Robo Analyzer User Manual
description
Transcript of Robo Analyzer User Manual
-
RoboAnalyzer3DModelBasedRoboticsLearningSoftwareUserManual
FreelyAvailableforAcademicUse!!!
DevelopedbyProfS.K.Saha&TeamMechatronicsLab,MechanicalEngineeringDepartment,IITDelhi,NewDelhi,India
Courtesy:CDCell,QIP,IITDelhihttp://www.roboanalyzer.com
September2014
Features:ForwardKinematicsInverseKinematicsForwardDynamics*InverseDynamics*AnimationandPlotsVirtualRobotModule
IntegrationwithMATLAB
*UsesReDySim DynamicFormulation(AppendixA)
-
PREFACE
Robotics is a field related to the design, development, control and application of robots in industry, education, research,entertainment,medicalapplicationsetc.Sincethemathematics involved inthestudyofrobotics,e.g.,kinematicsanddynamics isinitiallydifficulttounderstandbystudentsandsameisthecasebyateachertoconveytheessenceofmathematicsofroboticstothe students. Also it has been difficult for students to learn because of limited ability to perceive and visualize the conceptsappropriatelyatthetimeofteaching.WithoutseeingarealrobotitisverydifficulttocomprehenditsmotioninthreedimensionalCartesianspace.Hence,thereisaneedforaroboticslearningsoftware.
Theworkof combining the robot analyses algorithms in the formof software started in1996 in thenameofRIDIM (RecursiveInverseDynamics for IndustrialManipulator).But ithadonlyanalysispartwithplot facilities.ThedevelopmentofRoboAnalyzerstarted in 2009. RoboAnalyzer, a 3D model based software, can be used to teach robotics subjects to undergraduate andpostgraduate courses in engineering colleges in India and elsewhere. It can be used to learn DH parameters, kinematics anddynamicsofserialrobotsandallows3Danimationandgraphplotsasoutput.Inessence,learn/teachthephysicsofroboticswiththejoyofRoboAnalyzeranimationsbeforeattemptingtolearnthemathematicsofrobots.
RoboAnalyzerisdevelopedintheMechatronicsLab,DepartmentofMechanicalEngineeringatIITDelhi,IndiaundertheguidanceofProf.S.K.Saha.Thefollowingstudentsaregivenduecreditsinitsdevelopment. S.Goeland S.Ramakrishnan (199697) :Algorithmdevelopment forRecursive InverseDynamics for IndustrialManipulators(RIDIM)
A.Patle(200001):WindowsinterfaceforRIDIM RajatJain(200910):AddedGraphplotstoRIDIM SurilVShah(200711):RecursiveDynamicsSimulator(ReDySim)Algorithm[AppendixA] Rajeevlochana C.G. (2009 2013) : User Interface, 3DModeling of robot, Forward Kinematics, Animation, Graphplot, DHVisualize,VirtualRobotModule,IntegrationwithMATLAB
AmitJain(201011):C#implementationofDeNOCbasedInverseandForwardDynamics(ReDySim) JyotiBahuguna(201112):InverseKinematicsModuleandMotionPlanning RatanSadanandO.M.(201214):ConversionofCADmodelsforVirtualRobotModules,Version7Enhancements RaviJoshi(2014):Version7Enhancements
CONTENTS
1. GETTINGSTARTED.................................................................................................................................................................1
2. INTRODUCTIONTOROBOANALYZER......................................................................................................................................1
3. DENAVITHARTENBERGPARAMETERSVISUALIZATION...........................................................................................................5
4. FORWARDKINEMATICS.........................................................................................................................................................6
5. INVERSEKINEMATICS.............................................................................................................................................................9
6. INVERSEDYNAMICS.............................................................................................................................................................10
7. FORWARDDYNAMICS..........................................................................................................................................................12
8. MOTIONPLANNING.............................................................................................................................................................13
9. GRAPHPLOTOPTIONS.........................................................................................................................................................14
10. SAVINGANDOPENINGSKELETONMODELS......................................................................................................................14
11. VIRTUALROBOTMODULE................................................................................................................................................15
12. MATLABINTEGRATION.....................................................................................................................................................16
13. REFERENCES.....................................................................................................................................................................16
APPENDIX A: RECURSIVEDYNAMICS SIMULATOR (REDYSIM) .........................................................................................16
-
RoboAnalyzerUserManual http://www.roboanalyzer.com
1. GETTING STARTED
Thissectionhelpsyougetstartedwith the installationofRoboAnalyzer,a3DModelBasedRoboticsLearningSystem.IthasbeendevelopedusingOpenTKandVisualC#.
1.1. MINIMUMSYSTEM REQUIREMENT
Processor:Atleast1.5GHz RAM:Atleast512MB OperatingSystem:WindowsXP,WindowsVista,Windows7 Dependencies:Microsoft.Net2.0framework
1.2. INSTALLATION
RoboAnalyzercanbe installedonacomputerbydownloading itfromourwebsite.The latestversionofthesoftware (Version 7) is available for free at http://www.roboanalyzer.com. The following are the steps toinstallRoboAnalyzer:
Step1:Visithttp://www.roboanalyzer.comStep2:ClickonDownloadstabStep3:ClickonRoboAnalyzerV7(orlatestversion)todownloada.zipfileStep4:Apopupwindowwillappear.SelectthefolderwherethefilehastobesavedandclickonSaveStep5:Afterdownloadingiscomplete,unzipRoboAnalyzer7.ziptoanyfolderonyourcomputer.OpenthefolderRoboAnalyzer7Step6:DoubleclickonRoboAnalyzer.exetostartRoboAnalyzer.
2. INTRODUCTION TO ROBOANALYZER
RoboAnalyzer isa3DModelBasedRobotics LearningSoftware. Ithasbeendeveloped tohelp the faculty toteachandstudentsto learntheconceptsofRobotics. ItalsoactsasasupportingmaterialforthecontentsonvariousroboticstopicsintextbookentitledIntroductiontoRobotics,S.K.Saha,2014[1].
2.1. MODEL AROBOT
DoubleclickonRoboAnalyzer.exe startsRoboAnalyzer.Bydefault, it showsa robotmodel (2R).Users canselectarobotfromtheoptionsgivenattheleftbottomcorneroftheapplicationasshowninFigure1.Afterselectingarobotmodel,userscanmodifytheDenavitHartenberg(DH)parametersshowninthetabularformandtherobotmodelupdatesautomatically.Afewindustrialrobotsarealsolisted,whenselectedshowsa3DCADmodeloftherobot(Figure2).
1
-
RoboAnalyzerUserManual http://www.roboanalyzer.com
Figure1:SelectRobotModelandRedefineDHParameters
Figure2:3DCADModelofIndustrialRobot
2.2. FEATURES OF ROBOANALYZER
RoboAnalyzercanbeused toperformkinematicanddynamicanalysesof serialchain robots/manipulators.ThefollowingarethemainfeaturesofRoboAnalyzer: DHParameterVisualization(Section3) ForwardKinematics(Section4) InverseKinematics(Section5) InverseDynamics(Section6) ForwardDynamics(Section7) MotionPlanning(Section8)
2
-
RoboAnalyzerUserManual http://www.roboanalyzer.com
2.3. OVERVIEW OF USER INTERFACE
RoboAnalyzerseasytouseGraphicalUserInterface(GUI)consistsofthefollowingasshowninFigures3,4and5.1. RobotSelectionandDHParameterssection2. VisualizeDHsection3. 3DModelBrowser4. 3DModelView5. GraphPlotTreeView6. GraphPlotWindow7. InverseKinematicsWindow
Figure3:UserInterfaceof3DModelView
Figure4:UserInterfaceofGraphPlotView
3
-
RoboAnalyzerUserManual http://www.roboanalyzer.com
Figure5:UserInterfaceofInverseKinematicsWindow
2.4. 3D MODEL VIEW OPTIONS
RoboAnalyzerletstheusertozoom,rotateandpanthe3Dmodeltohavebettervisualization.ThesecanbeusedasexplainedbelowandshowninFigure6. Zoom:Placethemousecursoranywhereon3DModelViewandusethemousewheeltozoominandzoomout.ItcanalsobedonebyclickingonZoomInandZoomOutbuttons.
Rotate:Presstherightmousebuttonanddragthemousecursoranywhereonthe3DModelViewtorotatethemodelinthebrowserform.
Pan: Press the left mouse button and drag the mouse cursor anywhere on the 3D Model View topan/translatethemodelinthebrowserform.
StandardViews:Selectanystandardviewfromthedropdownandthemodelviewupdates.
Standard Views
Zoom In/Out
Figure6:3DModelViewOptions
4
-
RoboAnalyzerUserManual http://www.roboanalyzer.com
3. DENAVITHARTENBERG PARAMETERS VISUALIZATION
ThearchitectureofindustrialrobotsisusuallyrepresentedbyDenavitHartenberg(DH)parameters.Itformsthebasisforperformingkinematicanddynamicanalysesofrobots.AsetoffourDHparametersisusedtorepresentthepositionandorientationofarobotlinkwithrespecttoitspreviouslink.MoredetailsonDHparameterscanbefoundinChapter4of[1].
3.1. VISUALIZE DH
AfterselectingarobotandredefiningDHparametersasexplainedinSection2.1,userscanvisualizeeachDHparameterbyselectingajointandthenselectingaDHparametertypeasshowninFigure7.Onceitisdone,thecorrespondingDHparameter ishighlighted intheDHparameter inputtableandatransformationframemoves in the 3D robot model. It shows the two coordinate frames corresponding to the selected DHparameter.Users can click on Together button and a coordinate framemoves covering all the four DH parameterscorrespondingtotheselectedjoint.UserscanclickonBaseFrametoEndEffectorbuttontoseeacoordinateframemovingfrombaseframetoendeffectorframecoveringalltheDHparametersoftherobotmodel.
Figure7:VisualizeDHParameters
3.2. LINK CONFIGURATION
The configuration/ transformation of a coordinate frame (DH frame) attached on each robotlink can bedeterminedwithrespecttoaframeattachedto itsprevious linkorbaseframebyfollowingthestepsbelowandasshowninFigure8. Selectajoint.IfJoint1isselected,itcorrespondstocoordinateframeattachedonLink1. SelectPreviousLinkFrameorBaseFrameasthereferenceframewithrespecttowhichthetransformationneedstobedetermined.
ClickonUpdatebuttonand4X4transformationmatrixispopulated.Apairofcoordinateframesisshownin3Drobotmodeltohelpuserinvisualizingthetransformation.
5
-
RoboAnalyzerUserManual http://www.roboanalyzer.com
Figure8:LinkConfiguration
3.3. ENDEFFECTOR CONFIGURATION
Theendeffectorconfiguration/transformationcanbedeterminedwithrespecttothebaseframedirectlybyusingtheUpdatebuttonasshown inFigure9.The4X4transformationmatrix ispopulatedandapairofcoordinateframesisshownin3Drobotmodeltohelpuserinvisualizingthetransformation.
Figure9:EndEffectorConfiguration
4. FORWARD KINEMATICS
In the forward or direct kinematics, the joint positions, i.e. the angles of the revolute joints and thedisplacements of the prismatic joints, are prescribed. The task is to find the endeffectorsconfiguration/transformationconsistingof itspositionandorientation.Moredetailscanbefound inChapter6of [1]. After selectinga robotand redefiningDHparametersasexplained inSection2.1, forwardkinematics(FKin)isperformedwhichupdatesthe3Dmodel.
6
-
RoboAnalyzerUserManual http://www.roboanalyzer.com
4.1. ANIMATIONOF FKIN
Toperformanimationoftherobotmotionbetweentwosetsof initialandfinalvaluesof jointvariables,thefollowingarethestepsasshowninFigures10and11.Thetrajectoryofjointvalues,jointvelocitiesandjointaccelerations follow Cycloidal trajectorymentioned in Chapter 8 of [1]. The trajectory can be changed asexplainedinSection8.
1. Settheinitialandfinalvaluesofjointvariables2. SetTimeDurationandNumberofSteps3. ClickonFKinbutton4. ClickonPlaybuttontoseetheanimation5. Theendeffectortracecanbeviewed
Figure10:InitialPositionofallJoints
Figure11:FinalPositionofallJointsandTraceofEndEffector
4.2. GRAPH PLOTS OF FKIN
Toviewthegraphplotsofaforwardkinematics(animation)analysis,thefollowingarethestepsasshowninFigures12,13and14.
1. ClickonGraphtab
7
-
RoboAnalyzerUserManual http://www.roboanalyzer.com
2. Clickon+nexttothelinkofwhichtheplotsaretobeviewed3. ClickonboxtoplotgraphofaparticularnodetoseeX,YandZplots4. Clickon+nexttothejointofwhichtheplotsaretobeviewed5. Clickonboxtoplotgraphofaparticularnodetoseejointvalue(jointangleforrevolutejointandjointoffsetforprismaticjoints),jointvelocityandjointacceleration
Figure12:GraphPlotsofFKinData
Figure13:GraphPlotsofPositionofCoordinateFrameattachedtoLink3
Figure14:GraphPlotsofInputTrajectorytoJoint3(CycloidalTrajectory)
MoredetailsandinformationontheGraphPlotoptionscanbefoundinSection9.
8
-
RoboAnalyzerUserManual http://www.roboanalyzer.com
5. INVERSE KINEMATICS
InverseKinematics(IKin)consistsofdeterminationofthejointvariablescorrespondingtoagivenendeffectorsorientationandposition.Thesolutiontothisproblem isoffundamental importance inordertotransformthemotionspecificationsassignedtotheendeffector intheoperationalspace intothecorresponding jointspacemotions.Theremaybemultipleornoresultspossibleforagivenendeffectorpositionandorientation.MoredetailscanbefoundinChapter6of[1].
5.1. SOLUTIONSOF IKIN
To selecta robotandview the solutionsof its InverseKinematics, the followingare the stepsas shown inFigures15and16.Infuture,anIKinsolutioncanbeselectedand3Dmodelwillbeupdatedaccordingly.
1. ClickonIKinbutton.Itshowsaseparatewindow(Figure16)2. SelectaRobot3. EnterInputparameters4. ClickonIKinbutton5. Viewthepossiblesolutions6. ClickonShowbutton.Itshowstheselectedsolutionin3DModelwindow.ToseethisgobacktomainwindowbyminimizingIKinwindow
7. Selectanyoftheobtainedsolutionasinitialandfinalsolution8. ClickonOK.ThisstepreplacestheinitialandfinaljointvaluesinDHParametertable(Mainwindow)byvaluesselectedinstep79. ClickonFKinbuttontoviewanimationi.e.howrobotmovesfromonesolutiontoanothersolutionselectedinstep7
Figure15:InverseKinematicsButton
9
-
RoboAnalyzerUserManual http://www.roboanalyzer.com
Figure16:InverseKinematicsof3RArticulatedRobot
6. INVERSE DYNAMICS
InverseDynamics (IDyn) isadynamicsproblem,wheretherobotgeometric, inertialparameters,andthe jointmotionsi.eitspositions,velocitiesandaccelerationaregivenandthecorrespondingjointtorquesorforcesarecalculated.InRoboAnalyzer,thedynamicssolverisbasedonReDySimalgorithm,whichusesDecoupledNaturalOrthogonalComplement(DeNOC)Matricesbasedrecursiveformulation.MoredetailsonReDySimcanbefoundat[2].MoredetailsonInverseDynamicsandDeNOCcanbefoundinChapters8and9respectivelyof[1].
6.1. SOLUTIONOF IDYN
SelectarobotandredefineDHparametersasexplainedinSection2.1,tosolveforIDynoftherobotbetweentwosetsofinitialandfinalvaluesofjointvariables,thefollowingarethestepsasshowninFigures17,18,and19. The trajectory of input joint values, joint velocities and joint accelerations follow Cycloidal trajectorymentionedinChapter8of[1].ThetrajectorycanbechangedasexplainedinSection8
1. Settheinitialandfinalvaluesofjointvariables2. SetTimeDurationandNumberofSteps3. SetGravity(allvaluesshouldbeinSIunits,i.e.m/s^2)4. SelectarobotlinktoenteritsCenterofGravity(CG)location.ItcorrespondstoavectorfromtheCGofthe
robotlinktotheoriginofthecoordinateframeattachedtothatlink,measuredinthereferenceofthecoordinateframeattachedtothatlink.
5. SelectMassPropertiesofarobotlink.SetMassofeachrobotlink(valuesshouldbeinSIunits,i.e.kg)andsetInertiatensorofeachrobotlinkwithrespecttothecoordinateframeattachedattheCGoftherobotlinkandthecoordinateframeisparalleltotheoneattachedtotherobotlink(valuesshouldbeinSIunits,i.e.kgm^2).Thesevaluesaretobeenteredmanuallyandnotcalculatedautomaticallyfromtheshapeoftherobotlinks.
6. ClickonFKinbutton(requiredtopopulatetheinputjointtrajectory)7. ClickonPlaybuttontoseetheanimation(onlyforvisualizationpurpose,notnecessaryforIDyn)8. ClickonIDynbuttontoperformInverseDynamics9. lickonGraphtabtoviewthegraph
10
-
RoboAnalyzerUserManual http://www.roboanalyzer.com
Figure17:InverseDynamicsSettings
Figure18:SetCenterofGravityforInverseDynamics
Figure19:SetMassandInertiaPropertiesandPerformInverseDynamics
11
-
RoboAnalyzerUserManual http://www.roboanalyzer.com
6.2. GRAPH PLOTS OF IDYN
Toviewthegraphplotsofjointtorquesandforces,thefollowingarethestepsasshowninFigure20.
1. Clickon+nexttothejointofwhichtheplotsaretobeviewed2. Clickonboxtoplotgraphofjointtorque/force
Figure20:GraphPlotofJointTorque/Force
MoredetailsandinformationontheGraphPlotoptionscanbefoundinSection9.
7. FORWARD DYNAMICS
ForwardDynamics(FDyn)isadynamicsproblem,wheretherobotgeometric,inertialparameters,andthejointtorquesandforcesaregivenandthejointaccelerationsarecalculated.ThedynamicssolverusesReDySim[2]asinIDyn.MoredetailsonForwardDynamicscanbefoundinChapters8and9of[1].
7.1. SOLUTIONOF FDYN
SelectarobotandredefineDHparametersasexplained inSection2.1, tosolve forFDynof therobot foragiven initialvaluesof jointvariables,please refer toSection6.1 toperform steps1 to5mentionedbelow.Thenperformsteps6,7and8asshowninFigure21.
1. Settheinitialvalueofjointvariables2. SetTimeDurationandNumberofSteps3. SetGravity(allvaluesshouldbeinSIunits,i.e.m/s^2)4. SelectarobotlinktoenteritsCenterofGravity(CG)location.ItcorrespondstoavectorfromtheCGoftherobotlinktotheoriginofthecoordinateframeattachedtothatlink,measuredinthereferenceofthecoordinateframeattachedtothatlink.
5. SelectMassPropertiesofarobotlink.SetMassofeachrobotlink(valuesshouldbeinSIunits,i.e.kg)andsetInertiatensorofeachrobotlinkwithrespecttothecoordinateframeattachedattheCGoftherobotlinkandthecoordinateframeisparalleltotheoneattachedtotherobotlink(valuesshouldbeinSIunits,
12
-
RoboAnalyzerUserManual http://www.roboanalyzer.com
i.e.kgm^2).Thesevaluesaretobeenteredmanuallyandnotcalculatedautomaticallyfromtheshapeoftherobotlinks.
6. ClickonFDynbuttontoperformForwardDynamics.Therobotissimulatedforfreefallduetotheactionofgravity.Infuture,jointtorques/forcescanbesetasinput.
7. ClickonPlaybuttontoseetheanimation8. ClickonGraphtabtoviewthegraph
Figure21:ForwardDynamics
7.2. GRAPH PLOTS OF FDYN
Toviewthegraphplotsofjointaccelerationsandpositionoflinks,followthestepsmentionedinSection4.2.
8. MOTION PLANNING
Thegoalofmotionplanningofa robot is togeneratea functionaccording towhicha robotwillmove.Thisfunction generation depends on the robot tasks. A robot user typically specifies a number of parameterstodescribeapointtopointor continuouspath task.Trajectoryplanningalgorithm thengenerates thereferenceinputsforthecontrolsystemofthemanipulator,soastobeabletoexecutethemotion.Thegeometricpath,the kinematic and dynamic constraints are the inputs of the trajectory planning algorithm, whereas thetrajectory of the joints (or of the end effector), expressed as a time sequence ofposition, velocity andaccelerationvalues,istheoutput.Trajectoryplanningcanbedoneeitherinthejointspace,i.e.,intermsofjointpositions,velocitiesandaccelerations,orCartesianspace(alsocalledoperationalspace)i.e.,intermsoftheendeffectorpositions,orientations, and their timederivatives.More detailsonMotion Planning canbe found inChapter11of[1].
8.1. SOLUTIONOF MOTIONPLANNING
Select a robot and redefine DH parameters as explained in Section 2.1.For a given initial values of jointvariables,MotionplanningoftheselectedrobotcanbeperformedbyselectingparticularmotiontrajectoryasshowninFigure21followedbysteps1to5mentionedinsection4.1.
13
-
RoboAnalyzerUserManual http://www.roboanalyzer.com
Figure21:MotionPlanning
9. GRAPH PLOT OPTIONS
TheanalysesresultsforFKin,IDynandFDyncanbeviewedasgraphplotsasexplainedinSections4.2,6.2and7.2respectively.SeveraloptionsforgraphplotfunctionalitesareexplainedbelowandasshowninFigure22.1. Selectagraphplotnode2. Settheplotcolor,symbolandlinestyle3. Rightclickongraphtoshowamenu.Hereyoucanusevariousoptionstozoom,printetc4. ExportDataasCSV:ExportplotdatathatcanbeopenedinaspreadsheetsuchasMSExcel5. UseMousewheeltozoominandout6. PressMousewheelanddragthemousetopanaroundthegraph
Figure22:GraphPlotOptions
10. SAVING AND OPENINGSKELETON MODELS
TheskeletonmodelscanbesavedaftermodifyingtheDHparametersandmassinertiapropertiesaspertheconvenience.
1. Tosaveaskeletonmodel:a. ClickonFilemenub. SelecttheSaveoption.c. Savetherobotintherequireddirectorywithasuitablefilename.Thefileextensionmustbe.xml.d. TheSavewindowcanbeopenedusingtheshortcut,CTRL+S.
14
-
RoboAnalyyzerUserManuual http://wwww.roboanalyzeer.com
2. Tooopenaprevioouslysavedskeletonmodel:
a.. ClickonFilemenub.. SelecttheOpenoption.c. Navigatetootherequiredddirectoryandoopenthepreviiouslysavedmmodel.d.. Theopenwwindowcanbeopenedusingtheshortcut,CTRL+O.
11. VIRT
TheVirtuchangetjoggingotobefol1. Clic2. An3. Sel4. Use
ma5. Bu6. The
UAL ROBOT
ualRobotModthejointangleofrobots.Asolowed(asillusckonMoreRnewwindow/folectarobotfroesliderontheaximumvaluesttonscanalsoeendeffector
F
T MODULE
duleinsideRobsusingasliderofthisversion,stratedinFigurobotsbuttonormisshown.omthedropdolefttochangesaspertheirspbeusedtochartransformatio
Figure23:Click
boAnalyzerletsrorusingbuttoCADmodelsores2324)..BydefaultCADownandclickoeeachjointangpecifications(jangethevalueonisupdatedw
konMoreRo
Figure24:V
15
stheuserselecons.Itcanbeuof17industrial
DmodelofaroonLoad.gle.Notethatointlimit).eofjointanglewitheverychan
botsButtonin
VirtualRobotM
ctanindustriausedasalearnrobotscanbe
obotisdisplaye
allthejointan
.ngeinjointang
nRoboAnalyze
Module
lrobotmodelningtooltoteaeloaded.Thefo
(CADModel)aachjointlevelollowingsteps
and
are
ed.
ngleshaveminimumand
gle(s).
erWindow
-
RoboAnalyzerUserManual http://www.roboanalyzer.com
12. MATLAB INTEGRATIONVirtualRobotApplication(explainedinSection10)ismadeavailableasaCOMinterfacewhichcanbecalledandcontrolledfromMATLAB.OthersoftwarewhichcaninterfacewithCOMobjects(suchasMSExcel,programsdevelopedinC++etc.)canalsousedtocontrolVirtualRobot.Atpresent,onlyVirtualKUKAKR5robotcanbecontrolledfromMATLAB.ThefollowingstepsaretobefollowedtoinstallVirtualRobotCOMonacomputer:
1. Download"VirtualRobotsCOM.zip"andunzipitinC:\drive2. IfMATLABinstallationis32bitversion,rightclickonC:\VirtualRobotsCOM\register32.batand"RunasAdministrator"elseifMATLABinstallationis64bitversion,rightclickonC:\VirtualRobotsCOM\register64.batand"RunasAdministrator"
3. Acommandwindowopens,executessomecodeandclosesonitsown(Installationiscomplete!).4. OpenC:\VirtualRobotsCOM\virtualRobotInMatlab.minMATLABandrunit.VirtualRobotApplicationasshowninFigure25isdisplayed.
5. MATLABfilehasbriefcommentsontheworkflow.Jointanglesoftherobot(KUKAKR5)havetobeupdatedaspertheusersrequirementandalgorithm(suchasJacobiancontrol,Cartesianmotionplanningetc.)
6. DenavitHartenberg(DH)parametersofKukaKR5robotisgivenin"C:\VirtualRobotsCOM\DHParameters_KukaKR5.pdf"
Figure25:VirtualRobotApplicationBeingControlledfromMATLAB
13. REFERENCES
[1]S.K.Saha,IntroductiontoRobotics,2ndEdition,TataMcGrawHill,NewDelhi,2014[2]ReDySim,websiteaccessedonDecember28,2011,http://www.roboanalyzer.com/redysim.html
APPENDIX A: RECURSIVE DYNAMICS SIMULATOR (REDYSIM)
A.1.GENERAL DESCRIPTION
RecursiveDynamicsSimulator(ReDySim)isaMATLABbasedrecursivesolver[A1]fordynamicanalysisofroboticandmultibodysystems.ReDySimhascapabilitytoincorporateanycontrolalgorithmandtrajectoryplannerwithutmostease.Thisabilityprovides flexibility touser/researcher in incorporatinganycustomizedalgorithms.ReDySimshowedconsiderable improvement[A1]overthecommercialsoftwareandexistingalgorithms intermsofbothcomputationaltimeandnumericalaccuracy.ReDySimhasthreemodulesasshowninTable1.
16
-
RoboAnalyzerUserManual http://www.roboanalyzer.com
Table1:DetailsofmodulesinReDySim ModulesofReDySim Demoswithinthemodule1 BasicModule:FixedbaseSystems
(OpenandClosedloopSystems)3linkrobot,gripper,KUKArobot,fourbarmechanism,biped,longchain,3RRRparallelrobotandroboticleg
2 SpecializedModule:FloatingbaseSystems(a)ModuleforSpaceRobots(b)ModuleforLeggedRobots
3and7link space robots,dualarm space robot,andbiped,quadrupedandhexapodleggedrobots
3 SymbolicModule(a)ModuleforFixedbasesystems*(b)ModuleforFloatingbaseSystems
FixedbasePRrobot,2linkrobotandKUKArobot,andfloatingbase2linkspacerobot
*Presently,onlyfixedbasesymbolicmodulecanmodelprismaticjoint.Itwillsoonbeaddedtoothermodules.
A.2.HOW TO INSTALL AND USEa) RequireMATLAB2009aorhigherversioninordertouseReDySim.b) Gotothewebpagehttp://www.redysim.co.nr/download.c) Downloadtherequiredmoduleandunzipthedownloadedfolder.d) Followtheinstructionmanualprovidedinthemoduletostartsolvingaproblem.e) Foranalysisofanysystem,theinputsareenteredinthefilesshowninTable2(Seeinstructionmanual).Table2:Detailsofthefilesinwhichinputsarerequiredtobeenteredforanalysis Module Submodule input.m initial.m trajectory.m torque.m jacobian.m inv_kine.m1 Fixedbased Inverse Yes Yes Yes++
Forward Yes Yes Yes+ Yes Yes++ 2 Floatingbase Inverse Yes Yes Yes
Forward Yes Yes Yes+ Yes 3 Symbolic Fixed/Floating Yes +Desiredtrajectoryforcontrolledsimulation;++Thisfileisrequiredonlyinthecaseofclosedloopsystems
A.3.RUN DEMOS a) OpenthedownloadedmoduleandselectInverse/forwarddynamicssubfolder.b) Within inverse/forwarddynamics folder,open the subfolderwithnameof the system tobe analyzed, i.e.,
openfoldernamedbipedforanalysesofbiped.ThisfolderhastherequiredinputfilesshowninTable2.c) Copyallthefilesfromthisfolderandpastethemininversedynamics/forwarddynamicsfolder.d) Run function file run_me.m. Thiswill simulate the system and plot the results of inverse dynamics (joint
torques)orforwarddynamics(jointmotions),totalenergy,etc.e) Runanimate.mforanimatingthesystem.
17
-
RoboAnalyzerUserManual http://www.roboanalyzer.com
18
A.4.SNAPSHOTS OF SIMULATION RESUTLS OFA FLAOTINGBASE BIPED USING REDYSIMA.4.SNAPSHOTS OF SIMULATION RESUTLS OFA FLAOTINGBASE BIPED USING REDYSIM
FigureA.1:SnapshotsofsimulationresultsofabipedusingfloatingbasemoduleofReDySim
REFERENCEA1.ShahS.V.,SahaS.K.,andDuttJ.K.,DynamicsofTreetypeRoboticSystems,IntelligentSystems,Controland
Automation:ScienceandEngineeringBookseries,Springer,Netherlands(ISBN9789400750050).
S.V.Shah,IIITHyderabad;S.K.Saha,IITDelhi;J.K.Dutt,IITDelhiDynamicsofTreeTypeRoboticSystemsSeries:IntelligentSystems,ControlandAutomation:ScienceandEngineering,Vol.62FeaturesIndispensibleonestopresourcePresentsaframeworkfordynamicmodelingandanalysisoftreetyperoboticsystemsIntroducesconceptsofkinematicmoduleandEulerAngleJoints InclusionofclosedloopsystemsIllustrationofmodelbasedcontrolComeswithRecursiveDynamicsSimulator(ReDySim),afreesolverfordynamicanalysis
-
RoboAnalyzerDevelopedbyProfS.K.Saha&Team
(Mr.RajeevlochanaC.G.,Mr.Amit Jain,Mr.Suril V.Shah,Ms.Jyoti Bahuguna,Mr.Ratan Sadanand andMr.RaviJoshi)MechatronicsLab,MechanicalEngineeringDepartment,IITDelhi,NewDelhi,India
Contact:[email protected],[email protected] Website:http://www.roboanalyzer.com
3DModelBasedRoboticsLearningSoftware
Togetmoreinsighton
Robotics
http://www.mhhe.com/saha/robotics
"Comprehensive book thatpresents a detailed expositionof the concepts using a simpleand student friendly approach
Excellent coverage of Roboticapplications, Homogeneoustransformation and Roboticprogramming etc.
comprehensive coverage onDrive Systems, Robot Control,and Robot Applications
PublishedinMexico(Spanish)
PublishedinP.R.China
1Slide Number 1
2PREFACECONTENTS1. GETTING STARTED1.1. MINIMUM SYSTEM REQUIREMENT1.2. INSTALLATION
2. INTRODUCTION TO ROBOANALYZER2.1. MODEL A ROBOT2.2. FEATURES OF ROBOANALYZER2.3. OVERVIEW OF USER INTERFACE2.4. 3D MODEL VIEW OPTIONS
3. DENAVIT-HARTENBERG PARAMETERS VISUALIZATION3.1. VISUALIZE DH3.2. LINK CONFIGURATION3.3. END-EFFECTOR CONFIGURATION
4. FORWARD KINEMATICS4.1. ANIMATION OF FKIN4.2. GRAPH PLOTS OF FKIN
5. INVERSE KINEMATICS5.1. SOLUTIONS OF IKIN
6. INVERSE DYNAMICS6.1. SOLUTION OF IDYN6.2. GRAPH PLOTS OF IDYN
7. FORWARD DYNAMICS7.1. SOLUTION OF FDYN7.2. GRAPH PLOTS OF FDYN
8. MOTION PLANNING8.1. SOLUTION OF MOTION PLANNING
9. GRAPH PLOT OPTIONS10. SAVING AND OPENING SKELETON MODELS11. VIRTUAL ROBOT MODULE12. MATLAB INTEGRATION13. REFERENCESA.4. SNAPSHOTS OF SIMULATION RESUTLS OF A FLAOTING-BASE BIPED USING REDYSIMREFERENCE
3Slide Number 1