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Lecture 6 - Introduction To Robotics

The document discusses the configuration of robots, defining it as the specification of positions of all points on the robot, which is represented in a configuration space (C-space). It explains degrees of freedom (dof) for rigid bodies, noting that a spatial rigid body has six dof while a planar rigid body has three. Additionally, the document covers the concept of a robot's workspace, which is the set of all reachable configurations of the robot's end-effector, independent of specific tasks.

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20 views20 pages

Lecture 6 - Introduction To Robotics

The document discusses the configuration of robots, defining it as the specification of positions of all points on the robot, which is represented in a configuration space (C-space). It explains degrees of freedom (dof) for rigid bodies, noting that a spatial rigid body has six dof while a planar rigid body has three. Additionally, the document covers the concept of a robot's workspace, which is the set of all reachable configurations of the robot's end-effector, independent of specific tasks.

Uploaded by

siddidsoni2
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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CS3011-INTRODUCTION TO ROBOTICS

Perhaps the most fundamental question one can ask about a robot is, where is it?

• The answer is given by the robot’s configuration: a specification of the positions of all
points of the robot.
• Since the robot’s links are rigid and of a known shape, only a few numbers are needed to
represent its configuration

For example, to know where a door is, we only


need to know the angle of its hinge when it
changes from 0 to 180 degrees.

The configuration of a door can be determined by


the angle about its hinge.
Configuration of a robot?
• The configuration of a robot is a complete specification of the position of
every point of the robot.
• The minimum number n of real-valued coordinates needed to represent the
configuration is the number of degrees of freedom (dof) of the robot.
• The n-dimensional space containing all possible configurations of the robot is
called the configuration space (C-space).
• The configuration of a robot is represented by a point in its C-space.
Degrees of Freedom of a Rigid Body
• The configuration of a robot is a complete specification of the position of
every point of the robot.
• The minimum number n of real-valued coordinates needed to represent the
configuration is the number of degrees of freedom (dof) of the robot.
• The n-dimensional space containing all possible configurations of the robot is
called the configuration space (C-space).
• The configuration of a robot is represented by a point in its C-space.
Degrees of Freedom of a Rigid Body

A rigid body moving in three-dimensional space, which


we call a spatial rigid body, has six degrees of freedom.

Similarly, a rigid body moving in a two-dimensional


plane, which we henceforth call a planar rigid body, has
three degrees of freedom.
• This observation suggests a formula for determining the number of
degrees of freedom of a robot, simply by counting the number of rigid
bodies and joints.
• one way to identify the number of DOF of a robot is to simply count its
motors.
6-axis
y
x’,y’

𝑥 ′ = 𝑥 + 𝜕𝑥
x,y
𝑦 ′ = 𝑦 + 𝜕𝑦
𝑥′ 𝑥 𝜕𝑥
= +
𝑦′ 𝑦 𝜕𝑦
x
Rotational

y
x’,y’
We can write
x,y
x = r cos θ, y = r sin θ, φ

x’ = r cos (θ+φ), y’ = r sin (θ+φ),


θ
r cos(φ + θ) = r cos φ cos θ − r sin φ sin θ = x cos θ − y sin θ
x
r sin(φ + θ) = r sin φ cos θ + r cos φ sin θ = y cos θ + x sin θ.
The Workspace of a Robot
• By definition, the workspace of a robot is a specification of the reachable configurations
of the end-effector.
• The workspace of a robot has nothing to do with a particular task.

The robot arm has two revolute joints, and the lengths
of the links are as follows:
l1=15.6cm
l2=9.2cm
The Workspace of a Robot
The robot arm has two revolute joints, and the lengths
of the links are as follows:
l1=15.6cm
l2=9.2cm

The workspace of this robot, if we do not impose any


limitations on the joint angles (both angles can be freely
changed from 0 to 360o), can be visualized like the figure
below:

The circle with a radius of l1 – l2 is the area that the robot end-effector cannot reach.
The Workspace of a Robot
3-axis 4-axis 5-axis
The workspace of a robot
arm is the set of all
positions that it can reach.
Time for Discussions

Thank You!

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