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بسم الله الرحمن الرحيم AN-NAJAH NATIONAL UNIVERSITY DEPARTMENT OF MECHANICAL ENGINEERING MANIPULATOR ( DESIGN AND CONTRO

بسم الله الرحمن الرحيم AN-NAJAH NATIONAL UNIVERSITY DEPARTMENT OF MECHANICAL ENGINEERING MANIPULATOR ( DESIGN AND CONTROL ) . Ahmad Salah Anass Qrayeb Fakhry Abu Zahra. Supervisor: Dr. Nidal Farhat. Introduction to Robotics Manipulator Kinematics Trajectory Generation

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بسم الله الرحمن الرحيم AN-NAJAH NATIONAL UNIVERSITY DEPARTMENT OF MECHANICAL ENGINEERING MANIPULATOR ( DESIGN AND CONTRO

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  1. بسم الله الرحمن الرحيم AN-NAJAH NATIONAL UNIVERSITY DEPARTMENT OF MECHANICAL ENGINEERING MANIPULATOR ( DESIGN AND CONTROL ) Ahmad Salah AnassQrayeb Fakhry Abu Zahra Supervisor: Dr. NidalFarhat

  2. Introduction to Robotics Manipulator Kinematics Trajectory Generation Motor Selection Design of Prototype Control of Manipulator

  3. Introduction to Robotics • The word "Robot" comes from the Czech word "Robota" which means "labor doing compulsory manual works without receiving any remuneration • Robotic device that can automatically control these are programmable Characteristics: 1. Unchanging. 2. Unthinking. 3. Untiring.

  4. Introduction to Robotics Today robots perform many tasks: • Make life easier on the people. • To help people. • The ability to work in hazardous conditions. • Work on things that may be boring to us.

  5. Introduction to Robotics Applications in Our Life Welding applications Spray painting applications

  6. Introduction to Robotics Medical Robotics Space robotics

  7. Introduction to Robotics Kinds of robot : Serial robots Parallel robot

  8. Introduction to Robotics

  9. Inverse Kinematics Inverse Kinematics Given a desired position (X,Y,Z) (q1 … qn ) Find the joint variables which can bring the robot to the desired configuration.

  10. Inverse Kinematics Position of the end-effector Joint variables Forward K (q1 … qn) Inverse K (X,Y,Z) Workspace: volume of space which can be reached by the end effector. Factor that effect the workspace of a robot: 1.Limitation on joint angles. 2. Limitation on the number of degree of freedom of the robot.

  11. Inverse Kinematics Method of solution Solutions numerical solutions closed form solutions • many solution • No need for iteration (direct solution) • Only returns a single solution • Too many iterations • Unknown number of operations to solve.

  12. Inverse Kinematics Closed-form Solutions We are interested in closed-form solutions: 1. Algebraic methods 2. Geometric methods

  13. Inverse Kinematics Distance from origin at this point X,Y,Z Z L3 α ө3 180-ө3 Z β L2 ө2 Y d X O

  14. Jacobians : Velocities and Static Force Jacobians : Velocities and Static Force Jacobian can also be used to compute the set of {Joint Torques} required to generate them. Workspace boundary singularities: Occur when the manipulator is fully starched

  15. TrajectoryGeneration Trajectory Generation move a manipulator from its initial position to some desired goal position in a smooth manner

  16. TrajectoryGeneration Cubic Polynomials : initial and final values

  17. Motor Selection Motor Selection AC Motor • Speed • Cooling • Controls

  18. Motor Selection DC Motor • Electrical noise • Reliability • Speed • Cooling

  19. Motor Selection Stepper Motor • Stepping speed • Cooling • Open loop operation

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