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ROBOT VISION LABORATORY 김 형 석

Robot Applications-B. http://world.honda.com/run/mov-run-60.html. ROBOT VISION LABORATORY 김 형 석. Direct Kinematics. Where is my hand?. Direct Kinematics: HERE!. Serial and Parallel Manipulators. Serial and Parallel Manipulators. PUMA560. Hexapod. Links. Joints:. 2 DOF ’ s.

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ROBOT VISION LABORATORY 김 형 석

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  1. Robot Applications-B http://world.honda.com/run/mov-run-60.html ROBOTVISIONLABORATORY 김 형 석

  2. Direct Kinematics Where is my hand? Direct Kinematics: HERE!

  3. Serial and Parallel Manipulators

  4. Serial and Parallel Manipulators PUMA560 Hexapod

  5. Links Joints: 2 DOF’s Links and Joints End Effector Robot Basis

  6. Axis i Axis i-1 Link Length and Twist ai-1 i-1

  7. Axis i-1 ai-1 i-1 Denavit-Hartenberg Parameters Axis i i Link i di

  8. Example: PUMA560

  9. Inverse Kinematics How do I put my hand here? IK: Choose these angles!

  10. l3 l2 l1 Now vary 1 Finally, vary 2 Example: Planar 3-link robot What is the reachable space? Take l1, l2 fixed and vary 3

  11. Existence of Solutions • A solution to the IKP exists if the target belongs to the workspace • Workspace computation may be hard. In practice is made easy by special design of the robot • The IKP may have more than one solution. How to choose the appropriate one? 2 solutions!

  12. An Example: V3 L2 L1

  13. Joint Velocity and the Jacobian Look! I’m moving!

  14. Introduction to Robot Motion Planning Robotics meet Computer Science

  15. Example A robot arm is to build an assembly from a set of parts. Tasks for the robot: • Grasping: position gripper on object design a path to this position • Trasferring: determine geometry path for arm avoide obstacles + clearance • Positioning

  16. Information required • Knowledge of spatial arrangement of wkspace. E.g., location of obstacles • Full knowledge full motion planning • Partial knowledge combine planning and execution motion planning = collection of problems

  17. Basic Problem A simplified version of the problem assumes • Robot is the only moving object in the wkspace • No dynamics, no temporal issues • Only non-contact motions MP = pure “geometrical” problem

  18. Components of BMPP (cont.) • The Problem: • Given an initial position and orientation POinit • Given a goal position and orientation POgoal • Generate: continuous path t from POinit to POgoal • t is a continuous sequence of Pos’

  19. d Mathematic Notion of Path • Need a notion of continuity • Define a distance function d : C x C -> R+ • Example: d(q,q’) = maxa in A ||a(q) - a(q’)||

  20. Connect Start and Goal to Roadmap Start Goal

  21. Find the Path from Start to Goal Start Goal

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