Robot Arm Engineering
Kinematics, Dynamics and Control
PRE 5316/ PDE 396
Lecture:1
Module Details
• Module Leader: Dr. M. Gouda Alkalla
• Schedule:
Monday
12:00 – 1:40 (PDE)
1:50 – 3:30 (MTE)
• Tutorial: ➢ Semester Work grades: 20% (PDE)
➢ Written Exam grades: 80% (PDE)
50% (MTE)
50%(MTE)
• Classroom: CNC lab (PDE) &
• Email: m_elkalla@mans.edu.eg,
• Office Hours: Wednesday 11:00 – 16:00
Monday
8:30 – 16:00
Course Content
• Introduction on robotics
• Robot arm configurations
• Homogenous Transformations
• Forward Kinematics
• Inverse Kinematics
• MATLAB Robotics Toolbox
• Practical Session (Universal Robots UR5)
• Velocity Kinematics
• Trajectory Planning
• Dynamics
• Introduction to Joints Control
• Robot programming and applications
Handbook
All robots are machines, but not all machines are robots
Robots! Robots on Mars and in oceans, in hospitals and homes, in factories and schools;
robots fighting fires, making goods and products, saving time and lives . . .
Robots today are making a considerable impact on many aspects of modern life, from
industrial manufacturing to healthcare, transportation, and exploration of the deep space
and sea. Tomorrow, robots will be as pervasive and personal as today’s personal
computers. The dream to create machines that are skilled and intelligent has been part of
humanity from the beginning of time. This dream is now becoming part of our world’s
striking reality.
The Seven Criteria of Defining a Robot:
1.
2.
3.
4.
5.
6.
7.
Sensing the Environment
Programmable Actions and Behavior
Change, Interact with, or Operate on Environment
Power Source Required
A Language Suitable for Representing Instructions and Data
Autonomy Without External Intervention
A Nonliving Machine
Types of Robots
Are there jumping robots?
Boston Robots
SALTO
Even climbing robots?!!!
EJBOT
Climbing Robots
Magnetic
Mini-Whegs
with sticky
tape
Rvc
robot
Glue robot
Pneumatic
Chemical
Adhesion
Bigfoot robot
Electrostatic
StickyBot
SpinyBot II
Passive
Mechanical suction
cups
Importance of robots?
4D
Dirty - Dull - Dangerous - Difficult to access
UNIMATE was the first industrial robot,
which worked on a General Motors
assembly line in New Jersey, in 1961
ASIMO Humanoid
OceanOne, Avatar Oceanic Discovery
Stanford's Humanoid Diving Robot Takes on
Undersea Archaeology and Coral Reefs
•
https://www.youtube.com/watch?v=uFebQo2hMqU