Scribd
Upload
8 views

lecture2-kinematics

Uploaded by

Nahush Desai
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
8 views

lecture2-kinematics

Uploaded by

Nahush Desai
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 25

ME 328: Medical Robotics

Winter 2019

Lecture 2:
Kinematics of medical robotics

Allison Okamura
Stanford University
kinematics
• The study of movement
• The branch of classical mechanics that describes the
motion of objects without consideration of the
forces that cause it
• Why do you need it?
– Determine endpoint position and/or joint positions
– Calculate mechanism velocities, accelerations, etc.
– Calculate force-torque relationships
degrees of freedom
• Number of independent position variables needed
to in order to locate all parts of a mechanism
• DOF of motion
• DOF of sensing
• DOF of actuation
• The DOF of a mechanism does not always
correspond to number of joints
a remote center of motion (RCM) robot

US patent 5397323 (Taylor, et al.)


four-bar linkage
• commonly used 1-DOF
mechanism
• relationship between input
link angle and output link
angle can be computed from
!
geometry

wikipedia.org
Types of four-bar linkages, s = shortest link, l = longest link
it might help to prototype

round head
paper fasteners

officedepot.com

www.rogersconnection.com/triangles
joints

• Think of a
manipulator/
interface as a set of
bodies connected
by a chain of joints
• Revolute is the
most common
joint for robots

From Craig, p. 69
kinematics for robots
• Allows you to move between Joint Space and Cartesian
Space

• Forward kinematics: based on joint angles, calculate end-


effector position
joint variables
Be careful how you define joint positions

Absolute Relative
absolute forward kinematics
x = L1cos(θ1) + L2cos(θ2)
y = L1sin(θ1) + L2sin(θ2)

(Sometimes done this


way for robots)
relative forward kinematics

x = L1cos(θ1) + L2cos(θ1+θ2)
y = L1sin(θ1) + L2sin(θ1+ θ2)

(Often done this


way for robots)
Inverse Kinematics
• Using the end-effector position, calculate the joint
angles necessary to achieve that position
• Not used often for input devices or for robot
control
– But useful for planning
• There can be:
– No solution (workspace issue)
– One solution
– More than one solution
example
• Two possible solutions
• Two approaches:
– algebraic method (using
transformation matrices)
– geometric method
• Our devices will be simple
enough that you can just use
geometry
computing velocity
• Recall that the forward kinematics tells us the
end-effector position based on joint positions
• How do we calculate velocity?
• Use a matrix called the Jacobian

˙
x˙ = Jθ
formulating the Jacobian
Use the
chain rule:

Take
partial
derivatives:
assemble in a matrix
˙
x˙ = Jθ

€
Singularities
• Many devices will have configurations at which the
Jacobian is singular
• This means that the device has lost one or more
degrees of freedom in Cartesian Space
• Two kinds:
– Workspace boundary
– Workspace interior
Singularity Math
• If the matrix is invertible, then it is non-singular.

˙ −1
θ = J x˙
• Can check invertibility of J by taking the
determinant of J. If the determinant is equal to 0,
then J is singular.
• Can use this method to check which values of θ
€will cause singularities.
Calculating Singularities
Simplify text: sin(θ1+θ2)=s12

−L1s1 − L2 s12 −L2 s12


det ( J (θ )) =
L1c1 + L2c12 L2c12
= (−L1s1 − L2 s12 )L2c12 + (L1c1 + L2c12 )L2 s12

For what values of θ1 and θ2 does this equal


zero?
€
even more useful….
The Jacobian can be used to relate joint
torques to end-effector forces:

T
τ=J F
Why is this important for robots?
how do you get this
equation?
The Principle of F ⋅ δx = τ ⋅ δθ
virtual work T T
F δx = τ δθ
states that changing the T T
coordinate frame does F Jδθ = τ δθ
not change the total work T T
of a system
F J =τ
T
J F =τ
suggested references
• Introduction to robotics : mechanics and control
John J. Craig
• Robot modeling and control
Mark W. Spong, Seth Hutchinson, M.Vidyasagar
• A mathematical introduction to robotic manipulation
Richard M. Murray, Zexiang Li, S. Shankar Sastry
• Springer handbook of robotics
B. Siciliano, Oussama Khatib (eds.)
http://site.ebrary.com/lib/stanford/docDetail.action?
docID=10284823
Assignment 1
Problem 0: Commentary on seminar
Problem 1: Read/skim papers, answer questions
Problem 2: Kinematics of the Phantom Omni
Problem 3: Kinematics of a remote-center-of-
motion (RCM) robot

Posted later today, due Wednesday Jan. 16 at 4 pm


The keypad code for 550-108 is...
To do
• Fill out the survey (handout), return in class or to
the box outside Allison’s office (today!)
• Sign up on piazza:
https://piazza.com/stanford/winter2019/me328
• Remember: Seminar on Friday in 320-105, come
early!
• Visit us in office hours (in/around 550-108):
Lisa: Fridays 2:30-4:30 pm
Cole: Mondays 3-4 pm, 6-7 pm
Allison: Tuesdays 12-1:30 pm
550-108

in box

You might also like

pFad - Phonifier reborn

Pfad - The Proxy pFad of © 2024 Garber Painting. All rights reserved.

Note: This service is not intended for secure transactions such as banking, social media, email, or purchasing. Use at your own risk. We assume no liability whatsoever for broken pages.


Alternative Proxies:

Alternative Proxy

pFad Proxy

pFad v3 Proxy

pFad v4 Proxy