w|=1,

v x w | v || w | cos T

 Vector v and w

Dot product of two vectors

20

MAE 512 Robotics and Mechatronics

MAE 512 Robotics and Mechatronics

X A

Z A
A

x
y

z

X A

X B

Z A

YB

Z B

Orientation Description

 Coordinate System A
 Attach Frame B
(Coordinate System B)

x
y

z

 Coordinate System A

Position Description

YA

23

YA

21

MAE 512 Robotics and Mechatronics

MAE 512 Robotics and Mechatronics

X A

r13
r23

r33

r11 r12
r r
21 22
r31 r32

A
B

> X

YB
R

r31

Z B

X A

 Coordinate System A
 Attach Frame
Coordinate System B
 Rotation matrix
A
B

Z A

X B x Z A

r11

X B x YA

X B x X A

r21

X B

Z A

YB

Z B

Orientation Description

x
y

z

 Coordinate System A

Orientation Description

YA

24

YA

22

A
B

> X

YB

Z B

A
B

X
Y
Z

T
A
B T
A
T
B
A

> X
A

Z B x X A

Z B x YA
Z B x Z A

YA

YB

Z B

X B x X A YB x X A

X B x YA YB x YA
X B x Z A YB x Z A

> X
Z B x X A

Z B x YA
Z B x Z A

Orthogonal Matrix

X B

X B x X A YB x X A

X B x YA YB x YA
X B x Z A YB x Z A

T
Z A

T
A

Directional
Cosines

Rotation matrix

9 Parameters to describe orientation!

Directional
Cosines

MAE 512 Robotics and Mechatronics

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B
A

27

25

RT

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RT

B
A

B
A

R 1

I BAR

B
A

R 1

X A

{B} {BA R, APBORG}

X B

Z A

 Position + orientation

PBORG YB

Z B

Description of a frame

If M-1 = MT , M is orthogonal matrix

A
B R is orthogonal!!

 For matrix M,

B
RA
R

RT

A
B

B
A

A
B

Rotation matrix

28

YA

26

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A
B

X A

X A

Yu
{A}

X B

Z A
u

{B}

PBORG YB

PBORG

Z B

X B

Z A

YA

YB

[ A X B

BT
A B
BR P

Px
P
y
Pz

 Pz A Z B

A
A
Y
ZB ]
A B
0
BR

0 0 1

BT
A P1 P A X 1P AY

29

YA

31

BPR
xP

B
P Py Px X B  PyYB  Pz Z B
A P PAz B P

Mapping rotation difference

X u

Z B

{U}

Z u

{B} { R, PBORG } { R, PBORG }

u
B

{ A} {Au R,u PAORG }

Graphical representation
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A
B

> X

YB
A

Z B

1
2 AP ?

 1

cos 30$

$
cos120
cos 90$

YA

cos 30$
cos 90$

cos 60$

Z B

30q

cos 90$

cos 90$
cos 0$

Z A

YB

0 0 0

YA

30q

A
B

Example

Z B x X A

Z B x YA
Z B x Z A

B P
T
1
A
B

AP

1

YB

Z B B

PBORG  BP

X B x X A YB x X A

X B x YA YB x YA
X B x Z A YB x Z A

X A

PBORG

X B

Z A

X B

X A

PBORG

Mapping: Change Coordinates

Translation Difference

32

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MAE 512 Robotics and Mechatronics

X A

Z A

X B

PBORG

Z B

A BB
BR P
Y
B

P
YA

Mapping: Rotation + Translation

Difference

33

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MAE 512 Robotics and Mechatronics

A Px
A
Py
A Pz

1

A
B

A
B

PBORG _ x B Px

A
PBORG _ y B Py
A
PBORG _ z B Pz

1
1
A

Operators

PBORG  BAR BP

34

Homogeneous Transformation
for Mapping

MAE 512 Robotics and Mechatronics

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X A

Z B

X B

Z A

YA

YB

A
B

AP

1

0
A
B

R
0

0 0 1

B
A P
BT

R AP

A
B

Recall: Mapping rotation

difference

Rotational Operators

39

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P1

DQ ( q)

1
0

0
1
0
0

0 qx
0 qy

1 qz

0 1

YA

P2

Z A

YB
T

YA

P1

P1

X A

X B

P2

A
B

> X

YB
A

Z B

Z B x X A

Z B x YA
Z B x Z A

cos T
cos(90$  T ) cos 90$

$
cos T
cos 90$
cos(90  T )
cos 90$
cos 90$
cos 0$

cos T  sin T 0
sin T cos T 0

0
1
0

X B x X A YB x X A

X B x YA YB x YA
X B x Z A YB x Z A

P2

40

38

DQ ( q) AP1

P1  AQ

P2

q x  q y  qz

P2

Relationship between Mapping with only

Rotational Difference and Rotation Operator

X A

Z A

 Translation operator

Translation Operator

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MAE 512 Robotics and Mechatronics

Inverse Transform

 The rotation matrix that rotates

vectors through some rotation, R, is
the same as the rotation matrix that
describes a frame rotated by R
relative to the reference frame.

Relationship between Mapping with only

Rotational Difference and Rotation Operator

41

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MAE 512 Robotics and Mechatronics

Homogeneous Transform Interpretations

General Operators

MAE 512 Robotics and Mechatronics

MAE 512 Robotics and Mechatronics

Transform Equation
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MAE 512 Robotics and Mechatronics

T CBT

A
B

Transform Equation

A
C

Compound Transformations

MAE 512 Robotics and Mechatronics