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ABSTRACT
Mankind has always strived to give life-like qualities to its artifacts in an attempt to find the
substitutes for himself to carry out his orders and also to work in a hostile environment. The
popular concept of a robot is a machine that looks and works like human being. The industrial
robots of today may not look like human being although all the research is directed to provide
more and more anthropomorphic and human like features and superman capabilities in these.
The Force/Position Robot Manipulator control using PID controllers has a great importance in
the Automation Industries. D-H transformation, Iterative Newton-Euler dynamic formulation,
Lagrangian formulation of manipulator dynamics, Trajectory Planning and Control Logics are
the building blocks of robot hand action reference to base. Among many controllers, PID
controller is preferred in many fields for controlling the action. A PID controller attempts to
correct the error between a measured process variable and a desired set point by calculating and
then outputting a corrective action that can adjust the process accordingly.
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AKNOWLEDGEMENT
Pranaya Ranjan Behera
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TABLE OF CONTENTS
ABSTRACT ...................................................................................................................................................i
AKNOWLEDGEMENT................................................................................................................................ii
TABLE OF CONTENTS .............................................................................................................................iii
1. INTRODUCTION ....................................................................................................................................1
1.1 CLASSIFICATION OF ROBOTS ......................................................................................................1
1.2 PHYSICAL PARTS OF AN INDUSTRIAL ROBOT ........................................................................2
1.3 ROBOT ANATOMY...........................................................................................................................3
1.4 MANIPULATION AND CONTROL .................................................................................................5
2. CO-ORDINATE FRAMES, MAPPING AND TRANSFORMS.............................................................7
2.1 COORDINATE FRAME.....................................................................................................................7
2.2 MAPPING BETWEEN ROTATED FRAMES...................................................................................8
2.3 MAPPING BETWEEN TRANSLATED FRAMES ........................................................................10
2.4 MAPPING BETWEEN RPTATED AND TRANSLATED FRAMES ...........................................11
2.5 DESCRIPTION OF OBJECT IN SPACE .........................................................................................12
2.6 FUNDAMENTAL ROTATION MATRICES ..................................................................................14
2.7 EULER ANGELS..............................................................................................................................15
3. MANIPULATOR KINEMATICS..........................................................................................................16
3.1 MECHANICAL STRUCTURE AND NOTATIONS.......................................................................16
3.2 D-H TRANSFORMATION ..............................................................................................................17
3.3 FORWARD AND INVERSE KINEMATICS ..................................................................................20
4. DYNAMIC MODELING .......................................................................................................................22
4.1 LAGRANGIAN FORMULATION OF MANIPULATOR DYNAMICS ........................................22
4.2 ITERATIVE NEWTON-EULER DYNAMIC FORMULATION....................................................24
5. TRAJECTORY PLANNING..................................................................................................................29
5.1 STEPS IN TRAJECTORY PLANNING...........................................................................................29
5.2 JOINT SPACE TECHNIQUE ...........................................................................................................30
5.2 CARTESIAN SPACE TECHNIQUE................................................................................................33
6. CONTROLLERS....................................................................................................................................35
6.1 PROPORTIONAL CONTROLLER..................................................................................................36
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6.2 INTEGRAL CONTROLLER ............................................................................................................37
6.3 DERIVATIVE CONTROLLER........................................................................................................38
6.4 PID CONTROLLER..........................................................................................................................39
7. CONTROL OF MANIPULATOR .........................................................................................................45
8. ROBOTIC VISION AND SENSORS ....................................................................................................48
8.1 SENSORS IN ROBOTICS................................................................................................................48
8.2 ROBOTIC VISION ...........................................................................................................................49
9. MATHEMATICAL MODELING..........................................................................................................50
10. MATLAB CODES AND SIMULATION OUTPUT ...........................................................................54
11. CONCLUSION.....................................................................................................................................60
12. REFERENCE........................................................................................................................................61
FORCE/POSITION ROBOT MANIPULATOR CONTROL USING PID CONTROLLER
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1. INTRODUCTION
The tasks that a Robot manipulator can perform will also vary greatly with the particular design.
Although we have generally dealt with the robot manipulator as an abstract entity, its
performance is ultimately limited by pragmatic factors such as load capacity, speed, size of
workspace, and repeatability. For certain applications, the overall manipulator size, Weight,
power consumption, and cost will be significant factors.
Robots are programmable physical machines that have sensors and actuators, and are given goals
for what they should achieve in the world. Perception algorithms process the sensor inputs, a
control program decides how the robot should behave given its goals and current circumstances,
and commands are sent to the motors to make the robot act in the world. Some robots are
mobile, but others are rooted to a fixed location.
“An industrial robot is an automatic, servo-controlled, freely programmable, multipurpose
manipulator, with several areas, for the handling of the work pieces, tools or special devices.
Variably programmed operations make the execution of a multiplicity of tasks possible.”
Robotics is an art, knowledge base, and the know how of designing, applying, and using robot in
human endeavors. Robotics system consists of not just robots, but also other devices and systems
that used together with the robot to perform the necessary task. It can be used in manufacturing
environments, in underwater and space exploration, for aiding the disabled, or even for fun.
1.1 CLASSIFICATION OF ROBOTS
According to Japanese Industrial Robot Association (JIRA), Robots are following types:
Class 1: Manual Handling Device: a device with multiple degrees of freedom is actuated by an
operator.
Class 2: Fixed sequence robot: A Device that performs the successive stages of task according
to a predetermined, unchanging method and is hard to modify.
Class 3: Variable sequence robot: Same as Class 2 but easy to modify.
