PPT-Robot Modeling and the Forward Kinematic Solution

ME 4135 Lecture Series 4 Dr R Lindeke Fall 2011 Looking Closely at the 0 T n Matrix the backbone of Robot Modeling We define 0 T n as the matrix that relates the end of the arm frame to its base . Kinematics and Configurations. Kris Hauser. I400/B659. : . Intelligent Robotics. Spring. . 2014. Articulated Robot. Robot: usually a . rigid articulated structure. Geometric CAD models, relative to reference frames. By Justin. Characters. Mr. Bell: Mr. Bell is the dad of the Bell family he has a job as a architecture for lifecorp a big robot company and is married to Chloe (Mrs. Bell). . Mrs. Bell: Mrs. Bell is the mother of Fleur, Gavin, and Charlotte she works at a hotel and is married to Peter (Mr. Bell).. Establish mathematically how robot should move. Kinematics. : how robot will move given motor inputs. Inverse-kinematics. : how to move motors to get robot to do what we want. Robot is at (initial frame). ME 4135. Lecture Series 4 – PART 2. 6 DOF Articulating Arm. Another? 6dof Articulating Arm – (. The Figure Contains Frame Skelton). l. 2. l. 3. l. 4. LP Table. Frames. Link. Var. . d. l. . S . Follower (NXT). Beginner Programming Lesson. LESSON OBJECTIVES. Learn how humans and robots follow lines. Learn how to get a robot to follow a line using . the NXT Color Sensor. Learn how to get a robot to follow a line using the NXT Light Sensor. Reading: Applied Hydrology Sections 9.3-9.7. Kinematic and Dynamic Waves. Kinematic Wave Equations. Combine (9.3.1) and (9.3.4) and after some working you get:. Analytical Solution of the Kinematic Wave. Cory Grant. Spring 2011. Illinois State University. Objectives. Study ANSI/RIA R15.06 Safety Standard. Develop Risk Assessments Per Standard. Design Physical/Electrical Safety System. Implement Designed Safety System. Lecture Series 2. ME 4135 . R. R. Lindeke. Intuitive Kinematics for Robot Manipulators. Defining the concept of the Kinematic Solution. Finding Kinematic Solutions for . POSITIONAL. issues (only!). for mobile platform. The objective of a kinematic controller is to follow a trajectory described by its position and/or velocity profiles as function of time.. Motion control is not straight forward because mobile robots are typically non-. How do you program a robot to move 2 feet forward in a straight line?. 2. Pre-Activity Quiz. What is a design challenge?. A design challenge starts with problem you want to solve. You think through the challenge logically and plan a design solution. Using suitable and available materials and following the steps in the engineering design process, you create, test and evaluate your best solution to the challenge. As necessary, you iterate (repeat) this process until a successful design is achieved.. Jon MackeyMechanical Engineering, University of AkronMaterials Science and Engineering, Case Western Reserve UniversityFred DynysNASA Glenn Research CenterNASA Cooperative Agreement: NNX08AB43ANASA/US Jon MackeyMechanical Engineering University of AkronMaterials Science and Engineering Case Western Reserve UniversityFred DynysNASA Glenn Research CenterNASA Cooperative Agreement NNX08AB43ANASA/USRA NS Modeling - Current state. NS analysis . and. . modeling. . requires. . the. . transformation. of . requirements. . into. data, . tasks. . and. . flows. DATA. TASK. FLOW. NS Modeling - Current state. Goal: . Perform kinematic calibration of Galen surgical robot and integrate results into software to improve its accuracy. Background: . Robot is very precise, but manufacturing tolerances reduce accuracy..