Jane Li

Assistant Professor

Mechanical Engineering Department, Robotic Engineering Program

Worcester Polytechnic Institute

• The foot segment is subjected to the pull of two plantarflexor muscles. Determine the moment of each force about the point of contact A on the ground.

• Compute moment (M_A)_1, and (M_A)_2

• Unit for moment: lb*in

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 2

• The foot segment is subjected to the pull of two plantarflexor muscles. Determine the moment of each force about the point of contact A on the ground.

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 3

• Active Projects

• Teleoperating a Humanoid Nursing Robot from Motion Capture System

• Vision-based reactive motion control for human-robot handing-over

• Building a haptic devices for home-based stroke rehab

• Arm-hand-finger Coordination

• Human driver motion study

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 4

• Teleoperating a Humanoid Nursing Robot from Motion Capture System

• YudongYU <yyu6@wpi.edu>

• Arjun Jagdish <ajram@wpi.edu>

• Sanjuksha Nirgude <snirgude@wpi.edu>

• Tianyu Cheng <tcheng@wpi.edu>

• Sihui Li <sli16@wpi.edu>

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 5

• Vision-based reactive motion control for human-robot handing-over

• Gunnar Horve <gchorve@wpi.edu>

• Heramb Nemlekar <hsnemlekar@wpi.edu>

• Himanshu Raghuvanshi <hraghuvanshi@wpi.edu>

• Onkar Trivedi <otrivedi@wpi.edu>

• Dharini Dutia <dkdutia@wpi.edu>

• Rohit Voleti <rnvoleti@wpi.edu>

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 6

• Building a haptic devices for home-based stroke rehab

• Nathaniel Goldfarb <nagoldfarb@wpi.edu>

• Rishi Khajuriwala <rdkhajuriwala@wpi.edu>

• Aishwary Jagetia <adjagetia@wpi.edu>

• Nishant Shah <nshah3@wpi.edu>

• Brandon Lam <bllam@wpi.edu>

• Akshay Kumar <akumar5@wpi.edu>

• Matthew Bowers <mpbowers@wpi.edu>

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 7

• Arm-hand-finger Coordination

• Haowei Zhao <hzhao6@wpi.edu>

• Aniketh Reddy Seelam <aseelam@wpi.edu>

• Gaurav Vikhe <gsvikhe@wpi.edu>

• Aayush Shah <asshah@wpi.edu>

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 8

• Human driver motion study

• Kenechukwu Mbanisi <kcmbanisi@wpi.edu>

• Tess Meier <tbmeier@wpi.edu>

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 9

• Try to find the best match • Your choice, skill sets and preferred teammates

• More or fewer students per team • Will adjust project scope and objectives

• Need a leader/coordinator for each team

• Plan for project data management• Your hardware design files, code & documentation, reports, etc

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 10

• Frame transform

• Forward Kinematics

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 11

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 13

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 14

Reference Frame

Position Vector

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 15

Reference Frame

Body Frame

• Reference frame {A}• Body Frame {B}

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 16

Frame orientation

Origin position

• {B} is translated w.r.t. {A}

• Given a point P’s position in {B}, what is its position w.r.t. {A}?

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 17

• {B} is rotated w.r.t. {A}

• Given a point P’s position in {B}, what is its position w.r.t. {A}?

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 18

?

• Given

• Compute

• Solution

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 19

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 20

• Rotating about a fixed frame

• Rotating about a moving frame

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 21

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 22

abg

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 23

a b g

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 24

Rotate about a fixed frame

Rotate about a moving frame

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 25

• Given

• Compute

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 26

• Describe the transform between two frames attached to two connected links.

• Possible ways for connection?

• Joint types

• Pose = position + orientation

• How many parameters do you need?

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 29

• Link twist a

• Angle between two Z-axes

• Link length a

• Distance between two Z-axes

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 30

• Link length?

• Link twist?

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 31

• Joint angle q

• Angle between two X-axis

• Link offset d

• Distance between two X-axes

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 32

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 33

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 34

Standard form

Modified form

• Link twist a

• Link length a

• Joint angle q

• Link offset d

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 35

• Link twist a

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 36

• Link length a

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 37

• Joint angle q

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 38

• Link offset d

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 39

• Relate Frame {N} to Frame {0}

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 40

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 41

• Frame {0} = base

• Frame {1} w.r.t. Frame {0}

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 42

• Frame {2} w.r.t. Frame {1}

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 43

cv

cv

• Frame {3} w.r.t. Frame {2}

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 44

cv

cv

• Frame {4} w.r.t. Frame {3}

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 45

cvcv

• Frame {5} w.r.t. Frame {4}

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 46

cv

cv

• Frame {6} w.r.t. Frame {5}

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 47

cv cv

• Derive the DH parameters for Puma 560

• Implement the FK of Puma 560 in Matlab

• EE_pose = FK(DH parameter table)

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 48

• Robot Simian

• Open-loop kinematics?

• Raise one arm

• Control EE pose

• Close-loop kinematics?

• Fix the foot on ground

• Control the torso pose

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 51

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 52

• Inverse Kinematics is easier

• Forward Kinematics is harder

• Why?

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 53

• Mobility of this platform F?

• Each movable link is a rigid body

• Number of movable links

• Number of joints

• Number of DOFs at joint each joint

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 54

• Mobility of this platform F?• Each movable link has N DOFs

• N = 6 (3D workspace)

• Number of movable links: • k = 14 (each bar can extend and retract)

• Number of joints: • n1 = 12 (rotational), n2 = 6 (prismatic)

• Number of DOFs at joint i: • f1 = 3, f2 = 1

• Equation• F = N[k – (n1+n2) – 1] + (n1*3 + n2*1)

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 55

• Determine the end-effector position P

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 56

Inverse Kinematics

Forward Kinematics

• Control 6-DOF pose of the platform?

• Highly nonlinear

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 57

• Solve the high degree polynomial equations for FK

• Newton–Raphson method

• Computationally intensive

• Decouple the position and orientation parameters

• Can speed the computation to some extent

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 58

• Neural network

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 59

ACON = all class one network OCON = one class one network

Approximate solution

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 60

• [1] Parikh, Pratik J., and Sarah SY Lam. "A hybrid strategy to solve the forward kinematics problem in parallel manipulators." IEEE Transactions on Robotics 21.1 (2005): 18-25.

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 61

• (10 pt) Derive the DH parameters for Puma 560

• DH parameter table

• (10 pt) Implement the FK of Puma 560 in Matlab

• EE_pose = FK(DH parameter table)

• (10 pt) Optional

• Can you try a NN to solve FK and IK of a 3DOF serial manipulator?

9/11/2017RBE 595 – Synergy of Human and Robotic Systems – Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 62