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lecture2-kinematics

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lecture2-kinematics

Uploaded by

Nahush Desai
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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ME 328: Medical Robotics

Winter 2019

Lecture 2:
Kinematics of medical robotics

Allison Okamura
Stanford University
kinematics
• The study of movement
• The branch of classical mechanics that describes the
motion of objects without consideration of the
forces that cause it
• Why do you need it?
– Determine endpoint position and/or joint positions
– Calculate mechanism velocities, accelerations, etc.
– Calculate force-torque relationships
degrees of freedom
• Number of independent position variables needed
to in order to locate all parts of a mechanism
• DOF of motion
• DOF of sensing
• DOF of actuation
• The DOF of a mechanism does not always
correspond to number of joints
a remote center of motion (RCM) robot

US patent 5397323 (Taylor, et al.)


four-bar linkage
• commonly used 1-DOF
mechanism
• relationship between input
link angle and output link
angle can be computed from
!
geometry

wikipedia.org
Types of four-bar linkages, s = shortest link, l = longest link
it might help to prototype

round head
paper fasteners

officedepot.com

www.rogersconnection.com/triangles
joints

• Think of a
manipulator/
interface as a set of
bodies connected
by a chain of joints
• Revolute is the
most common
joint for robots

From Craig, p. 69
kinematics for robots
• Allows you to move between Joint Space and Cartesian
Space

• Forward kinematics: based on joint angles, calculate end-


effector position
joint variables
Be careful how you define joint positions

Absolute Relative
absolute forward kinematics
x = L1cos(θ1) + L2cos(θ2)
y = L1sin(θ1) + L2sin(θ2)

(Sometimes done this


way for robots)
relative forward kinematics

x = L1cos(θ1) + L2cos(θ1+θ2)
y = L1sin(θ1) + L2sin(θ1+ θ2)

(Often done this


way for robots)
Inverse Kinematics
• Using the end-effector position, calculate the joint
angles necessary to achieve that position
• Not used often for input devices or for robot
control
– But useful for planning
• There can be:
– No solution (workspace issue)
– One solution
– More than one solution
example
• Two possible solutions
• Two approaches:
– algebraic method (using
transformation matrices)
– geometric method
• Our devices will be simple
enough that you can just use
geometry
computing velocity
• Recall that the forward kinematics tells us the
end-effector position based on joint positions
• How do we calculate velocity?
• Use a matrix called the Jacobian

˙
x˙ = Jθ
formulating the Jacobian
Use the
chain rule:

Take
partial
derivatives:
assemble in a matrix
˙
x˙ = Jθ

€
Singularities
• Many devices will have configurations at which the
Jacobian is singular
• This means that the device has lost one or more
degrees of freedom in Cartesian Space
• Two kinds:
– Workspace boundary
– Workspace interior
Singularity Math
• If the matrix is invertible, then it is non-singular.

˙ −1
θ = J x˙
• Can check invertibility of J by taking the
determinant of J. If the determinant is equal to 0,
then J is singular.
• Can use this method to check which values of θ
€will cause singularities.
Calculating Singularities
Simplify text: sin(θ1+θ2)=s12

−L1s1 − L2 s12 −L2 s12


det ( J (θ )) =
L1c1 + L2c12 L2c12
= (−L1s1 − L2 s12 )L2c12 + (L1c1 + L2c12 )L2 s12

For what values of θ1 and θ2 does this equal


zero?
€
even more useful….
The Jacobian can be used to relate joint
torques to end-effector forces:

T
τ=J F
Why is this important for robots?
how do you get this
equation?
The Principle of F ⋅ δx = τ ⋅ δθ
virtual work T T
F δx = τ δθ
states that changing the T T
coordinate frame does F Jδθ = τ δθ
not change the total work T T
of a system
F J =τ
T
J F =τ
suggested references
• Introduction to robotics : mechanics and control
John J. Craig
• Robot modeling and control
Mark W. Spong, Seth Hutchinson, M.Vidyasagar
• A mathematical introduction to robotic manipulation
Richard M. Murray, Zexiang Li, S. Shankar Sastry
• Springer handbook of robotics
B. Siciliano, Oussama Khatib (eds.)
http://site.ebrary.com/lib/stanford/docDetail.action?
docID=10284823
Assignment 1
Problem 0: Commentary on seminar
Problem 1: Read/skim papers, answer questions
Problem 2: Kinematics of the Phantom Omni
Problem 3: Kinematics of a remote-center-of-
motion (RCM) robot

Posted later today, due Wednesday Jan. 16 at 4 pm


The keypad code for 550-108 is...
To do
• Fill out the survey (handout), return in class or to
the box outside Allison’s office (today!)
• Sign up on piazza:
https://piazza.com/stanford/winter2019/me328
• Remember: Seminar on Friday in 320-105, come
early!
• Visit us in office hours (in/around 550-108):
Lisa: Fridays 2:30-4:30 pm
Cole: Mondays 3-4 pm, 6-7 pm
Allison: Tuesdays 12-1:30 pm
550-108

in box

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