Robots & Automation – MFET 445

Robots & CNC in Integrated

Manufacturing – MFET 685
Agenda
 Coordinate System
 Work Envelope
Coordinate System
 A robot uses several coordinate systems, each suitable for
specific types of jogging or programming.
 The base coordinate system is located at the base of the
robot. It is the easiest one for just moving the robot from one
position to another.
 The work object coordinate system is related to the work
piece and is often the best one for programming the robot.
 The tool coordinate system defines the position of the tool
the robot uses when reaching the programmed targets.
Coordinate System
 The world coordinate system that defines the robot cell, all other
coordinate systems are related to the world coordinate system,
either directly or indirectly. It is useful for jogging, general
movements and for handling stations and cells with several robots
or robots moved by external axes.
 The user coordinate system is useful for representing equipment
that holds other coordinate systems, like work objects.
 The joint coordinate system is useful for specifying the position
of the robot as a function of the extension/rotation of the joints.
Often we will want to calculate the robot joint coordinate system
from a desired position in some other coordinate system.
Base Coordinate System
 The base coordinate system
has its zero point in the base
of the robot, which makes
movements predictable for
fixed mounted robots
 World Coordinate System
A Base coordinate system for robot 1
B World coordinate
C Base coordinate system for robot 2
 The world coordinate system
has its zero point on a fixed
position in the cell or station.
This makes it useful for
handling several robots or
robots moved by external
axes.
 By default the world
coordinate system coincides
with the base coordinate
system.
 Work Object Coordinate System
A World coordinate system
B Work Object coordinate system 1
C Work Object coordinate system 2

 The work object

coordinate system
corresponds to the work
piece: It defines the
placement of the work
piece in relation to the
world coordinate system
(or any other coordinate
system)
Work Object Coordinate System
 By defining a work object
coordinate system with origin
on the corner of a part pallet,
it is simple to program pick
and place operations
 All we have to do is locate a
fiducial mark on the pallet
and we can use that to
establish the work coordinate
system
 World
coordinate
Z system

Y
X
 World
coordinate
Z system

Y
X

Z’

Y’
X’
Work
Object
coordinate
system 1
 World
coordinate
Z system

Y
X

Z’

Y’
Z’’
X’
Y’’ Work
Object
X’’ coordinate
Work system 1
Object
coordinate
system 2
 World
coordinate
Z system

Y
X

Z’

Y’
X’
 x'  u x uy uz tx  x Work
 y '  v vy vz t y   y 
Object
  x coordinate
system 1
 z '   wx wy wz tz  z 
    
1  0 0 0 1  1 
Displacement coordinate system
A Original position
 This coordinate system can
B Object coordinate system
also be used in conjunction
C New position
with searches, to
D Displacement coordinate system
compensate for differences
in the positions of the
individual parts
 The displacement
coordinate system is
defined based on the object
coordinate system
Y
world

X
Y
world

X
Y
world

CLOCK

ORIGIN
Y
world

Translation
Xt, Yt

CLOCK

ORIGIN
Y
world

Translation
Xt, Yt

CLOCK

ORIGIN Rotation θt
  x  cos   sin  0 t x   x'
 y   sin  cos  0 t y   y '
Y  
world z  0 0 1 0   z'
    
1   0 0 0 1  1 

Translation
Xt, Yt

CLOCK

ORIGIN Rotation θt
Tool Coordinate System
 The tool coordinate system
has its zero position at the
center point of the tool. It
thereby defines the position
and orientation of the tool.
The tool coordinate system
is often abbreviated TCPF
(Tool Center Point Frame)
and the center of the tool
coordinate system is
abbreviated TCP (Tool
Center Point)
Tool Coordinate System
User Coordinate System
 The user coordinate system
can be used for
representing equipment
like fixtures, workbenches.
This gives an extra level in
the chain of related
coordinate systems, which
might be useful for
handling equipment that
A User coordinate system
hold work objects or other B World coordinate system
coordinate systems C Work object coordinate system
D Moved user coordinate system
E Work object coordinate system, moved with user
coordinate system
Joint Coordinated Movement
 In the Joint Coordinate
System a position of the
robot hand in space is
defined by the angles of
rotation of the five joints of
the arm. Because of the
design of the arm, positions
can be reached through
different combinations of
these angles, although with
different orientations of the
hand
x1  a1 cos 1
y1  a1 sin 1
x2  a1 cos 1  a2 cos(1   2 )
y2  a1 sin 1  a2 sin(1   2 )
Denavit – Hartenberg convention
Model the robot as a series of joints applied sequentially
Translate, then rotate each joint
Link a1 is purely rotation about the origin, no translation needed
Link a2 is translated to point P, then rotated

v1  Arot Atrans v0
Arbitrary transformation matrix for n joints in a robot
 
[T ]  Arot
1 1
Atrans 2
 
Arot 2
Atrans   
n 1
.... Arot n 1
Atrans n
Arot  
vn  Tv0 Calculate the robot’s world x,y,z
coordinates based on length and
rotation of all joints
 Inverse Kinematics
1 Invert the matrix - Calculate the
v0  T v1 joint positions necessary to
produce a specific x,y,z coordinate
in the world coordinate system
Unfortunately there may not be a unique set of joint positions to
achieve the same world coordinate position
Example: Base Coordinate System, Joint Angles, and Work Object Coordinate System

θ2
θ4

a1
destination pallet a3
Source pallet
 Example: Base Coordinate System, Joint Angles, and Work Object Coordinate System

Source pallet

destination pallet
 Example: Base Coordinate System, Joint Angles, and Work Object Coordinate System

θ2 = 0
θ4 = 0

Source pallet

destination pallet

X0 = 0
Y0=0 Base Coordinate System
Z0 = 0
 Example: Base Coordinate System, Joint Angles, and Work Object Coordinate System

Source pallet

destination pallet

Work Object
Coordinate
System 1
 Example: Base Coordinate System, Joint Angles, and Work Object Coordinate System

BASE COORDINATE SYSTEM

Xs=25in
Ys=25in
Zs=10in Source pallet
ΦS=30o
destination pallet
 Example: Base Coordinate System, Joint Angles, and Work Object Coordinate System

Theta = 0

Source pallet

destination pallet

Work Object
Coordinate
System 2
 Example: Base Coordinate System, Joint Angles, and Work Object Coordinate System

Theta = 0

Source pallet

destination pallet

Xd=-30in Work Object

Yd=10in Coordinate
Zd=25in System 2
Φd=-45o
Example: Base Coordinate System, Joint Angles, and Work Object Coordinate System

Source
pallet
X1 = 3in
Y1= 4 in
Z1 = 0 in
Φ1 = 0

X
Example: Base Coordinate System, Joint Angles, and Work Object Coordinate System

Y
Rotate source pallet X1 = 3in
coordinate system Y1= 4 in Source
into base coordinate Z1 = 0 in pallet
system Φ1 = 0

30o

X
Example: Base Coordinate System, Joint Angles, and Work Object Coordinate System

Y
Rotation of a point in
Cartesian
coordinates

x’, y’

Φ x, y

Angle Φ measured
positive
x'  x cos   y sin  counterclockwise
y '  x cos   y sin 
Example: Base Coordinate System, Joint Angles, and Work Object Coordinate System

Y Y’
Rotation of a
coordinate frame
in Cartesian
coordinates
Φ

x, y

Angle Φ measured
Same formula
X’ positive clockwise
x'  x cos   y sin 
y '  x cos   y sin 
Example: Base Coordinate System, Joint Angles, and Work Object Coordinate System

Y
Rotate source pallet X1 = 3in
coordinate system Y1= 4 in Source
into base coordinate Z1 = 0 in pallet
system Φ1 = 0

30o

x  x1 cos 1  y1 sin 1
y  x1 cos 1  y1 sin 1
Example: Base Coordinate System, Joint Angles, and Work Object Coordinate System

Y
Rotate source pallet X1 = 3in
coordinate system Y1= 4 in Source
into base coordinate Z1 = 0 in pallet
system Φ1 = 0

-30o

x  (3in) cos(30)  (4in) sin( 30)  4.598in Rotated into alignment

with base coordinate
y  (3in) cos(30)  (4in) sin( 30)  1.964in system, but translated
Example: Base Coordinate System, Joint Angles, and Work Object Coordinate System
Y
Source
Now translate source
pallet X1 = 3in
pallet coordinate
Y1= 4 in
system into base Xs=25in Z1 = 0 in
coordinate system Ys=25in
Φ1 = 0
Zs=10in
ΦS=30o 30o

X
x=4.598 in
y=1.964in
Example: Base Coordinate System, Joint Angles, and Work Object Coordinate System
Y
Source
Now translate source
pallet X1 = 3in
pallet coordinate
Y1= 4 in
system into base Xs=25in Z1 = 0 in
coordinate system Ys=25in
Φ1 = 0
Zs=10in
ΦS=30o 30o

In base coordinate system,

x1=4.598 in + 25 in = 29.598in
y1=1.964 in + 25 in = 26.964 in
z1=0 in + 10 in = 10 in
Example: Base Coordinate System, Joint Angles, and Work Object Coordinate System
Y
Source
Determine robot
pallet
joint positions x1= 29.598in
y1= 26.964 in
Base height z1= 10 in

30o

a1  z1
 10in
Example: Base Coordinate System, Joint Angles, and Work Object Coordinate System
Y
Source
Determine robot pallet
joint positions x1= 29.598in
y1= 26.964 in
Base rotation z1= 10 in

30o

 2  90  tan 1 ( y1 / x1 )
θ1
 90  tan 1 (26.964in / 29.598in)
 90  tan 1 (0.911)
 42.33 deg
Example: Base Coordinate System, Joint Angles, and Work Object Coordinate System
Y
Source
Determine robot pallet
joint positions x1= 29.598in
y1= 26.964 in
Arm extension z1= 10 in

30o

a3  x12  y12
 (29.598in) 2  (26.964in) 2
 40.04in
Example: Base Coordinate System, Joint Angles, and Work Object Coordinate System
Y
Source
Determine robot pallet
joint positions x1= 29.598in
y1= 26.964 in
End effector rotation z1= 10 in

30o

 4  30   2
θ1
 30  42.33 deg
 12.33 deg
Source Pallet Joint Angles and Base Coordinates

θ2
θ4

a1
destination pallet a3
Source pallet

x1= 29.33in a1= 10in

y1= 27.5 in θ2= 42.33o
z1= 10 in a3= 40.04 in
θ4= -12.33o
Example: Base Coordinate System, Joint Angles, and Work Object Coordinate System

Destination
pallet

X2 = 5in
Y2= 2 in
Z2 = 0 in
Φ2 = 90o

X
Example: Base Coordinate System, Joint Angles, and Work Object Coordinate System

Y
X2 = 5in
Y2= 2 in Destination
Z2 = 0 in pallet
Φ2 = 90o

45o

Rotate destination
pallet coordinate X
system into base
coordinate system

x  (5in) cos(45)  (2in) sin( 45)  2.121in Rotated into alignment

with base coordinate
y  (5in) cos(45)  (2in) sin( 45)  4.950in system, but translated
Example: Base Coordinate System, Joint Angles, and Work Object Coordinate System

x=2.121 in
Y y=4.950in
Destination
pallet

Xd=-30in
Yd=10in
Zd=25in
Φd=-45o

Now translate
destination pallet
coordinate system
into base coordinate
system
Example: Base Coordinate System, Joint Angles, and Work Object Coordinate System

x=2.121 in
Y y=4.950in
Destination
pallet

Xd=-30in
Yd=10in
Zd=25in In base coordinate system,
Φd=-45o x2=2.121 in + (-30in) in = -27.879in
y2=4.950 in + 10 in = 14.950 in
z2=0 in + 25 in = 25 in
X

Now translate
destination pallet
coordinate system
into base coordinate
system
Example: Base Coordinate System, Joint Angles, and Work Object Coordinate System

x=2.121 in
Y Destination
y=4.950in
pallet
x2= -27.879in
y2= 14.950 in
z2= 25 in
Xd=-30in
Yd=10in
Zd=25in
Φd=-45o

a1  z 2
Determine joint  25in
coordinates

Base height
Example: Base Coordinate System, Joint Angles, and Work Object Coordinate System

x=2.121 in
Y Destination
y=4.950in
pallet
x2= -27.879in
y2= 14.950 in
z2= 25 in
Xd=-30in
Yd=10in
Zd=25in
Φd=-45o  2  90  tan 1 ( y2 / x2 )
 90  tan 1 (14.95in /  27.879in)
X
 90  tan 1 (0.536)
 28.20 deg
Determine joint
coordinates

Base rotation
Example: Base Coordinate System, Joint Angles, and Work Object Coordinate System

x=2.121 in
Y Destination
y=4.950in
pallet
x2= -27.879in
y2= 14.950 in
z2= 25 in
Xd=-30in
Yd=10in
Zd=25in
Φd=-45o
a3  x22  y22
X  (27.879in) 2  (14.950in) 2
 31.634in

Determine joint
coordinates

Arm extension
Example: Base Coordinate System, Joint Angles, and Work Object Coordinate System

x=2.121 in
Y Destination
y=4.950in
pallet
x2= -27.879in
y2= 14.950 in
z2= 25 in
Xd=-30in
Yd=10in
Zd=25in
Φd=-45o  4  45  90   2
 45  90  (28.20) deg
X
 73.20 deg

Determine joint
coordinates

End effector rotation

Source Pallet Joint Angles and Base Coordinates

θ2
θ4

a1
destination pallet a3
Source pallet
x2= -27.879in a1= 25in
y2= 14.950 in θ2= -28.20o
z2= 25 in a3= 31.634 in x1= 29.33in a1= 10in
θ4= 73.20o y1= 27.5 in θ2= 46.84o
z1= 10 in a3= 40.21 in
θ4= -16.84o