Introduction Robotics

Università degli Studi di Brescia Servosystems and Robotics
Servosystems and Robotics
Introduction
Giovanni Legnani
Dipartimento di Ingegneria Meccanica e Industriale
Università di Brescia
Giovanni.legnani@ing.unibs.it
Prof. G. Legnani
Giovanni Legnani Servosystems and Robotics

Industrial Robot
Giovanni.Legnani@ing.unibs.it
Servosystems
• Characteristics and components of servosystems
• Kinematics and Dynamics models
• Trajectory and law of motion generation
• Control
Robot
application:
• 3D Kinematics and dynamics 3D microrobotics
• Calibration
• Components, Industrial Application, programming
• Technical standards (safety, terminology,…)
Prof. G. Legnani Introduction 2
nearly complete textbook

NO slides (few exceptions)
Servosystems and Robotics
information sent ONLY at the university address:
n_cognome.xxxx@studenti.unibs.it
Course
• Theoretical classes
• Practical sessions (Matlab, Maple)
Final examination (student choice)

• written exercise + oral (generally same day)
• the written exercise may be replaced by
development of a SW project (oral on the
subjects not covered by project)
errata-corrige, extensions: http://robotics.ing.unibs.it

What is a Servosystem?
A machine actuated by one or more servoaxes
Servoaxis:
motor (generally elettrical) with feedback (position,
velocity and/or torque/force) under the
supervision/control of a controller/PLC/CNC
Examples
• cutting/welding machine
• machine to produce springs
• tool machine
• manipolators (robot) 
•…...
Industrial Robot
Manipulating industrial robot as defined in ISO 8373
An automatically controlled, reprogrammable, multipurpose,
manipulator programmable in three or more axes, which may
be either fixed
in place or mobile for use in industrial automation applications.
It implies a certain degree of autonomy
A robot is not a common automatic machine
Each degree of freedom is actuated by a servoaxis

(generally an electrical motor)

EXAMPLES OF SERVOSYSTEMS

laser trackers
x, y, z
d
 d,  x, y, z

Kinematics of machines and manipulators
•Direct/inverse kinematics Direct kinematics

•Kinematic-static characteristics
•Singularities tool motor
Inverse kinematics
Inverse kinematic Direct kinematic
• Decide ho to move motors in •Find out how the machine behaves
order to obtain a predefined as the motion of actuators is known
behaviour of the machine
(tool motion)

Dynamics
Direct Inverse
• Computation of machine • Computation of forces ant

behaviour when forces torques when machine
ant torques are known behaviour is known
• Integration of differential • Solution of ordinary

equations equations
• ‘hard’ • ‘easy’

Cut/welding laser machine


mirrors
 lens
Direct kinematics
x, y, z = f(, ,D)
x, y, z , , D
Inverse kinematics
Reference systems and

d definitions
x

d tan(2)
2
L  X Y  Z2 2 2
y H
L distance from 2° mirror to point

z H distance from lens to first mirror
 F focal distance
d distance between center of two mirros
y  rotatione of first mirror, (=0 when mirror

parallel to to bisettrice xy).
2
L
 rotazione del secondo specchio, (=0 quando
lo specchio è perpendicolare line bisecting xy).
direct/inverse kinematics
direct kinematics
 x  L sin(2 )  d tan(2 )
 L  F  H  d / cos(2 )
 y   L sin(2 ) cos(2 )
 z   L cos(2 ) cos(2 )

inverse kinematics when L>0 (focal point beyond 2° mirror, that is F>H-d tan(2)).)
hypothesis | |< p /4, ||<p/4:
  atan 2( y, z ) / 2

u   sin(2 ) y  cos(2 ) z
 H  F  L  d / cos(2 )
  atan 2( x, u  d ) / 2
 u
 L 
 cos(2 )

plane mirror properties
U n  N N U  Ut  U U n
U' Un
U
N
Ut
 
U '  U t  U n  I  2 NN T U
U unit vector of incoming beam

Un, Ut normal and tangential components
N unit vector normal to mirror
U' unit vector of refleced beam

function [x ,y, z]=dir_specchi(alpha,beta,H,f,d)
L=f-H-d/cos(2*alpha);
x=sin(2*alpha)*L+d*tan(2*alpha);
Direct and y=-sin(2*beta)*cos(2*alpha)*L;
z=-cos(2*beta)*cos(2*alpha)*L;
inverse
kinematics function [alpha,beta,H]=inv_specchi(x,y,z,f,d)
beta=atan2(-y,-z)/2;
Matlab u=-y*sin(2*beta)-z*cos(2*beta);
alpha=atan2(x,u+d)/2;
code L=u/cos(2*alpha);
H=f-L-d/cos(2*alpha);

Tool machine
(wooden furniture production)
0.3 meters Y
5 axes
X
2 meters 7 meters
2 axis head
Spring machine with several guides

Spring wrapping machines

Spring wrapping machine

Movements/axis:
•wire,
•diameters 1 and 2,
•‘horizontal’ and ‘vertical’ pitch
•on the fly cut
• reel z y2 2
D
y1
x  
z1 g z1 z
p
tan g

Double-cone spring editor

Reel
w
wire
Servocontrolled actuator
The reel rotation is controlled

in such a way the wire tension
is always optimal
Position transducer

Dynamics
Direct Inverse
• Computation of machine • Computation of forces ant

behaviour when forces torques when machine
ant torques are known behaviour is known
• Integration of differential • Solution of ordinary

equations equations
• ‘hard’ • ‘easy’

Industrial Robot

Serial-parallel manipulator
Serial: kinematic structure normally realized with rigid
links connected in series by means of 1dof actuated
articulations (rotation or translation).
Parallel: several convergent kinematical chains. Not all the

articulations are actuated.
Manipulator
Serial - Parallel
n
Link 2 End effector
1
Base
(fixed or mobile)
Spatial/joints coordinates/task
q3 General Z
coordinate Z
X, Y, Z, system
Z
g
q1
Kinematics DIRECT:g  X,Y,Z ‘easy’

INVERSE: X,Y,Z  g ‘hard’
Dynamics DIRECT: forces/torques  motion ‘hard’

(integration of non linear equations)
INVERSE: motion  actuators forces/torques ‘easy’
(ordinary equations)

Anthropomorphous robot

SCARA Robot
y x,y

Cheope: parallel manipulator
Linear axis

Reconfigurability

Complete manipulator
Wrist: 3 revolute  Pose of Z  Translation along Z
actuators axis
Z Axis 6
• 2 configurations:
6 actuators, 7 actuators, 5
1 redundant 2 redundant Flange
Feed along Z
Rotation about Y 7
• Optimization criteria Y Axis

• Feed Free variable
SURGERY APPLICATIONS

Structure of robots
CNC machines teleoperators

controller
structure
flexibility
computer

kinematics structure
serial, parallel, hybrid

joints / axes
Axe: motorized joint
prismatic rotoidal spherical
Cylindrical: Rotoidal + Prismatic
Cardanic (universal):
2 R orthogonal to each other
Serial manipulators: working spaces

Accuracy and repeatability

Structure of a servosystem
orders
actuators information
computer
mechanical sensors
structure orders
information information
external
environment

controller funtions
HMI Human Machine Interface
manage direct user orders, give info on machine state
insertion, modification, editing, storing of motion programs
primitive Real Time
• point-to-point motion
• coordinate motion on trajectories (linear, circular,…)
# read sensors, sends orders to actuators
# control in joint space and/or working space
# geometrical transformation (trigonometric,…)
# handle position, velocity or force/torque of actuators
@ starts operations
- at predefined time
- on external events (position achieved, digital inputs,…)
+ synchronizes motion in relation to other machines
SCARA Icomatic 03 (Gussago BS)

-motors
-speed Selective Compliance Assembly Robot Arm
reducers
-position
& velocity
sensors 2 1
4 4
3 (or 4) DoF Degrees of Freedom

SCARA: gripper rotation

4th DoF
Gripper rotation:
Belt and Pulley transmission
q4
motor

SCARA: working space

SCARA Robot
coord.
working space
 x
S 
 y
coord.
joint space direct kinematics inverse kinematics
 
Q 
 

q1, q2
2.5 2
2
1 linear
1.5
trajectory at
joint rotation 0 constant
1 velocity
-1
0.5
0 -2
0 0.5 1 -2 -1 0 1 2
qp1, qp2
2
joint velocity Motor 1 Motor 2
1
-1
gripper
-2
0 0.5 1

types of motion
assigned in the working space: x, y, z, ...
performed by actuators in the joint space: q1, q2, q3, ...
necessity: direct & inverse kinematics

constrains:
necessity: a) planning of the motion to be performed mechanicals
b) time in which perform electrical
c) give orders to actuators related to task
d) control the actuators ….
trajectory with intermediate points point-to-point

example of classical
control scheme of an axis
measured position
encoder
voltage
reference
reference current
velocity
position motor
alarms tachometer
measured velocity

(in)direct position measure
indirect x=p
direct
reference
position
w D M E 
electronic riga
i
(converter)
wo
CNC or PLC or
controller
(in)direct position measure
indirect
• ore easy to be realised
• do not take into account transmission errors
• more easy to stabilize motion of transmission is bad (elasticity, backlash)
direct
•sometimes it cannot be realised
•more precise if transmission includes elasticity or backlash

Classical controller
(decentralized)

Decentralized and centralized

controller

 x
 y
S 
z
 

 
 
Q 
g 
 


Introduction Robotics

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Università degli Studi di Brescia Servosystems and Robotics

Servosystems and Robotics

Giovanni Legnani Servosystems and Robotics

nearly complete textbook

Final examination (student choice)

errata-corrige, extensions: http://robotics.ing.unibs.it

It implies a certain degree of autonomy

A robot is not a common automatic machine

Each degree of freedom is actuated by a servoaxis

Prof. G. Legnani Introduction 5

Prof. G. Legnani Introduction 6

Prof. G. Legnani Introduction 7

Kinematics of machines and manipulators

•Direct/inverse kinematics Direct kinematics

Prof. G. Legnani Introduction 8

• Computation of machine • Computation of forces ant

• Integration of differential • Solution of ordinary

Prof. G. Legnani Introduction 9

Cut/welding laser machine

Reference systems and

L distance from 2° mirror to point

y  rotatione of first mirror, (=0 when mirror

  atan 2( y, z ) / 2

Prof. G. Legnani Introduction 12

plane mirror properties

U unit vector of incoming beam

N unit vector normal to mirror

U' unit vector of refleced beam

Prof. G. Legnani Introduction 13

function [x ,y, z]=dir_specchi(alpha,beta,H,f,d)

Prof. G. Legnani Introduction 14

Spring machine with several guides

Prof. G. Legnani Introduction 16

Spring wrapping machines

Prof. G. Legnani Introduction 17

Spring wrapping machine

Prof. G. Legnani Introduction 18

Double-cone spring editor

Prof. G. Legnani Introduction 19

The reel rotation is controlled

Prof. G. Legnani Introduction 20

• Computation of machine • Computation of forces ant

• Integration of differential • Solution of ordinary

Prof. G. Legnani Introduction 21

Prof. G. Legnani Introduction 22

Parallel: several convergent kinematical chains. Not all the

Kinematics DIRECT:g  X,Y,Z ‘easy’

Dynamics DIRECT: forces/torques  motion ‘hard’

Prof. G. Legnani Introduction 24

Prof. G. Legnani Introduction 25

Prof. G. Legnani Introduction 26

Cheope: parallel manipulator

Prof. G. Legnani Introduction 27

Prof. G. Legnani Introduction 28

• Optimization criteria Y Axis

Prof. G. Legnani Introduction 29

CNC machines teleoperators

Prof. G. Legnani Introduction 30

Prof. G. Legnani Introduction 31

prismatic rotoidal spherical

Cylindrical: Rotoidal + Prismatic

Serial manipulators: working spaces

Prof. G. Legnani Introduction 33