The workspace of RV-M1 Mitsubishi Robot is determined by an analytical method.
The method is applicable to kinematic chains that can be modeled using the
Denavit-Hartenberg representation for serial kinematic chains. This method is
based upon analytical criteria for determining singular behavior of the mechanism.
By manipulating the Jacobian of the robot by the row rank deficiency condition, the
singularities are computed. Then these singularities are substituted into the
constraint equations to parameterize singular surfaces. The boundary conditions of
the joints are substituted to obtain the other set of singularities. These singularities
are substituted in the wrist vector to obtain the range of motion of the robot wrist in
three dimensional space, which is the workspace of the Mitsubishi Robot RV-M1.
These singularities are plotted in Matlab to develop all the surfaces enveloping the
workspace of the Robot. The toolbox developed also shows three dimensional
view of the workspace, front view, and top view of the workspace. The utility of the
workspace development is shown through a case study, in which, Robot wrist
range is determined at different heights of Machine bed, for integration of Robot
RV-M1 and VMC Machine. A loading and unloading application of the VMC
Machine by the Robot can be planned using this data. This application is simulated
using the developed toolbox.
Table of Contents
CHAPTER1 INTRODUCTION AND LITERATURE SURVEY
1.1 Introduction
1.2 Literature Survey
1.3 Objective of the thesis
1.4 Organization of the thesis
CHAPTER2 METHODOLOGY
2.1 Introduction
2.2 Robot Kinematics
2.2.1 Matrix Representations
2.2.2 Representations of Transformations
2.2.3 Links, Joints, and their Parameters
2.3 Finding Wrist Accessible Position Vector
2.4 Jacobian of the Wrist Accessible Output Set
2.4.1. Rank-Deficiency Singularity Set
2.4.2. Rank-Deficiency of Reduced-Order Accessible Set
2.5 Constraint Singularity Set
2.6 Total Singularities Set
2.7 Workspace Boundary
CHAPTER3 RV-M1 SINGULARITIES
3.1 Introduction
3.2 Robot RV-M1 Mitsubishi
3.3 D-H Notations for RV-M1
3.4 Wrist Point Vector of RV-M1
3.5 Jacobian of Wrist Point Vector
3.6 Ranks-Deficiency Singularity Set of RV-M1
3.7 Singularity Set of Reduced Order Rank-Deficient Jacobian of Rv-M1
3.7.1. Singularities by Fixing First Link
3.7.2. Singularities by Fixing Second Link
3.7.3. Singularities by Fixing Third Link
3.7.4. Singularities by Fixing Fourth Link
3.8 RV-M1 Constraint Singularity Set
CHAPTER4 DEVELOPING WORKSPACE OF RV-M1
4.1 Introduction
4.2 Matlab Language
4.2.1. Features of Matlab
4.2.2. The Matlab System
4.2.3. High Level Graphics
4.3 Programming for Surface Plots
4.4 Developing the Workspace of RV-M1
CHAPTER5 RESULTS AND DISCUSSION
5.1 Results and Discussion
5.2 Robot Machine Integration
5.3 Loading and Unloading Application
CHAPTER6 CONCLUSIONS AND FUTURE SCOPE
6.1 Conclusions
6.2 Future Scope
Objectives and Research Themes
The primary objective of this thesis is to determine the workspace of the Mitsubishi RV-M1 industrial robot by developing an analytical method implemented in a Matlab toolbox. The research aims to visualize the robot's reachable workspace in three dimensions, including cross-sections and elevation views, to assist in the planning and integration of the robot within manufacturing environments, such as VMC machines.
- Development of an analytical formulation for robot workspace boundaries based on Denavit-Hartenberg parameters.
- Computation of singularity sets to define the operational limits of the RV-M1 robot.
- Implementation of a Matlab-based toolbox for 3D visualization of the robot's workspace.
- Simulation of industrial tasks, specifically the loading and unloading of a VMC machine, to validate the workspace utility.
Excerpt from the Book
1.1 INTRODUCTION
An industrial robot is a general purpose programmable machine which possesses certain anthropomorphic characteristics for which the robot can be programmed to move its arm through a sequence of motions with in its workspace in order to perform some useful, complicated and precision tasks. Here, the geometric workspace is an important characteristic of a robotic manipulator since a small workspace can limit the possible applications of a given manipulator architecture.
For many robots, the size and shape of the reachable workspace of the end effector is not always readily apparent. These workspaces often occupy a space that is irregularly shaped, and it can be difficult for one to imagine these shapes. Often, a robot has constraints placed on the rotation or displacement of its joints, which further complicates the visualization of its workspace. The ability to see how link lengths and joint limits affect a robot’s workspace does not come easy, especially to persons unfamiliar with the subject of robotics.
When designing or choosing a robot for a particular task, considerations must be made with regard to what points the robot must reach in order to complete the task. Hence the determination of extreme positions of the end-effector of a manipulator and the evaluation of the workspace is of great importance. Robot RV-M1 Mitsubishi is installed in Production Engineering Department, Punjab Engineering College. A three dimensional view of its workspace needs to be developed. Such a visualization of workspace would help in designing various tasks e.g. loading and unloading of VMC Machine.
Summary of Chapters
CHAPTER1 INTRODUCTION AND LITERATURE SURVEY: This chapter introduces the concept of industrial robot workspaces and provides a literature review of existing analytical and numerical methods used to determine manipulator workspace boundaries.
CHAPTER2 METHODOLOGY: This chapter details the mathematical framework for robot kinematics, including Denavit-Hartenberg representation and the Jacobian-based methods for identifying singularity sets and workspace boundaries.
CHAPTER3 RV-M1 SINGULARITIES: This chapter applies the developed methodology to the Mitsubishi RV-M1 robot, identifying the wrist point vector and calculating specific singularity sets based on joint limits.
CHAPTER4 DEVELOPING WORKSPACE OF RV-M1: This chapter focuses on the programming and implementation of the Matlab toolbox used to generate surface plots of the RV-M1 robot's workspace.
CHAPTER5 RESULTS AND DISCUSSION: This chapter presents the generated 3D workspace visualizations and demonstrates a case study on integrating the robot with a VMC machine for loading and unloading tasks.
CHAPTER6 CONCLUSIONS AND FUTURE SCOPE: This chapter summarizes the findings regarding the analytical formulation and its success in creating a functional Matlab toolbox for workspace simulation, while proposing future research into n-degree-of-freedom serial links and parallel manipulators.
Keywords
Industrial Robot, Mitsubishi RV-M1, Workspace, Kinematics, Denavit-Hartenberg, Jacobian, Singularity, Matlab, Tool Box, Robot Arm, Automation, VMC Machine, Simulation, Reachable Workspace, Manipulator Design
Frequently Asked Questions
What is the core focus of this thesis?
The thesis focuses on determining the workspace of the Mitsubishi RV-M1 industrial robot using an analytical method and implementing it into a dedicated Matlab toolbox for visualization and simulation purposes.
What are the primary research themes covered?
The work covers robot kinematics, the computation of singular behavior in mechanical linkages, the use of Jacobian rank-deficiency conditions, and the practical application of these computations to simulate industrial tasks.
What is the primary objective of this research?
The primary objective is to develop a Matlab toolbox capable of providing a full three-dimensional visualization of the RV-M1 robot's workspace to aid in industrial integration.
Which scientific methodology is utilized?
The study employs the Denavit-Hartenberg representation for kinematic modeling and utilizes the Jacobian of the robot's wrist position vector to mathematically compute singularity sets.
What is covered in the main body of the work?
The main body covers the theoretical derivation of kinematics, the identification of 34 singularity points for the RV-M1, the coding of the Matlab software, and the analysis of the results through various 3D plots and simulation scenarios.
Which keywords best describe this study?
The most relevant keywords include: Industrial Robot, Mitsubishi RV-M1, Workspace, Kinematics, Jacobian, Singularity, Matlab, and Automation.
How is the robot's workspace related to industrial integration?
The workspace defines the volume that the robot's end-effector can reach. Understanding this volume is critical when integrating the robot with other machinery, such as a VMC machine, to ensure that loading and unloading points are within the robot's reachable range.
What is the significance of the "singularities" in this context?
Singularities represent configurations where the robot's mobility is reduced or lost. Identifying these points is essential for determining the boundaries of the workspace and ensuring the robot can perform its intended tasks without reaching mechanical dead-ends.
- Citation du texte
- Khushdeep Goyal (Auteur), 2002, Matlab tool box for determining the workspace of Mitsubishi Robot RV-M1, Munich, GRIN Verlag, https://www.grin.com/document/147218
