ROBOT DYNAMICS

Kodukula Sravan Kumar

20ME31023
5th year Mechanical
Engineering
Manufacturing
Specialization
Image source:
Robotics NPTEL
 Trajectory Planning of Manipulator

To determine the time history of position, velocity, acceleration of end-effector of a

manipulator, while moving from an initial position to desired position. Trajectory planning will
have help to find this
There are two types trajectory planning :
1) Cartesian Scheme
2) Joint-space Scheme
Cartesian Scheme allows you to specify a list of waypoints for the end-effector of a robotic
arm to traverse.
Therefore, It is computationally expensive as inverse kinematics problem should be solved
Joint-space Scheme is a method for describing a robot's trajectory in space as a function of
joint position over time. Which give polynomial curve of function angle and time
• To be smooth curve of all joint angles of the manipulator
• First and second order derivates must be continuous.
There are various Trajectory planning functions
• Cubic polynomial
• Fifth-order polynomial
• Linear trajectory function
Image source: QUT Robot Academy
 HUMANOID ROBOT

Advantages
Very Similar to human being
Occupy less Space to perform the same task
Can operate on uneven terrain
Significant advantage on the various
environments, that are harmful to humans
etc.
Two legged robot are also known as biped
robot or Disadvantages
Difficult to design and control.
Stability is difficult to maintain.

Walking of Asimo
 17 revolute joints, 1 Twisting
joint and 1 spherical joint hand
copy the hand of the real
human

Image source: Research paper

Design Of Control System For
Articulated Robot Using Leap
Motion Sensor
 Fundanmentals of Walking

A schematic view showing four

phases of a locomotion cycle of
biped robot: (a) Single Support
Phase, (b) Contact phase, (c)
double support phase, (d) take-
off phase (where R and L
represent right and left feet,
respectively)

Image source: DK Pratihar’s

PPT
 Robot Motion Planning
The process of breaking down a desired movement task into discrete motions
that satisfy movement constraints and possibly optimize some aspect of the
movement. Environment is the surrounding of the robot, Obstacle is the
hinderance present in the environment.
Sequence of Robot Action
Task
Motion Kinematic Trajectory
identificati
Planning s planning
on

Motion Control Dynamics

Action scheme
 Motion Planning
Schemes

Traditional / Non-Traditional
Algorithmic Approach (using
Approach soft computing)

(1) Fuzzy logic

Graph-based based
Analytical Approach
Methods
(2) Neural network
based
(1) Relative Velocity
(1) Visibility graph appoarch
(2) Tangent graph (2) Incremental
(3) Accessibility Planning
graph (3) Probabilistic
approach
 Visibility Graph

In the absence Assuming

of obstacles, polygonal
the best path obstacles, the
is the straight shortest path is a
line between sequence of
qstart and qgoal straight lines
joining the
vertices of the
obstacles.
Advantages
We get the shortest path possible between the point start and point end with
encountering obstacle.
Disadvantages
Tries to stay as close as possible to the obstacles.
Any execution error will lead to a collision.
Complicated in higher dimensions(Ex: 3,4 etc)

Image source: https://www.cs.cmu.edu/afs/cs/academic/class/15381-s07/www/slides/020807motion.pdf

 Voronoi Diagram

Let there be n obstacles. The locus of points which are at equal distance from any closet
obstacles is called Voronoi diagram. Motion planning through this curve

• Find the nearest closet point on Voronoi

diagram(q*start) from qstart.
• Find the nearest closet point on Voronoi
diagram (q*end) from qend.
• Compute shortest path along Voronoi
diagram from q*start and q*end.

Disadvantages
• Difficult to compute in higher dimensions or nonpolygonal worlds
• Approximate algorithms exist
• Can be unstable (small changes in obstacle configuration can lead to large changes in the
diagram).

Image source: https://www.cs.cmu.edu/afs/cs/academic/class/15381-s07/www/slides/020807motion.pdf

 Potential Field Approach
• Stay away from obstacles: Imagine that the obstacles
are made of a material that generate a repulsive field
• Move closer to the goal: Imagine that the goal location
is a particle that generates an attractive field

• Speed of the robot ∝ Fres

• Direction of the robot is in
the resultant force acting
direction.

Disadvantages
• Chances of Local Minium problem (when attractive forces are balanced by the repulsive
forces)
• Unable to find a path among closely spaced obstacles

Image source: DK Pratihar’s

PPT
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