Robotique Industrielle

TD
 Example 1
Craig book. Ex:3.3
Derive the transformations matrices of the RRR robot shown below and
find the inverse kinematics solution
Example 1
 Example 1
joint variable Θi

1 Θ1 0 0 0 Θ1
2 Θ2 90 L1 0 Θ2
3 Θ3 0 L2 0 Θ3
 Example 1
La solution de la cinématique inverse:

tet1=(atan2(TWB(1,3),-TWB(2,3)));
tet1deg = double(tet1*rad2deg)

c1 = cos(tet1);
s1 = sin(tet1);
if c1 ~= 0
c2 = (TWB(1,4)/c1 -L1)/L2;
else
c2 = (TWB(2,4)/s1 -L1)/L2;
end
tet2=(atan2(TWB(3,4)/L2,c2));
tet2deg = double(tet2*rad2deg)

tet3 = atan2(TWB(3,1),TWB(3,2)) -tet2;

tet3deg = double(tet3*rad2deg)

Cette solution se trouve dans le programme Matlab Ex3_3.m

 Example 2
Craig book. Ex:3.4
Derive the transformations matrices of the RRR robot shown below and
find the inverse kinematics solution
 Example 2
joint variable Θi

1 Θ1 0 0 L1+L2 Θ1
2 Θ2 90 0 0 Θ2
3 Θ3 0 L3 0 Θ3
4=Tool 0 0 L4 0 0
Example 2
 Example 2
tet1=(atan2(TWB(1,3),-TWB(2,3)));
tet1deg = double(tet1*rad2deg)

c1 = cos(tet1);
s1 = sin(tet1);
if c1 ~= 0
c2 = TWB(1,4)/(L3*c1);
else
c2 = TWB(2,4)/(L3*s1);
end
tet2=atan2((TWB(3,4)-L1-L2)/L3,c2);
tet2deg = double(tet2*rad2deg)

tet3 = atan2(TWB(3,1),TWB(3,2)) -tet2;

tet3deg = double(tet3*rad2deg)

Cette solution de cinématique inverse

se trouve dans le programme Matlab
Ex3_4
T30 = TWB =
[ cos(q2 + q3)*cos(q1), -sin(q2 + q3)*cos(q1), sin(q1), L3*cos(q1)*cos(q2)]
[ cos(q2 + q3)*sin(q1), -sin(q2 + q3)*sin(q1), -cos(q1), L3*cos(q2)*sin(q1)]
[ sin(q2 + q3), cos(q2 + q3), 0, L1 + L2 + L3*sin(q2)]
[ 0, 0, 0, 1]
 Example 3
Craig book. Ex:3.20
Show the attachment of link frames on the PRR robot in the figure below
and find the link parameters (MDH matrix)
L1

L2
Example 3
 Example 3

joint variable Θi

1 d1 0 0 d1 0
2 Θ2 0 L1 0 Θ2
3 Θ3 0 L2 0 Θ3
 Example 4
Craig book. Ex:3.21
Show the attachment of link frames on the PPP robot in the figure below:

R1

R2
r
Example 4
 Example 5
Craig book. Ex:4.11
The forward kinematics of 2 DOF robot is given by:

Given any unit direction fixed vector V in the frame of link 2, give the
inverse kinematic solution such that V is aligned with 0Z=[ 0 0 1]T
Example 5
 Example 6
Craig book. Ex:5.2
Find the Jacobian of the manipulator with 3DOF of exercise 3.3. Write it in
terms of a frame {4} located at the tip of the hand and having the same
orientation as frame {3}.
 Velocity Propagation
Revolute joints:

Prismatic joints:
Example 6
Example 6
 Example 7
Craig book. Ex:5.15

Give the 3x3 Jacobian that calculates linear velocity of the tool tip for the
manipulator with 3DOF of exercise 3.4. Write it in terms of a frame {0}.
 Example 7
Z1
X1 X2 X3
Y2

Y1
Z3
Z2

Joint variable αi-1 a i-1 di θi

1 θ1 0 0 0 θ1

2 d2 90 0 d2 0

3 θ3 0 0 L2 θ3
 Example 7
T10 = T30 =
[ cos(q1), -sin(q1), 0, 0] [ cos(q1)*cos(q3), -cos(q1)*sin(q3), sin(q1), sin(q1)*(L2 + q2)]
[ sin(q1), cos(q1), 0, 0] [ cos(q3)*sin(q1), -sin(q1)*sin(q3), -cos(q1), -cos(q1)*(L2 + q2)]
[ 0, 0, 1, 0] [ sin(q3), cos(q3), 0, 0]
[ 0, 0, 0, 1] [ 0, 0, 0, 1]

T21 = T40 =
[ 1, 0, 0, 0] [ cos(q1)*cos(q3), -cos(q1)*sin(q3), sin(q1), sin(q1)*(L2 + L3 + q2)]
[ 0, 0, -1, -q2] [ cos(q3)*sin(q1), -sin(q1)*sin(q3), -cos(q1), -cos(q1)*(L2 + L3 + q2)]
[ 0, 1, 0, 0] [ sin(q3), cos(q3), 0, 0]
[ 0, 0, 0, 1] [ 0, 0, 0, 1]

T32 =
[ cos(q3), -sin(q3), 0, 0]
[ sin(q3), cos(q3), 0, 0]
[ 0, 0, 1, L2]
[ 0, 0, 0, 1]

T43 =
[ 1, 0, 0, 0]
[ 0, 1, 0, 0]
[ 0, 0, 1, L3]
[ 0, 0, 0, 1]

Solution se trouve dans le programme

Ex5_15.m