Class notes

Lecture Notes for Introduction to Robotics

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Course
CPEG-460 Intro to Robotics (CPEG460)

Institution
University Of Bridgeport

Book
Robot Modeling and Control

Covers the first few chapters of the textbook including lectures. A good overview of the basics of robotics. Around 2 examples for each chapter and lecture. Covers DH Tables, Velocity & Trajectory, Workspaces.

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Uploaded on August 14, 2024
Number of pages 24
Written in 2023/2024
Type Class notes
Professor(s) Dr. sarosh patel
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Chapter 1 Intro duution

c. / Mathematical Modeling of Robots
1. 1 /
.

Symbolic Representation of Manipulators (Robots)
Manipulators have links that are connected to joints to form a kinematic chain
Joints →
usually rotary or linear
" "

Revolute Joint → Allows relative rotation between two links (R)
"
Prismatic Joint → Allows a linear relative motion between two links (P)
"

A 3- link arm with 3
rotary joints would be RRB
Joint Variables → ④ for Revolute Joint (d) for Prismatic Joint

I. 1.2 Configuration Space of Manipulator
configuration → the location of
point on the manipulator
every
configuration Space → set of all possible configurations
A configuration is denoted by 9i where joint Variables can be set to % % % , ,
. . .
.
In

qi=⊖i for revolute joint Ii =D ± for Prismatic Joint where each % is a vector

1. 1.3 State Space
State of a
manipulator →
contains a set of Variables that describes the manipulator 's dynamics and
"

Important for determine future state !
'

input .

state space → the set of all possible states I=(9 IF I
,
contains joint velocities .

Dimension of the state
space
is Zn it
system has a D0F

1. 1.4 The Workspace
Workspace
→ Max space or dimensions of Motion of a manipulator 's end effector
Points that can be reached by the end effector .

Workspace ( w ) PEW Piseud effector Position

Joint space
Joint space → set of all Possible postures

of C- Q 9 is individual postures (9,4 %) . . .

•

Joint space ! Workspace
Forward
kinematics B→
Joint Space Workspace
9. c- Q PEW
%

Inverse kinematics
" "

For g. there is up → I→ P PLAY £ ) C- w Forward kinematics
every ,

be[o◦r•]q" →
"
For any P there
may p→q

, I. 1 Extra Info on Workspaces and Joint spaces

Voids

Voids are areas or dimensions that are unreachable by the end effector
☆ Unreachable by the end effector in any pose -

Dexterous workspace
" "

that be reached with all
possible orientations
set of all positions can

☐
Workspaces of Different configurations

THPP → cylindrical Arm RRP →
Spherical Arm PPP → Cartesian

widely used for

printers

Factors influencing shape and size of Workspace
1) # of 1) of
2) Type of Joints
3) Order of Arrange Joint
4) Link Lengths
5) Constrained Joints 1? )

, 1. 2 Robots as Mechanical Devices
I. 2.1 Classification of Robotic Manipulators
criteria of a manipulator → Power source geometry application
, ,
area
,
method of control
.

Method of Control : Servo → closed to determine their motion
°

loop
-

comp control .

Non -

servo → The earliest robots and are
open
-

loop .

No sensor to determine movement
Geometry →
articulated (RRR ) , Spherical (RRP) ,
SCARA (RRP ) , cylindrical (RPP ), Cartesian (PPP

articulated →
9=[0,0-203]

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