Robotics Engineering

Dr. Mahmoud Qaid

Lecture 1
medical robot
 General Introduction to robots
1.1 Dedication and classification of robotic systems
Robot systems are in principle a modern means of complex automated production processes and we can
delete or identify manual work in whole or in part in basic industrial processes or assistance. Auxiliary
operations are performed manually, are monotonous, preliminary and often difficult, difficult and harmful,
even dangerous, and much of the effort is spent on them.
Experience has shown that many manual processes cannot be automated by conventional media. In this
sense, the basic requirements in achieving the industrial robot and its extensive applications have emerged
with multiple mechanical parts with all degrees of effective freedom, which means that it is a driving force
mechanical.
Using the automated hand in the robot's automated control system, most processes effectively perform work
similar to the movement of the human arm.
Robot control systems can easily achieve multiple processes. Industrial robots are multi-purpose multi-
purpose mechanisms that meet the modern requirements of flexible automated production and achieve the
economic technology and business required in complex production and challenging environments such as
tunnels, underwater and other environments.
The robot is defined as an electro-mechanical tool capable of performing pre-programmed tasks and
performing those tasks and instructions with direct human command and control or from computer
programmers stored in its memory, characterized as arduous, dangerous and highly skilled work.
The general classification of robot systems can be divided into three sections:
1. Mobile robotic system
2. Processing robot systems: Manipulation robotic system
3. Robot Systems for Control and Information: Information...
1-1-1 Mobile Robot Systems:
In fact, mobile robot systems are mobile blocks controlled by an automated system as well as track
movement software, they are also characterized by automated loading of the desired point and can
automatically carry or empty in production plants. These systems are used in automated transfers of.
Automated transfer of hardware parts and tools to operating mechanisms and from them to warehouses.
Processing mechanisms can occupy the place of most mobile systems, and in agricultural production
mobile robot systems are automated driving devices to operate in the field and agricultural business as
autonomous automated tractors.
They are required to operate at the bottom of the ocean
figure 1-1 and to extract oils and gas fittings.....
In the case of mobile robots, various movement principles are used
that achieve movement by means of mechanical swings, legs or
vehicles and can be a drone, similar or floating without a captain.

1.1 Robot Systems for Control and Information: figure 1-1

A variety of measurement information, control
devices to request, provide and transmit
information, as well as the use of multiple control
signals. In production factories, automated control
systems help advance non-intrusive production that
is complicated by the use of industrial robots in
groups. figure 1-2
1.2 Manipulation robotic system
Robots, automated processors and complex robotic techniques. 2. Remote control robots and complex
processors and techniques. Manual control that connects directly to the human worker's arms and
sometimes to his legs. Automated robots are mainly used in industrial production (industrial robots and
robotic complexities). Remote control robots are used in exceptional circumstances (e.g. nuclear radiation,
air pollution, explosion risk, high and low temperatures and air pressure). Manual control robots are used
for loading, unloading and painstaking operations.
*Smart robots: "3rd robot generation" Intelligent robots It has a variety of sensors with a microcomputer
and a sophisticated microcomputer to process information, distinguish sites and automate solutions for the
most remote actions of the robot itself, aiming to shape the necessary technical processes in unspecified
conditions. These robots contain artificial intelligence elements..
In the present case, these generations do not abolish each other and each is adequately equipped. Naturally,
as the underlying elements evolve, robots become better, safer, faster and the overall blueprint of the
robotic system is shown as (1.4). The system can have a number of processors and units of technical
equipment as well as conversion devices.
From this point of view, processors can be at
multiple stages of technical complexity and
have their own independent controllers as well
as common control systems.
figure (1-4) shows an automated robotic
system with the necessary elements for its
work. In the Second and Third Generation
Robotics Scheme the sensors are used, the
second generation robots are usually equipped
with power sensors, touch sensors, location
sensors (ultra-sound and other similar sensors).
In the third generation robots, another feature
is the presence of the technical vision system.
Which with microprocessor is the most
figure (1-4)
complete state and corresponds to a certain
degree to the logical behaviour of a human
being in effective action, as well as by the ES - Exit system – OP: player - SE sensor elements
complex allergy device is controlled by the FB - Feedback – CP: Command Panel - CS Computer
quality of production as well as knowledge of
the features of the outside world. System - TS Technical System - M Manipulator Robotic
1.4 General features of robotic mechanism and classification
From kinetic theory, effective mechanisms in robots are complex, multi-structured motor chains with a
large number of organs possessing some of which can be of different lengths and controlled degrees of
freedom. Taking into account the theory of control, it is complex, non-linear and dynamic, multi-diverse
systems. Effective mechanisms are divided according to the number of chains into...
- Simple (consisting of a single motor chain).
- Complex (including a number of simple chains).
According to their form, simple motor chains can be open or closed, and complex chains can be classified
as follows:
- Branching chains (includes only simple open chains).
- Combination (including both open and closed series).
Depending on the motor limitations imposed on the end parties, they are divided into:
- Free or open.
- Connected or closed (restricted by motor pairs to a fixed base).
The practical fulfilment of the mechanisms by the motor pairs of both categories is the same except for
differences relating to the Mechanical operator in mechanical joints, class of motor pairs defined by a
number of conditions compulsory in links relating to the free relative movement of its members.
In the table shown in figure (1-15) kinetic pairs are organized in five items according to number Members
and number of relative movements The degree of freedom D.O.F for motor couples in the fifth
classification is one and the couples in the first classification have five degrees of relative freedom. In
addition, it is divided into types and motor couples are divided into types depending on the number of
relative cycles within the total freedom The pairs of the first type allow the greatest number three relative
cycles. The pairs of the second type are two cycles. The pairs of the third type allow for one relative
rotational movement. Also couples with relative movements of organs are alternately independent and
there are couples with movement The simplest example is the motor pair of screw nut with rotational and
linear motion
You're in writing.
 Robot Coordinate System
1- Definitions:
We review some definitions related to the robot and its Kinetic relations that are concerned with:
• Manipulator stricture
• links
• kinematic pair
• kinematic chain
• joint coordinates
• external coordinates
1- Manipulator structure figure (2-1) figure (2-2) figure (2-3).

Let's consider the mechanical Manipulator shown in figure (2-1). This mechanism consists of a n
solid part attached together. With joints these joints can be revolute intent role and prismatic
slippage joints achieve circular movement relative to the other figure (2-2) and slip joints achieve
withdrawal movement figure (2-3).
2.1.2 Link

The link in the robot consists of a solid piece characterized by its dynamic and kinetic-shaped
constants figure (2.4) It shows a typical connect. The robot constants of the link represent the
length and angle between the axis of its ends and represent the dynamic constants of the link
mass, the position of the center of gravity and the torque of inactivity. These constants are used in
the dynamic representation of the mechanism.
3.1.3 kinematic pair:
It consists of two movements connected to a joint, and the kinematic
pair expresses a single transition or rotational degree of freedom.
3.1.4 kinematics chain figure (2.4)
It consists of a set of kinematic links, and the chains are classified into simple chains,
composite chains, open chains and closed chains as shown in figure (2.5).
2.1.5 joint coordinates
‫أو‬
Numerical values that determine the relative
location of the motor pair links refer to the
coordinates of the joints of the robot. In figure (2.5)
circular joints, the coordinates of the joints
represent the angle of rotation, while in sliding
joints they are represented in the shift around
the axis of the joint. Or
2.16 External coordinates
External coordinates describe the position and direction of the end of effects in relation
to a variety of fixed reference coordinates. The position of the robotic hand is described
by x, y, z figure coordinates (2-6) and sometimes by cylindrical or spherical coordinates.
figure (2-6)
The study of the robot is not only achieved by the position of the Manipulator but its direction for
the body in the field of work of the robot. Usually the direction is determined using the angles of
the Euler angles figure (2-7) and we will consider the angle of the tilt yaw ѱ angle and the angle
of the height, landing or rotation pitch angle Ѳ and the angle of the roll angle ф . Thus, the
external coordinate vector describing the robot's position and direction corresponds to the
following relationship:
1.2.7 Direct kinematic problem
It represents the direct relation between joint coordinates and external coordinates

2.1.8 inverse kinematic problem

The relationship between joint coordinates means for external coordinates
2.2 Position and Orientation
To accomplish the overall field of automated missions, the robot has to reach any point at any
point in the field of operation, as well as to reach that point in any optional direction, for example
to move the screw in the hole on the robot to not only hold the screw but also guide the movement
of the screw figure (2-7) The three mutants (x, y, z) or that determine the position of the
Manipulator are insufficient to describe the direction of the Manipulator.

figure (2-7) figure (2-8)

Here we need three or more additional transformers, of which these are usually rotational
transformers such as the angle of rotation (roll), the angle of height or decline (pitch) and the
angle of deviation (yaw). The figure (2-8) shows the concept of these transformers. These
autonomous movements refer to the degree of freedom of freedom and to reach any optional point
In any optional direction we need six degrees of freedom and the human arm has exactly six
degrees of freedom in the shoulder, one in the elbow and three in the wrist. The six degrees of
freedom require six operators, generally represented by six independent engines. But if the robot
has six engines that doesn't mean it has six degrees of freedom.
2.3 coordinate system –relative frames
The location of Point A with known coordinates is
given for the coordinates system B. The location
of Point B is defined for the coordinates system C figure (2-9)
The location of Point A for the coordinates system C figure (2-9) to simplify the study neglects
the rotational movement and we only consider the transition movement displacement in this case
the coordinates axes in the set B Parallel axes in the C sentence and that A is a single point then
we can express A by vector :

The principle of B coordinates is defined by the

C set :

Then A is given in proportion to C as follows.

This solution is realized for the transition movement and

without rotation. If there is a rotational movement then it
is necessary to identify.
The rule is defined as a representation of all coordinates involving transition and rotational
movement for all other coordinates.
2.4 Rotation
The information point A for all coordinates is given . We can find
which is a new point resulting from the rotation of the A point that around the Z axis at angle Ѳ
using the rotation matrix :  x
 y
V =   (6)
z
(5)
 
1 

Homogenous coordinates
Let's now try to circulate the
conversion process using a single
matrix that achieves transition and
rotational movement by using the V
vector according to the following:
 Finally, let's find the result of the circular transition
movement by placing the withdrawal vector in the
fourth column.

And we see that the product matrix using Trans

(a, b, c) corresponds to a total of three vectors.

a + d  1 a d 
a  d  a + d  b + e 0
0 0
b  e = b + e   =  1 0 b  e
 
  +    
≡≡
c + f  0 0 1 c f
 c   f  c + f       
 1  0 0 0 1 1

The process of transition and rotation is achieved by the multiplication matrix

The general form of the transformation Matrix Roll Z
the angles of Roll, pitch , Yaw according to wrist
movement and will now be more accurate and defined as Roll y
rotational movements around coordinates axes according Roll X
to the following:
by publishing these and replacing
cos with c and sin with s in order
to get the overall result:

Finally, if we want to place the zeros in the fourth column with a, b, c include transition results
and therefore we get the complete conversion matrix and include three transitions and three
rotations.
2.6 Coordinate Frames
We often use the conversion matrix to describe the location of one coordinates relative to
another. When this method is used, we will refer to such a set by the coordinates rule. The use of
this conversion to describe all coordinates only makes sense if we have to study it for another
rule, in this case the origin point of the second rule can be determined by the conversion of the
point. The vector of direction x in the new set is the conversion of the dot
Similarly, the two unit vectors of the two directions z, y for the new set after the conversion
agree, , respectively.

Example (3): Find the point of origin and the

direction of coordinates of a base resulting from
the rotation around the z axis followed by
transition by [1, 7, 3] as shown in figure (2-10): figure (2-10)
Solution:
The original point in the new set coordinates by turning the point and roll around Z and
the transition process.
The original point of the new set is in the old set
coordinate and the unit vector in the direction x in the new set is
equal to:

Similarly, the unit vector in the y direction after the conversion

and equals and we also find the unit vector in the Z
direction after the conversion in this example. The coordinate
base is determined by a conversion by rolling around the Z
axis.

the unit vectors location is symbolized by an asterisk * and its direction in relation to the
converted point of origin corresponds to the directions of the converted coordinates
Example (4): Suppose the original point in figure (2-10) the R point corresponds we will often
use this terminology to represent a sentence for the coordinates where the original point is located
in the robotic Manipulator base that is now given the point In the base H and
symbolize it with the symbol we can find from the relationship:

Where: the given conversion matrix which

connects the base H,R. approves.

2.7 Coordinate frames in robot :

Let's now study the concept of the coordinates base for the robot, determining the point
located on the Manipulator of the robot (or rather the tip of the instrument) that is known for the
Manipulator base. Manipulator place is known for base rule R with conversion matrix So
we can find the location of the instrument's head in the fundamental coordinates.
To consider the situation described on figure (2-11) grabs the Drill perforated robot and punches a
hole in the piece it is the desired state and we have to resolve the issue to find the conditions that
make it real. The robotic base is represented by the R origin point, where it is known for the
universe frame rule. This knowledge is included in the conversion fixed assumption.
In the special location, the position of the Manipulator is linked to the conversion matrix
These are, in principle, unknown and we must resolve them.
The header of the instrument is connected by the conversion
matrix Fixed assumes
(if the instrument does not slip from the Manipulator)
so the location of the rotor Drill can relate to
the general rule according to the relationship:
UTE = UTR . RTH . HTE (18) figure (2-11)
Moreover, the location of the hole to be punched in the piece can relate to U's relation:
And we have two relations for the same point and the equality
UTE = UTR . RTH . HTE (18)
of the previous two equations we get.
UTE = UTP . PTH In fact, in all Robotic applications we have to find that
this conversion that defines the location of the Manipulator to
UTE = UTP . PTE (19)
the base and to solve the last equation in order to get us
first to multiply by and from it.

And by multiplying both ends of U

the last equation we get
2.8 Inverting Homogenous Transformer
Let's give values to the transformation matrix elements
The columns at the base of the Manipulator identify three existing or
perpendicular vectors, some of which are assigned to the direction of
the Manipulator figure (2-12). These refer to the approach vector in
which the points are towards the wrist.
orientation vector with Manipulator vector and normal vector regulator vector which is vertical
on other vectors and so used (n, o, a) in determining Manipulator base or Manipulator frame and
we will future use these labels for conversion matrix columns, even if we do not publish an
absolute reference to hand structure or conversion base

figure (2-12)
Where p, n represents peaceful lunch dot product for p and n radiators that: