Robotics I

Dr.-Ing. Danijela Risti-Durrant

Lecture I

Organization
Support of students, Exercises

Ms. Maria Kyrarini

Mr. Ammar Najjar

Exercises: numerical + laboratory

Numerical Exercises UPON ANNOUNCEMENT S via elearning

system
THE FIRST+SECOND NUMERICAL EXERCISES WILL TAKE
PLACE ON TUESDAY, 07.06.2016 FROM 16:00 until 17:30!
(THERE WILL BE NO LECTURES on that day)
Laboratory: 2 exercises in June-July
successful participation in Laboratory is prerequisite for
taking part in exam
Examination
Written examination, 25.07.2016
Download lectures material and general information
http://www.elearning.uni-bremen.de
Lecture I

Literature
Crane, C. D., Duffy, J., Kinematic Analysis of Robot Manipulators,
Cambridge University Press, 1998.
Sciavicco, L., Siciliano, B., Modelling and Control of Robot Manipulators,
Springer-Verlag London Limited, 2000.
Paul, R., Robot Manipulators: Mathematics, Programming and Control,
The MIT Press, Cambridge, 1981.
Craig, J. J., Introduction to Robotics, Mechanics and Control, AddisonWesley Publishing Company, Massachusetts, 1986.
Spong, W. M., Robot Dynamics and Control, John Wiley & Sons, 1989.
LaValle M. S., Planning Algorithms, Cambridge University Press, 2006.
Saeed, B. N., Introduction to Robotics Analysis, Systems, Applications,
Prentice Hall, 2001.
IAT Robotics I Lecture Notes
Lecture I

Overview

Robotics Applications

Robotics - mathematical preliminaries

Coordinate transformations

Lecture I

What is a robot?
Random House Dictionary:
A machine that resembles a human being and does mechanical
routine tasks on command
In 1980, the Robot Institute of America (RIA) came up with the
following definition:

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
A robot is device that operates with some degree of autonomy,
usually under computer control

Lecture I

Robotics applications - industrial

Assembly task

Lecture I

Robotics applications - industrial

Assembly robot in electronic company

Lecture I

Painting robot in motor company

Robotics applications - industrial

Autogenous and spot welding

Lecture I

Robotics applications - medical

Surgery robot

Lecture I

Robotics applications - entertainment

Sony (AIBO) Toy robot

Lecture I

Robotics applications service robots

Experimental platform FRIEND
Museum guide

Lecture I

IAT, Bremen

FRIEND III in action

Lecture I

MeRoSy project
2 Arms manipulator

Lecture I

Mobile robot vs. manipulator

Mars-mobile

A mobile robot can be any form of vehicle, such as a

motorized cart, a car, a plane, or a submersible, and in
the case of land navigation it can have wheels, tracks, or
legs. One of the main goals of a mobile robot is
transport, under guidance of on-board sensors and an
intelligent controller

A manipulator is a mechanical linkage, which may or

may not be arm-like, with a gripper or tool to perform
some action on the environment

Lecture I

Manipulators
A manipulator is composed of a series of links connected to each other
via joints (revolute or prismatic). Each joint usually has an actuator (e.g.
a motor) connected to it
Manipulator actuators are used to cause relative motion between
successive links. One end of the manipulator is usually connected to a
stable base and the other end is used to deploy a tool
endeffector
joints
links
base
Lecture I

Robots degrees of freedom and robot

joints
Degrees of freedom (DOF): number of independent position
variables which has to be specified to locate all parts of a
mechanism
- in most manipulators this is usually the number of joints
Robot joints:

- prismatic: linear, no rotation involved; hydraulic or pneumatic cylinder

- revolute: rotary; electrically driven with stepper motor, servo motor

Lecture I

Manipulators
Example: Puma 560

Lecture I

What is robotics?

Robotics is the science and technology of robots, their

design, manufacture, and application
Robotics is an interdisciplinary subject that benefits from
mechanical engineering, electrical and electronic
engineering, computer science, biology, and many other
disciplines

Lecture I

Robotics - mathematical preliminaries

Matrices: R, T,

Vector operations

r11
r
R rij i 1,,m 21

j1,, n

rm1

r12 r1n
r22 r2 n

rm 2 rmn

Vectors: v, u,
characterised by its directions as well
as by its magnitude (length)
B
A

v u v1u1 v 2 u 2 v 3 u 3

or

2
2
2
vector magnitude: v v1 v 2 v 3

v u v u cos

nonzero vectors v and u

are orthogonal ( = 90) iff their dot product is 0

Vector product of two vectors v and u :

v = AB

v1

a vector in R3: v v 2
v 3

Lecture I

Dot (scalar) product of two vectors v and u :

u x v u v sin

Mathematical preliminaries

Cartesian coordinate systems

If there is a subset of linearly independent vectors xA , y A , z A in three-dimensional

vector space V and a set of scalars v1 , v 2 , v 3 such that every vector v in V can be
expressed as:
v v1xA v2y A v3z A

then it is said that v is linear combination of the vectors xA , y A , z A which represent

the basis vectors for the vector space V
z

Properties of basis vector of an orthonormal coordinate frame {A}

x A y A 0;
x A z A 0;

xA y A z A 1

yA zA 0

Coordinates of basis (unit) vector expressed in coordinate frame {A}

Lecture I

1
0
0
A
x A 0; A y A 1; A z A 0
0
0
1

zA

yA
xA A
0
x

Relation between two coordinate

systems
The coordinate frame {B} (its position and orientation) is completely described with
respect to {A} by the following vectors:
A

v A0 B0

vector from the origin of {A} to the origin of {B} expressed related to {A}

xB

A
y B unit vectors of {B} expressed with respect to {A}
A
z B
A

Lecture I