10 Kınematıc Sıngularıtıes Statıc Forces Trajectory Plannıg

MCH568-MODELLING AND CONTROL
OF ROBOTS
KINEMATIC SINGULARITIES-STATIC FORCES

TRAJECTORY PLANING
Asst. Prof. Dr. N. Gökhan ADAR
Mechatronics Engineering
Bursa Technical University
2021-2022 SPRING
Dr. N. Gökhan ADAR MCH568-Modelling and Control of Robots Mechatronics Engineering
COURSE CONTENTS
1 Introduction
2 Basic Robotics Concepts
3 Spatial representations
4 Spatial representations
5 Forward kinematics
6 Forward kinematics examples
7 Inverse kinematics
8 Midterm
9 Velocity kinematics
10 Singularity-Trajectory planing
11 Robot Dynamics
12 Robot dynamics
13 Robot control 1
14 Robot control 2
15 Robot control 3
KINEMATIC SINGULARITIES
 According to ANSI-RIA (The American National Standard for Industrial Robots

and Robot), Singularity is defined as a condition caused by the collinear alignment
of two or more robot axes that causes unpredictable motion and velocities of
the robot.
 At singular singularities:The ability to move or rotate in a certain direction is
lost (singular direction)
 The singularities is important for several reasons:

1. It represent robot configurations where certain movements may be
inaccessible.
2. In singularities, finite end effector velocities can produce unlimited joint
velocities.
3. In singularities, finite end effector forces and torques can correspond to
unlimited joint torques.
4. Singularities can usually (but not always) correspond to points at the boundary
of the robot's workspace, (ie the robot's maximum access points).
5. Singularities correspond to inaccessible points in the robot workspace.
6. There will be no single solution to the inverse kinematics problem at singular
points.In such cases, there may be no solution or there may be many solutions.
 The three types of singularity :

1. Wrist singularity
2. Elbow singularity
3. Shoulder singularity
https://www.youtube.com/watch?v=lD2HQcxeNoA
https://www.mecademic.com/resources/Singularities/Robot-singularities
WRIST SINGULARITY
 The most frequently-encountered singularity in vertically-articulated robot arms

with inline wrists is the wrist singularity. It occurs when the axes of joints 4 and 6
become coincident.
 Joints can try to turn 180 degree.
Ref : https://www.mecademic.com/en/what-are-singularities-in-a-six-axis-robot-arm
ELBOW SINGULARITY
 The second type of singularity in vertically articulated robot arms with inline wrists is
the elbow singularity.
 It occurs when the wrist center (the point where the axes of joints 4, 5 and 6 intersect)
lies on the plane passing through the axes of joints 2 and 3. We can say that, in an elbow
singularity, the arm is fully stretched.
SHOULDER SINGULARITY
 The third and last type of singularity in vertically-articulated robot arms with
inline wrists is the shoulder singularity. It occurs when the center of the robot
wrist lies in the plane passing through the axes of joints 1 and 2.
 Joint 1 and 4 can try to turn 180 degree.
 Singularities:
EXAMPLE 1
 vx   l1s1  l2 s12 l2 s12 

 v   l c  l c l2 c12 
 y   1 1 2 12 
 vz   0 0   q1 
   
 x   0 0   q2 
 y   0 0 
   
 z   1 1 
EXAMPLE 1
 l1s1  l2 s12 l2 s12 

J 
 l1c1  l2 c12 l2 c12 
det( J )  l1l2 s2
l1l2 s2  0
q2  0 q2  
EXAMPLE 2
EXAMPLE 2
q2  0, 
q3  0
STATIC FORCES-MOMENTS
 Forces and torques in a manipulator:
 τ : torques or forces exerted by motors on the joints

 F : equivalent generalized forces at the end effector
 Fe : generalized forces exerted by the environment on the end effector
STATIC FORCES-MOMENTS
 Forces and torques in a manipulator:
 - Relation through the Jacobian :

EXAMPLE 3
 A 4 dof robot has the following Jacobian matrix:
 Determine the torques that must be applied to the motors to keep the robot
under static equilibrium when the applied force/torque on the end effector is:
EXAMPLE 3
RELATION BETWEEN VELOCITY AND FORCE

TRAJECTORY PLANING
 Trajectory planning is needed in order to

move the robot to the desired position
from its current location.
 Trajectory planning :
1. Simple
2. efficient (low cpu usage)
3. high speed
4. high accuracy
TRAJECTORY PLANING
 Trajectories in the joint space:
1. More complex to visualize
2. It is harder to avoid obstacles
3. It cannot follow Cartesian paths (example: a “line”)
4. It does not require inverse kinematics at every point (less computationally expensive)
 Trajectories in the Cartesian (operational) space:
1. More direct visualization of the generated path
2. It allows for obstacle avoidance
3. It can describe a given Cartesian path (do not “wander”)
4. It requires inverse kinematics (computationally more expensive)
TRAJECTORY PLANING
 The trajectory specified in Cartesian coordinates can cause the robot to move
into itself.
 The trajectory can produce a sudden change in joint angles due to singularities.
TRAJECTORY PLANING
TRAJECTORY PLANING
POLYNOMIALS
TRAJECTORIES IN THE JOINT SPACE

POINT TO POINT TRAJECTORIES:
TRAJECTORIES IN THE JOINT SPACE

POINT TO POINT TRAJECTORIES:
 Three or higher order Polynomials are used for trajectory planning:
 Initial and final position, velocity and acceleration are needed:

CUBIC POLYNOMIAL
CUBIC POLYNOMIAL
CUBIC POLYNOMIAL
EXAMPLE 1
 Determine the cubic trajectory of a joint from q(2)=10° to q(4)=60° with null
initial and final velocities. Plot the position, velocity and acceleration.
EXAMPLE 1
 q0  1 2 22 23   a0   a0   260 
v      a   300 
 0   1 1 2.2 3.22   a1   1   
 q f  0 4 42 3.42   a2   a2  112.5 
        
 v f  0 1 2.4 3.42   a3   3 
a 12.5 
EXAMPLE 1
QUINTIC POLYNOMIAL (5TH DEGREE)

QUINTIC POLYNOMIAL (5TH DEGREE)

EXAMPLE 2
 Determine the quintic trajectory of a joint from q(2)=10° to q(4)=60° with null
 initial and final velocity and acceleration.
10  a0  a1 2  a2 22  a3 23  a4 24  a5 25
0  2a1 2  3a3 22  4a4 23  5a5 2 4
0  2a1  6a3 2  12a4 22  20a5 23
60  a0  a1 4  a2 42  a3 43  a4 44  a5 45
0  2a1 4  3a3 42  4a4 43  5a5 4 4
0  2a1  6a3 4  12a4 42  20a5 43
EXAMPLE 2
 1 2 22 23 24 25   a0  10   a0   1540 
      a   300 
 0 1 2.2 3(22 ) 4(23 ) 5(2 4 )   a1   0   1  
 0 0 2 6.2 12.24 20.23 )   a2   0   a2   2250 
 )        
 1 4 42 43 44 5
4 )   a3  60  a
 3  812.5 
 0 1 2.4 3.42 ) 4.43 ) 5.44 )   a4   0   a4  140.625
        
 0 0 2 6.4 12.42 ) 20(43 )   a5   0   5 
a 9.375 
EXAMPLE 2
CUBIC AND QUINTIC POLYNOMIALS

TRAJECTORIES USING WAYPOINTS

REFERENCES
 Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, Giuseppe Oriolo - Robotics -

Modelling, Planning and Control-Springer.
 Reza N Jazar, Theory of Applied Robotics.
 Prof. Oscar E. Ramos, Foundations of Robotics Lecture Notes.

10 Kınematıc Sıngularıtıes Statıc Forces Trajectory Plannıg

Uploaded by

Copyright:

Available Formats

You might also like

10 Kınematıc Sıngularıtıes Statıc Forces Trajectory Plannıg

Uploaded by

Document Information

Original Description:

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

10 Kınematıc Sıngularıtıes Statıc Forces Trajectory Plannıg

Uploaded by

Copyright:

Available Formats

MCH568-MODELLING AND CONTROL

KINEMATIC SINGULARITIES-STATIC FORCES

 According to ANSI-RIA (The American National Standard for Industrial Robots

 The singularities is important for several reasons:

 The three types of singularity :

 The most frequently-encountered singularity in vertically-articulated robot arms

 vx   l1s1  l2 s12 l2 s12 

 l1s1  l2 s12 l2 s12 

 Forces and torques in a manipulator:

 τ : torques or forces exerted by motors on the joints

 - Relation through the Jacobian :

RELATION BETWEEN VELOCITY AND FORCE

 Trajectory planning is needed in order to

TRAJECTORIES IN THE JOINT SPACE

TRAJECTORIES IN THE JOINT SPACE

 Three or higher order Polynomials are used for trajectory planning:

 Initial and final position, velocity and acceleration are needed:

QUINTIC POLYNOMIAL (5TH DEGREE)

QUINTIC POLYNOMIAL (5TH DEGREE)

CUBIC AND QUINTIC POLYNOMIALS

TRAJECTORIES USING WAYPOINTS

 Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, Giuseppe Oriolo - Robotics -

You might also like