Workspace Analysis in Multirobot Manipulation International Symposium on Robotics Stockholm, Sweden. Oct 7-11, 2002 Workspace Analysis in Multirobot Manipulation.

Slides:

Advertisements

Similar presentations

Inverse Kinematics Professor Nicola Ferrier ME 2246,

Advertisements

ROBOTICS: ROBOT MORPHOLOGY

Introduction University of Bridgeport 1 Introduction to ROBOTICS.

INVERSE GEOMETRY AND WORKSPACE OF ROBOT MECHANISMS

Outline: Introduction Solvability Manipulator subspace when n<6

Manipulator’s Inverse kinematics

Review: Homogeneous Transformations

ECE 450 Introduction to Robotics Section: Instructor: Linda A. Gee 10/05/99 Lecture 10.

1 Singularity Handling on PUMA in Operational Space Formulation Author: Denny Oetomo*, Marcelo Ang Jr*, Lim Ser Yong** * National University of Singapore,

Multirobot Manipulation Ramon Costa Castelló Institut d’Organització i Control de Sistemes Industrials (IOC) Universitat Politècnica de Catalunya (UPC)

Trajectory Generation

Path planning, 2012/2013 winter1 Robot Path Planning CONTENTS 1. Introduction 2. Interpolation.

Nine-bar structure. The univariate polynomial of degree 16 of this system can be computed in general! It can be used 1.to find the maximum number of real.

Motion Planning of Multi-Limbed Robots Subject to Equilibrium Constraints. Timothy Bretl Presented by Patrick Mihelich and Salik Syed.

Inverse Kinematics Problem:

1 Motion Planning for Multiple Robots B. Aronov, M. de Berg, A. Frank van der Stappen, P. Svestka, J. Vleugels Presented by Tim Bretl.

A Study on Object Grasp with Multifingered Robot Hand Ying LI, Ph.D. Department of Mechanical Engineering Kagoshima University, Japan.

IK: Choose these angles!

Forschungsschwerpunkte Fakultät für Bauingenieurwesen Symbolic Computation in Mechanism and Machine Science Manfred L. Husty Inst. f. Basic Sciences in.

Inverse Kinematics How do I put my hand here? IK: Choose these angles!

Inverse Kinematics Problem: Input: the desired position and orientation of the tool Output: the set of joints parameters.

1 Satellite Link Equations Introduction to Space Systems and Spacecraft Design Space Systems Design.

Tutorial 4 Direct Kinematics (on the board) Workspaces.

Inverse Kinematics Jacobian Matrix Trajectory Planning

1 Single Robot Motion Planning Liang-Jun Zhang COMP Sep 22, 2008.

The study of shapes and figures

Section 1.2 Basics of Functions

Definition of an Industrial Robot

Constraints-based Motion Planning for an Automatic, Flexible Laser Scanning Robotized Platform Th. Borangiu, A. Dogar, A. Dumitrache University Politehnica.

Lecture 2: Introduction to Concepts in Robotics

AN-NAJAH NATIONAL UNIVERSITY DEPARTMENT OF MECHANICAL ENGINEERING

ROBOTS Presented by Zainab. DEFINITION: A robot is an automatic, servo-controlled, freely programmable, multi-purpose manipulator with several degrees.

INVERSE KINEMATICS ANALYSIS TRAJECTORY PLANNING FOR A ROBOT ARM Proceedings of th Asian Control Conference Kaohsiung, Taiwan, May 15-18, 2011 Guo-Shing.

Outline: 5.1 INTRODUCTION

Robotics Chapter 5 – Path and Trajectory Planning

CSCE 452 Intro to Robotics Inverse Kinematics 1. CSCE 452 Intro to Robotics.

Review: Differential Kinematics

M. Zareinejad 1. 2 Grounded interfaces Very similar to robots Need Kinematics –––––– Determine endpoint position Calculate velocities Calculate force-torque.

Configuration Spaces for Translating Robots Minkowsi Sum/Difference David Johnson.

ROBOT VISION LABORATORY 김 형 석 Robot Applications-B

CSCE 452 Intro to Robotics CSCE 452: Lecture 1 Introduction, Homogeneous Transformations, and Coordinate frames.

Ship Computer Aided Design MR 422. Geometry of Curves 1.Introduction 2.Mathematical Curve Definitions 3.Analytic Properties of Curves 4.Fairness of Curves.

ECE 450 Introduction to Robotics Section: Instructor: Linda A. Gee 10/07/99 Lecture 11.

Introduction: Robot: Aim: Characteristics:

Outline: Introduction Solvability Manipulator subspace when n<6

Robot Formations Motion Dynamics Based on Scalar Fields 1.Introduction to non-holonomic physical problem 2.New Interaction definition as a computational.

Mobile Sensor Network Deployment Using Potential Fields: A Distributed, Scalable Solution to the Area Coverage Problem Andrew Howard, Maja J Matari´c,

Ship Computer Aided Design

Kinematics Given: The values of the joint variables.

MT411 Robotic Engineering Asian Institution of Technology (AIT) Chapter 2 Introduction to Robotic System Narong Aphiratsakun, D.Eng.

Do Now: Graph and state the type of graph and the domain and range if it is a function. Introduction to Analytic Geometry.

Date of download: 10/6/2017 Copyright © ASME. All rights reserved.

Instructor Prof. Shih-Chung Kang 2008 Spring

IK: Choose these angles!

IK: Choose these angles!

Trajectory Generation

Inverse Manipulator Kinematics

INVERSE MANIPULATOR KINEMATICS

Yueshi Shen Dept. of Information Engineering

Date of download: 11/15/2017 Copyright © ASME. All rights reserved.

Direct Manipulator Kinematics

Date of download: 12/25/2017 Copyright © ASME. All rights reserved.

Divide Areas Algorithm For Optimal Multi-Robot Coverage Path Planning

2-DOF Manipulator Now, given the joint angles Ө1, Ө2 we can determine the end effecter coordinates x and y.

Chap 11 – Case Studies.

Inverse Kinematics Problem:

Outline: Introduction Solvability Manipulator subspace when n<6

Special English for Industrial Robot

Introduction to Robot Design

Chapter 4 . Trajectory planning and Inverse kinematics

Presentation transcript:

Workspace Analysis in Multirobot Manipulation International Symposium on Robotics Stockholm, Sweden. Oct 7-11, 2002 Workspace Analysis in Multirobot Manipulation Ramon Costa-Castelló, Luis Basañez

Workspace Analysis in Multirobot Manipulation International Symposium on Robotics Stockholm, Sweden. Oct 7-11, 2002 CONTENTS Introduction Basic Definitions Multirobot System Analysis Dexterous Workspace Reachable Workspace Application to RX-90 robot Dexterous Figure Construction Reachable Figure Construction Two RX-90 cell Conclusions

Workspace Analysis in Multirobot Manipulation International Symposium on Robotics Stockholm, Sweden. Oct 7-11, 2002 INTRODUCTION Multirobot Cell

Workspace Analysis in Multirobot Manipulation International Symposium on Robotics Stockholm, Sweden. Oct 7-11, 2002 INTRODUCTION Multirobot Manipulation Advantages Load Capacity Increase Dexterity Improvement Flexible Objects Multirobot Manipulation Drawbacks Coordination Needed Workspace Reduction

Workspace Analysis in Multirobot Manipulation International Symposium on Robotics Stockholm, Sweden. Oct 7-11, 2002 INTRODUCTION Workspace Approaches Analytical Methods Singularity Analysis Exact approach Volumetric Methods Workspace discretization Approximation Obstacles Intersection Approach Intersection of several geometric figures Quicker approach Work cell Design capabilities

Workspace Analysis in Multirobot Manipulation International Symposium on Robotics Stockholm, Sweden. Oct 7-11, 2002 CONTENTS Introduction  Basic Definitions Multirobot System Analysis Dexterous Workspace Reachable Workspace Application to RX-90 robot Dexterous Figure Construction Reachable Figure Construction Two RX-90 cell Conclusions

Workspace Analysis in Multirobot Manipulation International Symposium on Robotics Stockholm, Sweden. Oct 7-11, 2002 The kinematics f of a mechanism is the relation between the configuration space C and the operational space O Workspace: elements of O in which the robot end-effector can be placed in Reachable Workspace: set of positions reachable by the robot end-effector in at least one orientation Dexterous workspace: set of positions reachable by the robot in all orientations BASIC DEFINITIONS

Workspace Analysis in Multirobot Manipulation International Symposium on Robotics Stockholm, Sweden. Oct 7-11, 2002 CONTENTS Introduction Basic Definitions  Multirobot System Analysis Dexterous Workspace Reachable Workspace Application to RX-90 robot Dexterous Figure Construction Reachable Figure Construction Two RX-90 cell Conclusions

Workspace Analysis in Multirobot Manipulation International Symposium on Robotics Stockholm, Sweden. Oct 7-11, 2002 MULTIROBOT SYSTEMS ANALYSIS Individual kinematics Multirobot System Configuration Space

Workspace Analysis in Multirobot Manipulation International Symposium on Robotics Stockholm, Sweden. Oct 7-11, 2002 MULTIROBOT SYSTEMS ANALYSIS Position and Orientation Constraining Equations

Workspace Analysis in Multirobot Manipulation International Symposium on Robotics Stockholm, Sweden. Oct 7-11, 2002 MULTIROBOT SYSTEMS ANALYSIS Dexterous Workspace

Workspace Analysis in Multirobot Manipulation International Symposium on Robotics Stockholm, Sweden. Oct 7-11, 2002 MULTIROBOT SYSTEMS ANALYSIS Dexterous Workspace

Workspace Analysis in Multirobot Manipulation International Symposium on Robotics Stockholm, Sweden. Oct 7-11, 2002 MULTIROBOT SYSTEMS ANALYSIS Dexterous Workspace

Workspace Analysis in Multirobot Manipulation International Symposium on Robotics Stockholm, Sweden. Oct 7-11, 2002 MULTIROBOT SYSTEMS ANALYSIS Dexterous Workspace

Workspace Analysis in Multirobot Manipulation International Symposium on Robotics Stockholm, Sweden. Oct 7-11, 2002 MULTIROBOT SYSTEMS ANALYSIS Dexterous Workspace

Workspace Analysis in Multirobot Manipulation International Symposium on Robotics Stockholm, Sweden. Oct 7-11, 2002 MULTIROBOT SYSTEMS ANALYSIS Dexterous Workspace

Workspace Analysis in Multirobot Manipulation International Symposium on Robotics Stockholm, Sweden. Oct 7-11, 2002 MULTIROBOT SYSTEMS ANALYSIS Dexterous Workspace

Workspace Analysis in Multirobot Manipulation International Symposium on Robotics Stockholm, Sweden. Oct 7-11, 2002 Dexterous Workspace Definition Expression Manipulation MULTIROBOT SYSTEMS ANALYSIS

Workspace Analysis in Multirobot Manipulation International Symposium on Robotics Stockholm, Sweden. Oct 7-11, 2002 Workspace Dexterous Figure Dexterous Figure definition Dexterous Workspace from Dexterous Figure MULTIROBOT SYSTEMS ANALYSIS

Workspace Analysis in Multirobot Manipulation International Symposium on Robotics Stockholm, Sweden. Oct 7-11, 2002 MULTIROBOT SYSTEMS ANALYSIS Reachable Workspace

Workspace Analysis in Multirobot Manipulation International Symposium on Robotics Stockholm, Sweden. Oct 7-11, 2002 MULTIROBOT SYSTEMS ANALYSIS Reachable Workspace

Workspace Analysis in Multirobot Manipulation International Symposium on Robotics Stockholm, Sweden. Oct 7-11, 2002 MULTIROBOT SYSTEMS ANALYSIS Reachable Workspace

Workspace Analysis in Multirobot Manipulation International Symposium on Robotics Stockholm, Sweden. Oct 7-11, 2002 MULTIROBOT SYSTEMS ANALYSIS Reachable Workspace

Workspace Analysis in Multirobot Manipulation International Symposium on Robotics Stockholm, Sweden. Oct 7-11, 2002 MULTIROBOT SYSTEMS ANALYSIS Reachable Workspace

Workspace Analysis in Multirobot Manipulation International Symposium on Robotics Stockholm, Sweden. Oct 7-11, 2002 MULTIROBOT SYSTEMS ANALYSIS Reachable Workspace

Workspace Analysis in Multirobot Manipulation International Symposium on Robotics Stockholm, Sweden. Oct 7-11, 2002 MULTIROBOT SYSTEMS ANALYSIS Reachable Workspace

Workspace Analysis in Multirobot Manipulation International Symposium on Robotics Stockholm, Sweden. Oct 7-11, 2002 MULTIROBOT SYSTEMS ANALYSIS Reachable Workspace

Workspace Analysis in Multirobot Manipulation International Symposium on Robotics Stockholm, Sweden. Oct 7-11, 2002 MULTIROBOT SYSTEMS ANALYSIS Reachable Workspace

Workspace Analysis in Multirobot Manipulation International Symposium on Robotics Stockholm, Sweden. Oct 7-11, 2002 Reachable Space Approximation Reachable Figure Definition Reachable Workspace from Reachable Figure Reachable Figure Workspace MULTIROBOT SYSTEMS ANALYSIS Reachable Figure

Workspace Analysis in Multirobot Manipulation International Symposium on Robotics Stockholm, Sweden. Oct 7-11, 2002 CONTENTS Introduction Basic Definitions Multirobot System Analysis Dexterous Workspace Reachable Workspace  Application to RX-90 robot Dexterous Figure Construction Reachable Figure Construction Two RX-90 cell Conclusions

Workspace Analysis in Multirobot Manipulation International Symposium on Robotics Stockholm, Sweden. Oct 7-11, 2002 RX-90 robot APPLICATION TO RX-90 ROBOT

Workspace Analysis in Multirobot Manipulation International Symposium on Robotics Stockholm, Sweden. Oct 7-11, 2002 RX-90 Configuration Space section RX-90 Work Space section APPLICATION TO RX-90 ROBOT

Workspace Analysis in Multirobot Manipulation International Symposium on Robotics Stockholm, Sweden. Oct 7-11, 2002 RX-90 3D Workspace RX-90 selected sections APPLICATION TO RX-90 ROBOT

Workspace Analysis in Multirobot Manipulation International Symposium on Robotics Stockholm, Sweden. Oct 7-11, 2002 RX-90 Dexterous Figure Construction Scheme APPLICATION TO RX-90 ROBOT Dexterous Workspace

Workspace Analysis in Multirobot Manipulation International Symposium on Robotics Stockholm, Sweden. Oct 7-11, 2002 Reachable figure for APPLICATION TO RX-90 ROBOT Reachable Figure

Workspace Analysis in Multirobot Manipulation International Symposium on Robotics Stockholm, Sweden. Oct 7-11, 2002 APPLICATION TO RX-90 ROBOT Reachable Figure Reachable figure for

Workspace Analysis in Multirobot Manipulation International Symposium on Robotics Stockholm, Sweden. Oct 7-11, 2002 CONTENTS Introduction Basic Definitions Multirobot System Analysis Dexterous Workspace Reachable Workspace Application to RX-90 robot Dexterous Figure Construction Reachable Figure Construction  Two RX-90 cell Conclusions

Workspace Analysis in Multirobot Manipulation International Symposium on Robotics Stockholm, Sweden. Oct 7-11, 2002 Cell Picture TWO RX-90 CELL

Workspace Analysis in Multirobot Manipulation International Symposium on Robotics Stockholm, Sweden. Oct 7-11, 2002 Reference Robot Workspace and Reachable Figure TWO RX-90 CELL

Workspace Analysis in Multirobot Manipulation International Symposium on Robotics Stockholm, Sweden. Oct 7-11, 2002 TWO RX-90 CELL Reachable Workspace

Workspace Analysis in Multirobot Manipulation International Symposium on Robotics Stockholm, Sweden. Oct 7-11, 2002 CONTENTS Introduction Basic Definitions Multirobot System Analysis Dexterous Workspace Reachable Workspace Application to RX-90 robot Dexterous Figure Construction Reachable Figure Construction Two RX-90 cell  Conclusions

Workspace Analysis in Multirobot Manipulation International Symposium on Robotics Stockholm, Sweden. Oct 7-11, 2002 A new method to analyze multirobot workspace has been presented. The method is based in computing the intersection of the reference manipulator workspace and the reachable/dexterous figure of the other robots. The method has been applied to PUMA like manipulators. Further work : Introduction of orientation kinematics. CONCLUSIONS

Workspace Analysis in Multirobot Manipulation International Symposium on Robotics Stockholm, Sweden. Oct 7-11, 2002 Robots in the same Position and different Orientation

Workspace Analysis in Multirobot Manipulation International Symposium on Robotics Stockholm, Sweden. Oct 7-11, 2002 Orientation Range Analysis

Workspace Analysis in Multirobot Manipulation International Symposium on Robotics Stockholm, Sweden. Oct 7-11, 2002 Further Works Orientation Range Analysis through Analytic Methods Automatic Work Cell Design (Position and Orientation)