OSU ECE 5463 - Manipulator-Kinematics-1 (10 pages)

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Manipulator-Kinematics-1



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Manipulator-Kinematics-1

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Pages:
10
School:
Ohio State University
Course:
Ece 5463 - Introduction to Real Time Robotics Systems

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Manipulator Kinematics Read Chapter 3 Kinematics Science of Motion Determine position orientation of linkage in a manipulator arm or a leg in the legged robot Key problem direct kinematics forward kinematics determining end effector foot position orientation as f of joint angles Assign a frame to each link Use homogeneous transformation to relate them Use Denavit Hartenberg convention for attaching the frame Use the OSU Hexapod leg as an example Describe the motion of leg 3 revolute joins 3 DOF I Assign joint axes and number links and joints Joints numbered from 1 to n Links numbered from 0 to n 0 base II Define link parameters Link a rigid body which defines the relationship between two neighboring joint axes of a manipulator Ignore external shape mass etc for now link length common normal distance link twist angle between the axis in a plane perpendicular to II Define link parameters continued Note values for link 1 of the OSU leg 2 5 90 Joint that connects 2 links Two joint parameters for interconnections joint offset the book calls link offset join angle In summary there are four parameters when two links are connected by simple joints 3 fixed link parameters 1 joint variable or Revolute Prismatic plus one of the following two OSU Hexapod OSU Hexapod Leg 2 1 2 l4 12 9 16 l1 X1 X0 0 1 Z2 X2 2 2 7 16 X3 Z3 Z0 Z1 3 YF 17 l2 XF ZF 1 7 16 l3 Z0 Z1 X3 X2 X1 X0 Z2 Z3 l5 III Assign frame to links Frame rigidly attached to link Original at the point where the common normal across link intersects with joint axis Z i along axis joint X i along common normal of link Yi Zi Xi Take OSU leg as an example Frame 1 see origin Frame 2 see origin Parallel axes the origin is chosen to make the joint offset d2 in this case 0 Frame 0 coincident with adjacent frame 1 Frame 3 parallel with adjacent frame 2 IV Specify the link parameters Use the following table Link 1 0 0 0 2 90 2 5 0 3 0 12 8 0 Think how the above parameters are obtained For example for link 2 1 Rotate about X1 by 2 by



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