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Introduction
Giovanni Legnani
Dipartimento di Ingegneria Meccanica e Industriale
Università di Brescia
Giovanni.legnani@ing.unibs.it
Prof. G. Legnani
Università degli Studi di Brescia Servosystems and Robotics
Course
• Theoretical classes
• Practical sessions (Matlab, Maple)
What is a Servosystem?
A machine actuated by one or more servoaxes
Servoaxis:
motor (generally elettrical) with feedback (position,
velocity and/or torque/force) under the
supervision/control of a controller/PLC/CNC
Examples
• cutting/welding machine
• machine to produce springs
• tool machine
• manipolators (robot)
•…...
Prof. G. Legnani Introduction 4
Università degli Studi di Brescia Servosystems and Robotics
Industrial Robot
Manipulating industrial robot as defined in ISO 8373
An automatically controlled, reprogrammable, multipurpose,
manipulator programmable in three or more axes, which may
be either fixed
in place or mobile for use in industrial automation applications.
EXAMPLES OF SERVOSYSTEMS
laser trackers
x, y, z
d
d, x, y, z
Inverse kinematics
Inverse kinematic Direct kinematic
• Decide ho to move motors in •Find out how the machine behaves
order to obtain a predefined as the motion of actuators is known
behaviour of the machine
(tool motion)
Dynamics
Direct Inverse
• ‘hard’ • ‘easy’
lens
Direct kinematics
x, y, z = f(, ,D)
x, y, z , , D
Inverse kinematics
Prof. G. Legnani Introduction 10
Università degli Studi di Brescia Servosystems and Robotics
d tan(2)
2
L X Y Z2 2 2
y H
direct/inverse kinematics
direct kinematics
x L sin(2 ) d tan(2 )
L F H d / cos(2 )
y L sin(2 ) cos(2 )
z L cos(2 ) cos(2 )
inverse kinematics when L>0 (focal point beyond 2° mirror, that is F>H-d tan(2)).)
hypothesis | |< p /4, ||<p/4:
U n N N U Ut U U n
U' Un
U
N
Ut
U ' U t U n I 2 NN T U
L=f-H-d/cos(2*alpha);
x=sin(2*alpha)*L+d*tan(2*alpha);
Direct and y=-sin(2*beta)*cos(2*alpha)*L;
z=-cos(2*beta)*cos(2*alpha)*L;
inverse
kinematics function [alpha,beta,H]=inv_specchi(x,y,z,f,d)
beta=atan2(-y,-z)/2;
Matlab u=-y*sin(2*beta)-z*cos(2*beta);
alpha=atan2(x,u+d)/2;
code L=u/cos(2*alpha);
H=f-L-d/cos(2*alpha);
Tool machine
(wooden furniture production)
0.3 meters Y
5 axes
X
2 meters 7 meters
2 axis head
Prof. G. Legnani Introduction 15
Università degli Studi di Brescia Servosystems and Robotics
D
y1
x
z1 g z1 z
p
tan g
Reel
w
wire
Servocontrolled actuator
Dynamics
Direct Inverse
• ‘hard’ • ‘easy’
Industrial Robot
Serial-parallel manipulator
Serial: kinematic structure normally realized with rigid
links connected in series by means of 1dof actuated
articulations (rotation or translation).
n
Link 2 End effector
1
Base
(fixed or mobile)
Prof. G. Legnani Introduction 23
Università degli Studi di Brescia Servosystems and Robotics
Spatial/joints coordinates/task
q3 General Z
coordinate Z
X, Y, Z, system
Z
g
q1
Anthropomorphous robot
SCARA Robot
y x,y
Linear axis
Reconfigurability
Complete manipulator
Wrist: 3 revolute Pose of Z Translation along Z
actuators axis
Z Axis 6
• 2 configurations:
6 actuators, 7 actuators, 5
1 redundant 2 redundant Flange
Feed along Z
Rotation about Y 7
SURGERY APPLICATIONS
Structure of robots
flexibility
computer
kinematics structure
serial, parallel, hybrid
joints / axes
Axe: motorized joint
Cardanic (universal):
2 R orthogonal to each other
Prof. G. Legnani Introduction 32
Università degli Studi di Brescia Servosystems and Robotics
Structure of a servosystem
orders
actuators information
computer
mechanical sensors
structure orders
information information
external
environment
controller funtions
HMI Human Machine Interface
manage direct user orders, give info on machine state
insertion, modification, editing, storing of motion programs
primitive Real Time
• point-to-point motion
• coordinate motion on trajectories (linear, circular,…)
# read sensors, sends orders to actuators
# control in joint space and/or working space
# geometrical transformation (trigonometric,…)
# handle position, velocity or force/torque of actuators
@ starts operations
- at predefined time
- on external events (position achieved, digital inputs,…)
+ synchronizes motion in relation to other machines
Prof. G. Legnani Introduction 36
Università degli Studi di Brescia Servosystems and Robotics
4 4
3 (or 4) DoF Degrees of Freedom
q4
motor
SCARA Robot
coord.
working space
x
S
y
coord.
joint space direct kinematics inverse kinematics
Q
q1, q2
2.5 2
2
1 linear
1.5
trajectory at
joint rotation 0 constant
1 velocity
-1
0.5
0 -2
0 0.5 1 -2 -1 0 1 2
qp1, qp2
2
joint velocity Motor 1 Motor 2
1
-1
gripper
-2
0 0.5 1
types of motion
assigned in the working space: x, y, z, ...
performed by actuators in the joint space: q1, q2, q3, ...
example of classical
control scheme of an axis
measured position
encoder
voltage
reference
reference current
velocity
position motor
alarms tachometer
measured velocity
indirect x=p
direct
reference
position
w D M E
electronic riga
i
(converter)
wo
CNC or PLC or
controller
Prof. G. Legnani Introduction 44
Università degli Studi di Brescia Servosystems and Robotics
indirect
• ore easy to be realised
• do not take into account transmission errors
• more easy to stabilize motion of transmission is bad (elasticity, backlash)
direct
•sometimes it cannot be realised
•more precise if transmission includes elasticity or backlash
Classical controller
(decentralized)
x
y
S
z
Q
g