Robotics: Tutorial 1Mechatronics Engineering

Dr. Islam Khalil, MSc. Omar Mahmoud, Eng. Lobna Tarekand Eng. Abdelrahman Ezz

German University in CairoFaculty of Engineering and Material Science

September 21, 2016

Dr. Islam Khalil, MSc. Omar Mahmoud, Eng. Lobna Tarek and Eng. Abdelrahman Ezz Robotics: Tutorial 1 1 / 9

Msc. Omar Mahmoud Shehata

Email: omar.mohamad@guc.edu.egOffice: C1.201

Eng. Lobna Tarek Abo Serre

Email: lobna.aboserre@guc.edu.egOffice: C1.201

Eng. Abdelrahman Muhammed Ali Ezz

Email: abdelrahman.muhamed@guc.edu.egOffice: C1.202

Course AssessmentFinal (Open Book) 40%Midterm (Open Book) 25%Quizzes (No best) 15%Assignments 20%

Dr. Islam Khalil, MSc. Omar Mahmoud, Eng. Lobna Tarek and Eng. Abdelrahman Ezz Robotics: Tutorial 1 2 / 9

Introduction To Robotics

Each Robot is designed for a specific task.

Dr. Islam Khalil, MSc. Omar Mahmoud, Eng. Lobna Tarek and Eng. Abdelrahman Ezz Robotics: Tutorial 1 3 / 9

Main Components of a robotic system

Power Supply, Locomotion, controller and detection.

Locomotion: wheeled, legged or flying.

Detection of the surroundings: using sensors or computervision.

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Design a robotic arm

1 Define the number of links and joints.

2 Define Task space versus Joint space: where q are the jointsangles vector and x is end effector position vector.

3 Derive the kinematicsPosition kinematicsVelocity kinematicsAcceleration kinematics

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Kinematics

Forward Position kinematicsgiven: q → required: x

Inverse Position kinematicsgiven: x → required: q

Forward Velocity kinematicsgiven: q → required: x

Inverse Velocity kinematicsgiven: x → required: q

Forward Acceleration kinematicsgiven: q → required: x

Inverse Acceleration kinematicsgiven: x → required: q

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Dynamics

4 Deriving the dynamics of robotic arm:

Using Lagrangian equation to get the equation of motion.Calculation of required torques (τ) at joints and Forces to beapplied at the end-effector.Open configuration versus closed configuration.

deriving constraint equation (if any).Holonomic constraint versus Non Holonomic constraint.

Dr. Islam Khalil, MSc. Omar Mahmoud, Eng. Lobna Tarek and Eng. Abdelrahman Ezz Robotics: Tutorial 1 7 / 9

The Controller

5 Trajectory Planning: calculation of q,q,q which leads to theoptimal path i.e. the path that will perform required task inminimal time or minimal use of energy; according to theobjective.

6 Different types of Control:

Position Control.Force Control.Hybrid Control.

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Any Questions ?Thank you

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