INDUSTRIAL

ROBOTICS

Dr. Eng.\Hossam H. Ammar

Assistant Professor of Mechatronics and
robotics control (PhD , AFHEA)
 . Industrial Robotics

Week -03

Fundamentals of Industrial Robotics (3D representation)

Fundamentals of Industrial Robotics (Robot Programming)

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Fundamentals of Industrial Robotics (Robot Kinematics)

Problem: pick the ball using robot arm

- To study the behaviour and performance of robots

Challenges:
- Pose (position + orientation) of the object
- Weight of the object
- Size of the object
- World/environment around the object
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Fundamentals of Industrial Robotics (Robot Kinematics)
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Fundamentals of Industrial Robotics (Robot Kinematics)
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Fundamentals of Industrial Robotics (Robot Kinematics)

Homogeneous Transformation Matrix (Pose)

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Fundamentals of Industrial Robotics (Robot Kinematics)

𝑛𝑥 𝑜𝑥 𝑎𝑥 𝑝𝑥
𝑛𝑦 𝑜𝑦 𝑎𝑦 𝑝𝑦
𝑇=
𝑛𝑧 𝑜𝑧 𝑎𝑧 𝑝𝑧
0 0 0 1
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Fundamentals of Industrial Robotics (Robot Kinematics)

PAB = ( Bx − Ax )i + ( By − Ay ) j + ( Bz − Az )k  ax 
P =  by 
 cz 

 Px 
P 
P =  y Px Py
a x = , by =
 Pz  w w
 
w
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Fundamentals of Industrial Robotics (Robot Kinematics)
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Fundamentals of Industrial Robotics (Robot Kinematics)
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Fundamentals of Industrial Robotics (Robot Kinematics)
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Fundamentals of Industrial Robotics (Robot Kinematics)

Euler Angles
• Rotations relative to the current z-, y-, and z-axes.
Z Z Z
a
a a
  o
o o 
n n
n

X Y X Y X Y

Euler( ,  , ) = Rot (a,  ) Rot (o,  ), Rot ( a, ) =

C C C − S S −C C S − S C C S 0
 S C C + C S − S C S + C C S S 0 

 − S C S S C 0
 
 0 0 0 1
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Fundamentals of Industrial Robotics (Robot Kinematics)

RPY : Roll -Pitch -Yaw

RPY(a , o , n ) = Rot ( a, a ) Rot (o, o ) Rot ( n, n ) =

Ca Co Ca So Sn − Sa Cn Ca SoCn + Sa Sn 0
 S C Sa So Sn + Ca Cn Sa SoCn − Ca Sn 0 
 a o
 − So Co Sn CoCn 0
 
 0 0 0 1
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Fundamentals of Industrial Robotics (Robot Kinematics)

Euler : Z-Y-Z

Euler( ,  , ) = Rot (a,  ) Rot (o,  ), Rot ( a, ) =

C C C − S S −C C S − S C C S 0
 S C C + C S − S C S + C C S S 0 

 − S C S S C 0
 
 0 0 0 1
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Fundamentals of Industrial Robotics (Robot Kinematics)
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Fundamentals of Industrial Robotics (Robot Kinematics)

Homogeneous
Transformation
Matrix (Pose)
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Fundamentals of Industrial Robotics (Robot Kinematics)
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Fundamentals of Industrial Robotics (Robot Kinematics)
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Fundamentals of Industrial Robotics (Robot Kinematics)
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Fundamentals of Industrial Robotics (Robot Kinematics)
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Fundamentals of Industrial Robotics (Robot Kinematics)

Inverse of Transformation Matrices

• The inverse of a transformation (or a frame) matrix is the following:

 nx ox ax px   nx ny nz −p  n 
n oy ay p y  o oy oz −p  o 
T = y and T −1 =  x
 nz oz az pz   ax ay az −p  a 
   
0 0 0 1 0 0 0 1 

• 1. Transpose the rotation portion of the matrix.

• 2. Take the negative of the dot-product of the P and n, P and o, and P and a
vectors.
• The scale factors remain the same.

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Fundamentals of Industrial Robotics (Robot Kinematics)

Question

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Fundamentals of Industrial Robotics (Robot Kinematics)

Question

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Fundamentals of Industrial Robotics (Robot Kinematics)
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Fundamentals of Industrial Robotics (Robot Kinematics)

Cartesian Coordinates

• Three linear motions.

𝑅
𝑇𝑝 = 𝑇𝑐𝑎𝑟𝑡 (𝑝𝑥 , 𝑝𝑦 , 𝑝𝑧 )
1 0 0 𝑝𝑥
0 1 0 𝑝𝑦
=
0 0 1 𝑝𝑧
0 0 0 1

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Fundamentals of Industrial Robotics (Robot Kinematics)

Cylindrical Coordinates

• Two linear and one revolute joints

𝑅
𝑇𝑝 = 𝑇𝑐𝑦𝑙 (𝑟, 𝛼, 𝑙) = 𝑇𝑟𝑎𝑛𝑠(0,0, 𝑙)𝑅𝑜𝑡(𝑧, 𝛼)𝑇𝑟𝑎𝑛𝑠(𝑟, 0,0)

C − S 0 rC 
 S C 0 rS 
R
Tp = Tcyl (r ,  , l ) = 
 0 0 1 l 
 
 0 0 0 1 

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Fundamentals of Industrial Robotics (Robot Kinematics)

Spherical Coordinates

• Two revolute and one linear joints

R
TP = Tsph (r ,  ,  ) = Rot ( z,  ) Rot ( y,  )Trans(0,0, r )

C  C − S S  C rS  C 
 C  S C S  S rS  S 
R
TP = Tsph (r ,  ,  ) = 
 −S  0 C rC  
 
 0 0 0 1 

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. Fundamentals of Industrial Robotics (Robot Programming)

Software Packages

pip install spatialmath-python

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Fundamentals of Industrial Robotics (Robot Programming)

import numpy as np
from spatialmath import *
import matplotlib.pyplot as plt

# Translation long X =2 # Rotation about x by 90 degrees

Tx=SE3.Tx(2) R1 = SE3.Rx(np.pi/2)
# Translation long Y =3 # Rotation about y by 60 degrees
Ty=SE3.Ty(3) R2 = SE3.Ry(np.pi/3)
# Translation long Z =1 # Rotation about z by 45 degrees
Tz=SE3.Tz(1) R3 = SE3.Rz(np.pi/4)

# Plot and Visualize

Tx.plot(frame='Tx')
plt.show()
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Fundamentals of Industrial Robotics (Robot Programming)

Eular=SE3.Eul(10, 20, 30, unit="deg")

print(Eular)
# Plot and Visualize
Eular.plot(frame='EUL')
plt.show()

T_RPY=SE3.RPY(10, 20, 30, unit="deg",

order='xyz')
print(T_RPY)
# Plot and Visualize
T_RPY.plot(frame='RPY')
plt.show()
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Fundamentals of Industrial Robotics (Robot Programming)

import numpy as np
from spatialmath import *
import matplotlib.pyplot as plt
import time
Xo=SE3.Rx(0)
T1 = SE3.Rx(np.pi/2)
T2=SE3.Tx(2)
T3=SE3.Tz(2)
T=T3*T2*T1
fig = plt.figure()
ax = fig.add_subplot(111, projection='3d')
title = ax.set_title('3D Test')
Xo.plot(frame='Ao', color='red')
# X.animate(frame='Ax' ,axes=ax)
Homogeneous Transformation # Y.animate(frame='Ax' ,axes=ax)
T.animate(frame='Ax' ,axes=ax)
using Python ax.set_xlim3d([-2, 2]) # Set X axis limits
ax.set_ylim3d([-2, 2]) # Set Y axis limits
ax.set_zlim3d([-2, 2]) # Set Z axis limits
plt.show()
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Fundamentals of Industrial Robotics (Robot Programming)

T1 = SE3.Rx(np.pi/2)
T2=SE3.Tx(2)
T3=SE3.Tz(2)

T_inv=T.inv()
print(T_inv)
print(T.R)
print(T.t)

T=T1*T2*T3 T=T3*T2*T1
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Fundamentals of Industrial Robotics (Robot Programming)

Q. Solve and Animate using

Python
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[email protected]
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Fundamentals of Industrial Robotics (Robot Programming)

%animate Homogeneous
trotx(pi/2) %Rotation about x by 90
troty(pi/3) %Rotation about y by 60
trotz(pi/4) %Rotation about z by 45
%%%%
R1=rotx(pi/2)
trplot (R1) %Plot rotation
tranimate (R1) %animate rotation
R2=rotx(pi/4)*roty(pi/6)*rotz(pi/5)
tranimate (R2)
T1=transl(0.1,0.2,0.6) %translation about x,y,z
tranimate (T1) %animate translation
H1=trotx(pi/2)*transl(0.1,0.2,0.3) %Homogeneous rotation
about x by 90 and translation about x,y,z
tranimate (H1) %animate Homogeneous
%%%

Add Robotics toolbox (Peter Corke) !