RoboAnalyzer

3D Model Based Robotics Learning Software User Manual

Features:
Forward Kinematics Inverse Kinematics Forward Dynamics* Inverse Dynamics* Animation and Plots Virtual Robot Module Integration with MATLAB

Freely Available for Academic Use !!!

March 2013 Developed by Prof S. K. Saha & Team Mechatronics Lab, Mechanical Engineering Department, IIT Delhi, New Delhi, India Courtesy: CD Cell, QIP, IIT Delhi

http://www.roboanalyzer.com
* Uses ReDySim Dynamic Formulation (Appendix A)

PREFACE
Robotics is a field related to the design, development, control and application of robots in industry, education, research, entertainment, medical applications etc. Since the mathematics involved in the study of robotics, e.g., kinematics and dynamics is initially difficult to understand by students and same is the case by a teacher to convey the essence of mathematics of robotics to the students. Also it has been difficult for students to learn because of limited ability to perceive and visualize the concepts appropriately at the time of teaching. Without seeing a real robot it is very difficult to comprehend its motion in three-dimensional Cartesian space. Hence, there is a need for a robotics learning software. The work of combining the robot analyses algorithms in the form of software started in 1996 in the name of RIDIM (Recursive Inverse Dynamics for Industrial Manipulator). But it had only analysis part with plot facilities. The development of RoboAnalyzer started in 2009. RoboAnalyzer, a 3D model based software, can be used to teach robotics subjects to undergraduate and postgraduate courses in engineering colleges in India and elsewhere. It can be used to learn DH parameters, kinematics and dynamics of serial robots and allows 3D animation and graph plots as output. In essence, learn/teach the physics of robotics with the joy of RoboAnalyzer animations before attempting to learn the mathematics of robots. RoboAnalyzer is developed in the Mechatronics Lab, Department of Mechanical Engineering at IIT Delhi, India under the guidance of Prof. S. K. Saha. The following students are given due credits in its development. S. Goel and S. Ramakrishnan (1996-97) : Algorithm development for Recursive Inverse Dynamics for Industrial Manipulators (RIDIM) A. Patle (2000-01) : Windows-interface for RIDIM Rajat Jain (2009-10) : Added Graph-plots to RIDIM Suril V Shah (2007-11) : Recursive Dynamics Simulator (ReDySim) Algorithm [Appendix A] Rajeevlochana C.G. (2009 - present) : User Interface, 3D Modeling of robot, Forward Kinematics, Animation, Graphplot, DH Visualize, Virtual Robot Module, Integration with MATLAB Amit Jain (2010-11) : C# implementation of DeNOC-based Inverse and Forward Dynamics (ReDySim) Jyoti Bahuguna (2011-12) : Inverse Kinematics Module and Motion Planning Ratan Sadanand O.M. (Summer Intern, 2012): Conversion of CAD models for Virtual Robot Modules

CONTENTS
1. 2. 3. 4. 5. 6. 7. 8. 9. GETTING STARTED .................................................................................................................................................... 1 INTRODUCTION TO ROBOANALYZER......................................................................................................................... 1 DENAVIT-HARTENBERG PARAMETERS VISUALIZATION ............................................................................................. 5 FORWARD KINEMATICS ............................................................................................................................................ 6 INVERSE KINEMATICS ............................................................................................................................................... 9 INVERSE DYNAMICS ............................................................................................................................................... 10 FORWARD DYNAMICS ............................................................................................................................................ 12 MOTION PLANNING ............................................................................................................................................... 13 GRAPH PLOT OPTIONS............................................................................................................................................ 14

10. VIRTUAL ROBOT MODULE ...................................................................................................................................... 15 11. MATLAB INTEGRATION .......................................................................................................................................... 16 12. REFERENCES ........................................................................................................................................................... 16 APPENDIX A: RECURSIVE DYNAMICS SIMULATOR (REDYSIM) ........................................................................... 17

RoboAnalyzer User Manual

http://www.roboanalyzer.com

1. GETTING STARTED
This section helps you get started with the installation of RoboAnalyzer, a 3D Model Based Robotics Learning System. It has been developed using OpenGL and Visual C#.

1.1. MINIMUM SYSTEM REQUIREMENT

Processor: Atleast 1.5 GHz RAM: Atleast 512 MB Operating System: Windows XP, Windows Vista, Windows 7 Dependencies: Microsoft .Net 2.0 framework

1.2. INSTALLATION
RoboAnalyzer can be installed on a computer by downloading it from our website. The latest version of the software (version 6) is available for free at http://www.roboanalyzer.com . The following are the steps to install RoboAnalyzer: Step 1: Visit http://www.roboanalyzer.com Step 2: Click on Downloads tab Step 3: Click on RoboAnalyzer V6 (or latest version) to download a .zip file Step 4: A popup window will appear. Select the folder where the file has to be saved and click on Save Step 5: After downloading is complete, unzip RoboAnalyzer6.zip to any folder on your computer. Open the folder RoboAnalyzer6 Step 6: Double-click on RoboAnalyzer6.exe to start RoboAnalyzer.

2. INTRODUCTION TO ROBOANALYZER
RoboAnalyzer is a 3D Model Based Robotics Learning Software. It has been developed to help the faculty to teach and students to learn the concepts of Robotics. It also acts as a supporting material for the contents on various robotics topics in text book entitled Introduction to Robotics, S. K. Saha, 2008 *1+.

2.1. MODEL A ROBOT

Double click on RoboAnalyzer6.exe starts RoboAnalyzer. By default, it shows a robot model (2-R). Users can select a robot from the options given at the left bottom corner of the application as shown in Figure 1. After selecting a robot model, users can modify the Denavit-Hartenberg (DH) parameters shown in the tabular form and the robot model updates automatically. A few industrial robots are also listed, when selected shows a 3D CAD model of the robot (Figure 2).

RoboAnalyzer User Manual

http://www.roboanalyzer.com

Figure 1: Select Robot Model and Redefine DH Parameters

Figure2: 3D CAD Model of Industrial Robot

2.2. FEATURES OF ROBOANALYZER

RoboAnalyzer can be used to perform kinematic and dynamic analyses of serial chain robots/manipulators. The following are the main features of RoboAnalyzer: DH Parameter Visualization (Section 3) Forward Kinematics (Section 4) Inverse Kinematics (Section 5) Inverse Dynamics (Section 6) Forward Dynamics (Section 7) Motion Planning (Section 8)

RoboAnalyzer User Manual

http://www.roboanalyzer.com

2.3. OVERVIEW OF USER INTERFACE

RoboAnalyzers easy to use Graphical User Interface (GUI) consists of the following as shown in Figures 3, 4 and 5. 1. Robot Selection and DH Parameters section 2. Visualize DH section 3. 3D Model Browser 4. 3D Model View 5. Graph Plot Tree View 6. Graph Plot Window 7. Inverse Kinematics Window

Figure 3: User Interface of 3D Model View

Figure 4: User Interface of Graph Plot View 3

RoboAnalyzer User Manual

http://www.roboanalyzer.com

Figure 5: User Interface of Inverse Kinematics Window

2.4. 3D MODEL VIEW OPTIONS

RoboAnalyzer lets the user to zoom, rotate and pan the 3D model to have better visualization. These can be used as explained below and shown in Figure 6. Zoom: Place the mouse cursor anywhere on 3D Model View and use the mouse-wheel to zoom in and zoom out. It can also be done by clicking on Zoom In and Zoom Out buttons. Rotate: Click on Rotate button to make it active. Place the mouse cursor anywhere on the 3D Model View and rotate the model by clicking on left-mouse button and dragging the mouse. Pan: Click on Pan button to make it active. Place the mouse cursor anywhere on the 3D Model View and translate the model by clicking on left-mouse button and dragging the mouse. Standard Views: Select any standard view from the dropdown and the model view updates.

Figure 6: 3D Model View Options

RoboAnalyzer User Manual

http://www.roboanalyzer.com

3. DENAVIT-HARTENBERG PARAMETERS VISUALIZATION

The architecture of industrial robots is usually represented by Denavit-Hartenberg (DH) parameters. It forms the basis for performing kinematic and dynamic analyses of robots. A set of four DH parameters is used to represent the position and orientation of a robot-link with respect to its previous link. More details on DH parameters can be found in Chapter 4 of [1].

3.1. VISUALIZE DH
After selecting a robot and redefining DH parameters as explained in Section 2.1, users can visualize each DH parameter by selecting a joint and then selecting a DH parameter type as shown in Figure 7. Once it is done, the corresponding DH parameter is highlighted in the DH parameter input table and a transformation frame moves in the 3D robot model. It shows the two co-ordinate frames corresponding to the selected DH parameter. Users can click on Together button and a co-ordinate frame moves covering all the four DH parameters corresponding to the selected joint. Users can click on Base Frame to End-Effector button to see a co-ordinate frame moving from base frame to end-effector frame covering all the DH parameters of the robot model.

Figure 7: Visualize DH Parameters

3.2. LINK CONFIGURATION

The configuration/ transformation of a co-ordinate frame (DH frame) attached on each robot-link can be determined with respect to a frame attached to its previous link or base frame by following the steps below and as shown in Figure 8. Select a joint. If Joint1 is selected, it corresponds to co-ordinate frame attached on Link1. Select Previous Link Frame or Base Frame as the reference frame with respect to which the transformation needs to be determined. Click on Update button and 4X4 transformation matrix is populated. A pair of co-ordinate frames is shown in 3D robot model to help user in visualizing the transformation. 5

RoboAnalyzer User Manual

http://www.roboanalyzer.com

Figure 8: Link Configuration

3.3. END-EFFECTOR CONFIGURATION

The end-effector configuration/transformation can be determined with respect to the base frame directly by using the Update button as shown in Figure 9. The 4X4 transformation matrix is populated and a pair of coordinate frames is shown in 3D robot model to help user in visualizing the transformation.

Figure 9: End-Effector Configuration

4. FORWARD KINEMATICS
In the forward or direct kinematics, the joint positions, i.e. the angles of the revolute joints and the displacements of the prismatic joints, are prescribed. The task is to find the end-effectors configuration/transformation consisting of its position and orientation. More details can be found in Chapter 6 of [1]. After selecting a robot and redefining DH parameters as explained in Section 2.1, forward kinematics (FKin) is performed which updates the 3D model. 6

RoboAnalyzer User Manual

http://www.roboanalyzer.com

4.1. ANIMATION OF FKIN

To perform animation of the robot motion between two sets of initial and final values of joint variables, the following are the steps as shown in Figures 10 and 11. The trajectory of joint values, joint velocities and joint accelerations follow Cycloidal trajectory mentioned in Chapter 8 of [1]. The trajectory can be changed as explained in Section 8. 1. Set the initial and final values of joint variables 2. Set Time Duration and Number of Steps 3. Click on FKin button 4. Click on Play button to see the animation 5. The end-effector trace can be viewed

Figure 10: Initial Position of all Joints

Figure 11: Final Position of all Joints and Trace of End-Effector

4.2. GRAPH PLOTS OF FKIN

To view the graph plots of a forward kinematics (animation) analysis, the following are the steps as shown in Figures 12, 13 and 14. 1. Click on Graph tab 7

RoboAnalyzer User Manual

http://www.roboanalyzer.com

2. Click on + next to the link of which the plots are to be viewed 3. Click on box to plot graph of a particular node to see X, Y and Z plots 4. Click on + next to the joint of which the plots are to be viewed 5. Click on box to plot graph of a particular node to see joint value (joint angle for revolute joint and joint offset for prismatic joints), joint velocity and joint acceleration

Figure 12: Graph Plots of FKin Data

Figure 13: Graph Plots of Position of Coordinate Frame attached to Link3

Figure 14: Graph Plots of Input Trajectory to Joint3 (Cycloidal Trajectory) More details and information on the Graph Plot options can be found in Section 9. 8

RoboAnalyzer User Manual

http://www.roboanalyzer.com

5. INVERSE KINEMATICS
Inverse Kinematics (IKin) consists of determination of the joint variables corresponding to a given end-effectors orientation and position. The solution to this problem is of fundamental importance in order to transform the motion specifications assigned to the end-effector in the operational space into the corresponding joint space motions. There may be multiple or no results possible for a given end-effector position and orientation. More details can be found in Chapter 6 of [1].

5.1. SOLUTIONS OF IKIN

To select a robot and view the solutions of its Inverse Kinematics, the following are the steps as shown in Figures 15 and 16. In future, an IKin solution can be selected and 3D model will be updated accordingly. 1. Click on IKin button. It shows a separate window (Figure 16) 2. Select a Robot 3. Enter Input parameters 4. Click on IKin button 5. View the possible solutions 6. Click on Show button. It shows the selected solution in 3D Model window. To see this go back to main window by minimizing IKin window 7. Select any of the obtained solution as initial and final solution 8. Click on OK. This step replaces the initial and final joint values in DH Parameter table (Main window) by values selected in step 7 9. Click on FKin button to view animation i.e. how robot moves from one solution to another solution selected in step 7

Figure 15: Inverse Kinematics Button

RoboAnalyzer User Manual

http://www.roboanalyzer.com

Figure 16: Inverse Kinematics of 3R Articulated Robot

6. INVERSE DYNAMICS
Inverse Dynamics (IDyn) is a dynamics problem, where the robot geometric, inertial parameters, and the joint motions i.e its positions, velocities and acceleration are given and the corresponding joint torques or forces are calculated. In RoboAnalyzer, the dynamics solver is based on ReDySim algorithm, which uses Decoupled Natural Orthogonal Complement (DeNOC) Matrices based recursive formulation. More details on ReDySim can be found at [2]. More details on Inverse Dynamics and DeNOC can be found in Chapters 8 and 9 respectively of [1].

6.1. SOLUTION OF IDYN

Select a robot and redefine DH parameters as explained in Section 2.1, to solve for IDyn of the robot between two sets of initial and final values of joint variables, the following are the steps as shown in Figures 17, 18, and 19. The trajectory of input joint values, joint velocities and joint accelerations follow Cycloidal trajectory mentioned in Chapter 8 of [1]. The trajectory can be changed as explained in Section 8 1. 2. 3. 4. Set the initial and final values of joint variables Set Time Duration and Number of Steps Set Gravity (all values should be in SI units, i.e. m/s^2) Select a robot-link to enter its Center of Gravity (CG) location. It corresponds to a vector from the CG of the robot-link to the origin of the co-ordinate frame attached to that link, measured in the reference of the coordinate frame attached to that link. Select Mass Properties of a robot-link. Set Mass of each robot-link (values should be in SI units, i.e. kg) and set Inertia tensor of each robot-link with respect to the co-ordinate frame attached at the CG of the robotlink and the co-ordinate frame is parallel to the one attached to the robot-link (values should be in SI units, i.e. kgm^2). These values are to be entered manually and not calculated automatically from the shape of the robot-links. Click on FKin button (required to populate the input joint trajectory) Click on Play button to see the animation (only for visualization purpose, not necessary for IDyn) Click on IDyn button to perform Inverse Dynamics lick on Graph tab to view the graph

5.

6. 7. 8. 9.

10

RoboAnalyzer User Manual

http://www.roboanalyzer.com

Figure 17: Inverse Dynamics Settings

Figure 18: Set Center of Gravity for Inverse Dynamics

Figure 19: Set Mass and Inertia Properties and Perform Inverse Dynamics 11

RoboAnalyzer User Manual

http://www.roboanalyzer.com

6.2. GRAPH PLOTS OF IDYN

To view the graph plots of joint torques and forces, the following are the steps as shown in Figure 20. 1. Click on + next to the joint of which the plots are to be viewed 2. Click on box to plot graph of joint torque/force

Figure 20: Graph Plot of Joint Torque/Force More details and information on the Graph Plot options can be found in Section 9.

7. FORWARD DYNAMICS
Forward Dynamics (FDyn) is a dynamics problem, where the robot geometric, inertial parameters, and the joint torques and forces are given and the joint accelerations are calculated. The dynamics solver uses ReDySim[2] as in IDyn. More details on Forward Dynamics can be found in Chapters 8 and 9 of [1].

7.1. SOLUTION OF FDYN

Select a robot and redefine DH parameters as explained in Section 2.1, to solve for FDyn of the robot for a given initial values of joint variables, please refer to Section 6.1 to perform steps 1 to 5 mentioned below. Then perform steps 6, 7 and 8 as shown in Figure 21. 1. Set the initial value of joint variables 2. Set Time Duration and Number of Steps 3. Set Gravity (all values should be in SI units, i.e. m/s^2) 4. Select a robot-link to enter its Center of Gravity (CG) location. It corresponds to a vector from the CG of the robot-link to the origin of the co-ordinate frame attached to that link, measured in the reference of the co-ordinate frame attached to that link. 5. Select Mass Properties of a robot-link. Set Mass of each robot-link (values should be in SI units, i.e. kg) and set Inertia tensor of each robot-link with respect to the co-ordinate frame attached at the CG of the robotlink and the co-ordinate frame is parallel to the one attached to the robot-link (values should be in SI units, 12

RoboAnalyzer User Manual

http://www.roboanalyzer.com

i.e. kgm^2). These values are to be entered manually and not calculated automatically from the shape of the robot-links. 6. Click on FDyn button to perform Forward Dynamics. The robot is simulated for free-fall due to the action of gravity. In future, joint torques/forces can be set as input. 7. Click on Play button to see the animation 8. Click on Graph tab to view the graph

Figure 21: Forward Dynamics

7.2. GRAPH PLOTS OF FDYN

To view the graph plots of joint accelerations and position of links, follow the steps mentioned in Section 4.2.

8. MOTION PLANNING
The goal of motion planning of a robot is to generate a function according to which a robot will move. This function generation depends on the robot tasks. A robot user typically specifies a number of parameters to describe a point-to-point or continuous-path task. Trajectory planning algorithm then generates the reference inputs for the control system of the manipulator, so as to be able to execute the motion. The geometric path, the kinematic and dynamic constraints are the inputs of the trajectory planning algorithm, whereas the trajectory of the joints (or of the end effector), expressed as a time sequence of position, velocity and acceleration values, is the output. Trajectory planning can be done either in the joint space, i.e., in terms of joint positions, velocities and accelerations, or Cartesian space (also called operational space) i.e., in terms of the endeffector positions, orientations, and their time derivatives. More details on Motion Planning can be found in Chapter 11 of [1].

8.1. SOLUTION OF MOTION PLANNING

Select a robot and redefine DH parameters as explained in Section 2.1. For a given initial values of joint variables, Motion planning of the selected robot can be performed by selecting particular motion trajectory as shown in Figure 21 followed by steps 1 to 5 mentioned in section 4.1.

13

RoboAnalyzer User Manual

http://www.roboanalyzer.com

Figure 21: Motion Planning

9. GRAPH PLOT OPTIONS

The analyses results for FKin, IDyn and FDyn can be viewed as graph plots as explained in Sections 4.2, 6.2 and 7.2 respectively. Several options for graph plot functionalites are explained below and as shown in Figure 22 . 1. Select a graph plot node 2. Set the plot color, symbol and line style 3. Right click on graph to show a menu. Here you can use various options to zoom, print etc 4. Export Data as CSV: Export plot data that can be opened in a spreadsheet such as MS Excel 5. Use Mouse wheel to zoom in and out 6. Press Mouse wheel and drag the mouse to pan around the graph

Figure 22: Graph Plot Options

14

RoboAnalyzer User Manual

http://www.roboanalyzer.com

10. VIRTUAL ROBOT MODULE

The Virtual Robot Module inside RoboAnalyzer lets the user select an industrial robot model (CAD Model) and change the joint angles using a slider or using buttons. It can be used as a learning tool to teach joint-level jogging of robots. As of this version, CAD models of 17 industrial robots can be loaded. The following steps are to be followed (as illustrated in Figures 23-24). 1. Click on More Robots button. 2. A new window/form is shown. By default CAD model of a robot is displayed. 3. Select a robot from the drop-down and click on Load. 4. Use slider on the left to change each joint angle. Note that all the joint angles have minimum and maximum values as per their specifications (joint limit). 5. Buttons can also be used to change the value of joint angle. 6. The end-effector transformation is updated with every change in joint angle(s).

Figure 23: Click on More Robots Button in RoboAnalyzer Window

Figure 24: Virtual Robot Module

15

RoboAnalyzer User Manual

http://www.roboanalyzer.com

11. MATLAB INTEGRATION

Virtual Robot Application (explained in Section 10) is made available as a COM interface which can be called and controlled from MATLAB. Other software which can interface with COM objects (such as MS Excel, programs developed in C++ etc.) can also used to control Virtual Robot. At present, only Virtual KUKA KR5 robot can be controlled from MATLAB. The following steps are to be followed to install VirtualRobotCOM on a computer: 1. Download "VirtualRobotsCOM.zip" and unzip it in C:\ drive 2. If MATLAB installation is 32 bit version, right click on C:\VirtualRobotsCOM\register32.bat and "Run as Administrator" else if MATLAB installation is 64 bit version, right click on C:\VirtualRobotsCOM\register64.bat and "Run as Administrator" 3. A command window opens, executes some code and closes on its own (Installation is complete!). 4. Open C:\VirtualRobotsCOM\virtualRobotInMatlab.m in MATLAB and run it. Virtual Robot Application as shown in Figure 25 is displayed. 5. MATLAB file has brief comments on the workflow. Joint angles of the robot (KUKA KR5) have to be updated as per the users requirement and algorithm (such as Jacobian control, Cartesian motion planning etc.) 6. Denavit-Hartenberg (DH) parameters of Kuka KR5 robot is given in " C:\VirtualRobotsCOM\ DHParameters_KukaKR5.pdf"

Figure 25: Virtual Robot Application Being Controlled from MATLAB

12. REFERENCES
[1] S. K. Saha, Introduction to Robotics, Tata McGraw Hill, New Delhi, 2008 [2] ReDySim, website accessed on December 28, 2011, http://www.roboanalyzer.com/redysim.html 16

RoboAnalyzer User Manual

http://www.roboanalyzer.com

APPENDIX A: RECURSIVE DYNAMICS SIMULATOR (REDYSIM) A.1. GENERAL DESCRIPTION

Recursive Dynamics Simulator (ReDySim) is a MATLAB-based recursive solver [A1] for dynamic analysis of robotic and multibody systems. ReDySim has capability to incorporate any control algorithm and trajectory planner with utmost ease. This ability provides flexibility to user/researcher in incorporating any customized algorithms. ReDySim showed considerable improvement [A1] over the commercial software and existing algorithms in terms of both computational time and numerical accuracy. ReDySim has three modules as shown in Table 1. Table 1: Details of modules in ReDySim Modules of ReDySim Demos within the module 1 Basic Module: Fixed-base Systems 3-link robot, gripper, KUKA robot, four-bar mechanism, (Open and Closed-loop Systems) biped, long chain, 3-RRR parallel robot and robotic leg 2 Specialized Module: Floating-base Systems 3- and 7-link space robots, dual-arm space robot, and (a) Module for Space Robots biped, quadruped and hexapod legged robots (b) Module for Legged Robots 3 Symbolic Module Fixed-base PR-robot, 2-link robot and KUKA robot, and (a)Module for Fixed-base systems* floating-base 2-link space robot (b)Module for Floating-base Systems *Presently, only fixed-base symbolic module can model prismatic joint. It will soon be added to other modules.

A.2. HOW TO INSTALL AND USE

a) b) c) d) e) Require MATLAB 2009a or higher version in order to use ReDySim. Go to the webpage http://www.redysim.co.nr/download. Download the required module and unzip the downloaded folder. Follow the instruction manual provided in the module to start solving a problem. For analysis of any system, the inputs are entered in the files shown in Table 2 (See instruction manual). jacobian.m Yes++ inv_kine.m Yes++ -

Table 2: Details of the files in which inputs are required to be entered for analysis Module Sub module input.m initial.m trajectory.m torque.m 1 Fixed-based Inverse Yes Yes Forward Yes Yes Yes+ Yes 2 Floating-base Inverse Yes Yes Yes Forward Yes Yes Yes+ Yes 3 Symbolic Fixed/Floating Yes +

Desired trajectory for controlled simulation; ++ This file is required only in the case of closed-loop systems

A.3. RUN DEMOS

a) Open the downloaded module and select Inverse /forward dynamics subfolder. b) Within inverse/forward dynamics folder, open the subfolder with name of the system to be analyzed, i.e., open folder named biped for analyses of biped. This folder has the required input files shown in Table 2. c) Copy all the files from this folder and paste them in inverse dynamics/forward dynamics folder. d) Run function file run_me.m. This will simulate the system and plot the results of inverse dynamics (joint torques) or forward dynamics (joint motions), total energy, etc. e) Run animate.m for animating the system. 17

RoboAnalyzer User Manual

http://www.roboanalyzer.com

A.4. SNAPSHOTS OF SIMULATION RESUTLS OF A FLAOTING-BASE BIPED USING REDYSIM

Figure A.1: Snapshots of simulation results of a biped using floating-base module of ReDySim

REFERENCE
A1. Shah S. V., Saha S. K., and Dutt J. K., Dynamics of Tree-type Robotic Systems, Intelligent Systems, Control and Automation: Science and Engineering Book series, Springer, Netherlands (ISBN 978-94-007-5005-0).

S. V. Shah, IIIT Hyderabad; S.K. Saha, IIT Delhi; J.K. Dutt, IIT Delhi

Dynamics of Tree-Type Robotic Systems

Series: Intelligent Systems, Control and Automation: Science and Engineering, Vol. 62

Features
Indispensible one stop resource Presents a framework for dynamic modeling and analysis of treetype robotic systems Introduces concepts of kinematic module and Euler-Angle-Joints Inclusion of closed-loop systems Illustration of model-based control Comes with Recursive Dynamics Simulator (ReDySim), a free solver for dynamic analysis
18

Survey on RoboAnalyzer
A survey on RoboAnalyzer was conducted over a group of 20 students. They used the software in "Design of Machines and Mechanism" course conducted by IIT Delhi. A brief summary of the survey is shown below.

5 4.5 4 3.5 3 2.5 2 1.5 1 0.5 0 (D) (B) (A) (F) (C) (E) RoboAnalyzer-Evaluation Parameters (G)

(A) (B) (C) (D) (E) (F) (G)

Ease of Installaion Helps in Learning Robotics GUI 3D Animation DH Visualization Kinematic and Dynamic Simulation Graph-Plot facility

*Rating: 0-5 (0=not included or component is far below standard, 5=excellent)

Feedback on RoboAnalyzer
" Easy for beginners, easy to install and run, this software lets students learn new robotic concepts" "Provides quick validation and excellent GUI. Path trace is helpful" "Easy visualization of the DH parameters. Excellent software to understand DH parameters deeply " "Very user friendly, good for beginners" "Good to visualize DH parameters, saves time in Forward and Inverse Kinematic analysis but input-output data can't be saved" " It is especially an infotainer giving boost to robotic analysis as well as not tiresome....Rather it develops interest to work again & again. Try to improve it regarding graphics point of view, Enhanced User Interface for better involvement" "Easy to visualize kinematics and dynamic analysis" "Path trace is helpful, excellent software"

The McGraw-Hill Companies

"Comprehensive book that presents a detailed exposition of the concepts using a simple and student friendly approach To get more insight on

Robotics

Excellent coverage of Robotic applications, Homogeneous transformation and Robotic programming etc.

comprehensive coverage on Drive Systems, Robot Control, and Robot Applications http://www.mhhe.com/saha/robotics

Published in Mexico (Spanish)

Published in P.R. China

RoboAnalyzer
3D Model Based Robotics Learning Software
Developed by Prof S. K. Saha & Team (Mr. Rajeevlochana C. G., Mr. Amit Jain, Mr. Suril V. Shah, Ms. Jyoti Bahuguna and Mr. Ratan Sadanand) Mechatronics Lab, Mechanical Engineering Department, IIT Delhi, New Delhi, India Contact: saha@mech.iitd.ac.in Website: http://www.roboanalyzer.com