Robo Analyzer User Manual

RoboAnalyzer3DModelBasedRoboticsLearningSoftwareUserManual

FreelyAvailableforAcademicUse!!!

DevelopedbyProfS.K.Saha&TeamMechatronicsLab,MechanicalEngineeringDepartment,IITDelhi,NewDelhi,India

Courtesy:CDCell,QIP,IITDelhihttp://www.roboanalyzer.com

September2014

Features:ForwardKinematicsInverseKinematicsForwardDynamics*InverseDynamics*AnimationandPlotsVirtualRobotModule

IntegrationwithMATLAB

*UsesReDySim DynamicFormulation(AppendixA)

PREFACE

Robotics is a field related to the design, development, control and application of robots in industry, education, research,entertainment,medicalapplicationsetc.Sincethemathematics involved inthestudyofrobotics,e.g.,kinematicsanddynamics isinitiallydifficulttounderstandbystudentsandsameisthecasebyateachertoconveytheessenceofmathematicsofroboticstothe students. Also it has been difficult for students to learn because of limited ability to perceive and visualize the conceptsappropriatelyatthetimeofteaching.WithoutseeingarealrobotitisverydifficulttocomprehenditsmotioninthreedimensionalCartesianspace.Hence,thereisaneedforaroboticslearningsoftware.

Theworkof combining the robot analyses algorithms in the formof software started in1996 in thenameofRIDIM (RecursiveInverseDynamics for IndustrialManipulator).But ithadonlyanalysispartwithplot facilities.ThedevelopmentofRoboAnalyzerstarted in 2009. RoboAnalyzer, a 3D model based software, can be used to teach robotics subjects to undergraduate andpostgraduate courses in engineering colleges in India and elsewhere. It can be used to learn DH parameters, kinematics anddynamicsofserialrobotsandallows3Danimationandgraphplotsasoutput.Inessence,learn/teachthephysicsofroboticswiththejoyofRoboAnalyzeranimationsbeforeattemptingtolearnthemathematicsofrobots.

RoboAnalyzerisdevelopedintheMechatronicsLab,DepartmentofMechanicalEngineeringatIITDelhi,IndiaundertheguidanceofProf.S.K.Saha.Thefollowingstudentsaregivenduecreditsinitsdevelopment. S.Goeland S.Ramakrishnan (199697) :Algorithmdevelopment forRecursive InverseDynamics for IndustrialManipulators(RIDIM)

A.Patle(200001):WindowsinterfaceforRIDIM RajatJain(200910):AddedGraphplotstoRIDIM SurilVShah(200711):RecursiveDynamicsSimulator(ReDySim)Algorithm[AppendixA] Rajeevlochana C.G. (2009 2013) : User Interface, 3DModeling of robot, Forward Kinematics, Animation, Graphplot, DHVisualize,VirtualRobotModule,IntegrationwithMATLAB

AmitJain(201011):C#implementationofDeNOCbasedInverseandForwardDynamics(ReDySim) JyotiBahuguna(201112):InverseKinematicsModuleandMotionPlanning RatanSadanandO.M.(201214):ConversionofCADmodelsforVirtualRobotModules,Version7Enhancements RaviJoshi(2014):Version7Enhancements

CONTENTS

1. GETTINGSTARTED.................................................................................................................................................................1

2. INTRODUCTIONTOROBOANALYZER......................................................................................................................................1

3. DENAVITHARTENBERGPARAMETERSVISUALIZATION...........................................................................................................5

4. FORWARDKINEMATICS.........................................................................................................................................................6

5. INVERSEKINEMATICS.............................................................................................................................................................9

6. INVERSEDYNAMICS.............................................................................................................................................................10

7. FORWARDDYNAMICS..........................................................................................................................................................12

8. MOTIONPLANNING.............................................................................................................................................................13

9. GRAPHPLOTOPTIONS.........................................................................................................................................................14

10. SAVINGANDOPENINGSKELETONMODELS......................................................................................................................14

11. VIRTUALROBOTMODULE................................................................................................................................................15

12. MATLABINTEGRATION.....................................................................................................................................................16

13. REFERENCES.....................................................................................................................................................................16

APPENDIX A: RECURSIVEDYNAMICS SIMULATOR (REDYSIM) .........................................................................................16

RoboAnalyzerUserManual http://www.roboanalyzer.com

1. GETTING STARTED

Thissectionhelpsyougetstartedwith the installationofRoboAnalyzer,a3DModelBasedRoboticsLearningSystem.IthasbeendevelopedusingOpenTKandVisualC#.

1.1. MINIMUMSYSTEM REQUIREMENT

Processor:Atleast1.5GHz RAM:Atleast512MB OperatingSystem:WindowsXP,WindowsVista,Windows7 Dependencies:Microsoft.Net2.0framework

1.2. INSTALLATION

RoboAnalyzercanbe installedonacomputerbydownloading itfromourwebsite.The latestversionofthesoftware (Version 7) is available for free at http://www.roboanalyzer.com. The following are the steps toinstallRoboAnalyzer:

Step1:Visithttp://www.roboanalyzer.comStep2:ClickonDownloadstabStep3:ClickonRoboAnalyzerV7(orlatestversion)todownloada.zipfileStep4:Apopupwindowwillappear.SelectthefolderwherethefilehastobesavedandclickonSaveStep5:Afterdownloadingiscomplete,unzipRoboAnalyzer7.ziptoanyfolderonyourcomputer.OpenthefolderRoboAnalyzer7Step6:DoubleclickonRoboAnalyzer.exetostartRoboAnalyzer.

2. INTRODUCTION TO ROBOANALYZER

RoboAnalyzer isa3DModelBasedRobotics LearningSoftware. Ithasbeendeveloped tohelp the faculty toteachandstudentsto learntheconceptsofRobotics. ItalsoactsasasupportingmaterialforthecontentsonvariousroboticstopicsintextbookentitledIntroductiontoRobotics,S.K.Saha,2014[1].

2.1. MODEL AROBOT

DoubleclickonRoboAnalyzer.exe startsRoboAnalyzer.Bydefault, it showsa robotmodel (2R).Users canselectarobotfromtheoptionsgivenattheleftbottomcorneroftheapplicationasshowninFigure1.Afterselectingarobotmodel,userscanmodifytheDenavitHartenberg(DH)parametersshowninthetabularformandtherobotmodelupdatesautomatically.Afewindustrialrobotsarealsolisted,whenselectedshowsa3DCADmodeloftherobot(Figure2).

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Figure1:SelectRobotModelandRedefineDHParameters

Figure2:3DCADModelofIndustrialRobot

2.2. FEATURES OF ROBOANALYZER

RoboAnalyzercanbeused toperformkinematicanddynamicanalysesof serialchain robots/manipulators.ThefollowingarethemainfeaturesofRoboAnalyzer: DHParameterVisualization(Section3) ForwardKinematics(Section4) InverseKinematics(Section5) InverseDynamics(Section6) ForwardDynamics(Section7) MotionPlanning(Section8)

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2.3. OVERVIEW OF USER INTERFACE

RoboAnalyzerseasytouseGraphicalUserInterface(GUI)consistsofthefollowingasshowninFigures3,4and5.1. RobotSelectionandDHParameterssection2. VisualizeDHsection3. 3DModelBrowser4. 3DModelView5. GraphPlotTreeView6. GraphPlotWindow7. InverseKinematicsWindow

Figure3:UserInterfaceof3DModelView

Figure4:UserInterfaceofGraphPlotView

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Figure5:UserInterfaceofInverseKinematicsWindow

2.4. 3D MODEL VIEW OPTIONS

RoboAnalyzerletstheusertozoom,rotateandpanthe3Dmodeltohavebettervisualization.ThesecanbeusedasexplainedbelowandshowninFigure6. Zoom:Placethemousecursoranywhereon3DModelViewandusethemousewheeltozoominandzoomout.ItcanalsobedonebyclickingonZoomInandZoomOutbuttons.

Rotate:Presstherightmousebuttonanddragthemousecursoranywhereonthe3DModelViewtorotatethemodelinthebrowserform.

Pan: Press the left mouse button and drag the mouse cursor anywhere on the 3D Model View topan/translatethemodelinthebrowserform.

StandardViews:Selectanystandardviewfromthedropdownandthemodelviewupdates.

Standard Views

Zoom In/Out

Figure6:3DModelViewOptions

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3. DENAVITHARTENBERG PARAMETERS VISUALIZATION

ThearchitectureofindustrialrobotsisusuallyrepresentedbyDenavitHartenberg(DH)parameters.Itformsthebasisforperformingkinematicanddynamicanalysesofrobots.AsetoffourDHparametersisusedtorepresentthepositionandorientationofarobotlinkwithrespecttoitspreviouslink.MoredetailsonDHparameterscanbefoundinChapter4of[1].

3.1. VISUALIZE DH

AfterselectingarobotandredefiningDHparametersasexplainedinSection2.1,userscanvisualizeeachDHparameterbyselectingajointandthenselectingaDHparametertypeasshowninFigure7.Onceitisdone,thecorrespondingDHparameter ishighlighted intheDHparameter inputtableandatransformationframemoves in the 3D robot model. It shows the two coordinate frames corresponding to the selected DHparameter.Users can click on Together button and a coordinate framemoves covering all the four DH parameterscorrespondingtotheselectedjoint.UserscanclickonBaseFrametoEndEffectorbuttontoseeacoordinateframemovingfrombaseframetoendeffectorframecoveringalltheDHparametersoftherobotmodel.

Figure7:VisualizeDHParameters

3.2. LINK CONFIGURATION

The configuration/ transformation of a coordinate frame (DH frame) attached on each robotlink can bedeterminedwithrespecttoaframeattachedto itsprevious linkorbaseframebyfollowingthestepsbelowandasshowninFigure8. Selectajoint.IfJoint1isselected,itcorrespondstocoordinateframeattachedonLink1. SelectPreviousLinkFrameorBaseFrameasthereferenceframewithrespecttowhichthetransformationneedstobedetermined.

ClickonUpdatebuttonand4X4transformationmatrixispopulated.Apairofcoordinateframesisshownin3Drobotmodeltohelpuserinvisualizingthetransformation.

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Figure8:LinkConfiguration

3.3. ENDEFFECTOR CONFIGURATION

Theendeffectorconfiguration/transformationcanbedeterminedwithrespecttothebaseframedirectlybyusingtheUpdatebuttonasshown inFigure9.The4X4transformationmatrix ispopulatedandapairofcoordinateframesisshownin3Drobotmodeltohelpuserinvisualizingthetransformation.

Figure9:EndEffectorConfiguration

4. FORWARD KINEMATICS

In the forward or direct kinematics, the joint positions, i.e. the angles of the revolute joints and thedisplacements of the prismatic joints, are prescribed. The task is to find the endeffectorsconfiguration/transformationconsistingof itspositionandorientation.Moredetailscanbefound inChapter6of [1]. After selectinga robotand redefiningDHparametersasexplained inSection2.1, forwardkinematics(FKin)isperformedwhichupdatesthe3Dmodel.

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4.1. ANIMATIONOF FKIN

Toperformanimationoftherobotmotionbetweentwosetsof initialandfinalvaluesof jointvariables,thefollowingarethestepsasshowninFigures10and11.Thetrajectoryofjointvalues,jointvelocitiesandjointaccelerations follow Cycloidal trajectorymentioned in Chapter 8 of [1]. The trajectory can be changed asexplainedinSection8.

1. Settheinitialandfinalvaluesofjointvariables2. SetTimeDurationandNumberofSteps3. ClickonFKinbutton4. ClickonPlaybuttontoseetheanimation5. Theendeffectortracecanbeviewed

Figure10:InitialPositionofallJoints

Figure11:FinalPositionofallJointsandTraceofEndEffector

4.2. GRAPH PLOTS OF FKIN

Toviewthegraphplotsofaforwardkinematics(animation)analysis,thefollowingarethestepsasshowninFigures12,13and14.

1. ClickonGraphtab

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2. Clickon+nexttothelinkofwhichtheplotsaretobeviewed3. ClickonboxtoplotgraphofaparticularnodetoseeX,YandZplots4. Clickon+nexttothejointofwhichtheplotsaretobeviewed5. Clickonboxtoplotgraphofaparticularnodetoseejointvalue(jointangleforrevolutejointandjointoffsetforprismaticjoints),jointvelocityandjointacceleration

Figure12:GraphPlotsofFKinData

Figure13:GraphPlotsofPositionofCoordinateFrameattachedtoLink3

Figure14:GraphPlotsofInputTrajectorytoJoint3(CycloidalTrajectory)

MoredetailsandinformationontheGraphPlotoptionscanbefoundinSection9.

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5. INVERSE KINEMATICS

InverseKinematics(IKin)consistsofdeterminationofthejointvariablescorrespondingtoagivenendeffectorsorientationandposition.Thesolutiontothisproblem isoffundamental importance inordertotransformthemotionspecificationsassignedtotheendeffector intheoperationalspace intothecorresponding jointspacemotions.Theremaybemultipleornoresultspossibleforagivenendeffectorpositionandorientation.MoredetailscanbefoundinChapter6of[1].

5.1. SOLUTIONSOF IKIN

To selecta robotandview the solutionsof its InverseKinematics, the followingare the stepsas shown inFigures15and16.Infuture,anIKinsolutioncanbeselectedand3Dmodelwillbeupdatedaccordingly.

1. ClickonIKinbutton.Itshowsaseparatewindow(Figure16)2. SelectaRobot3. EnterInputparameters4. ClickonIKinbutton5. Viewthepossiblesolutions6. ClickonShowbutton.Itshowstheselectedsolutionin3DModelwindow.ToseethisgobacktomainwindowbyminimizingIKinwindow

7. Selectanyoftheobtainedsolutionasinitialandfinalsolution8. ClickonOK.ThisstepreplacestheinitialandfinaljointvaluesinDHParametertable(Mainwindow)byvaluesselectedinstep79. ClickonFKinbuttontoviewanimationi.e.howrobotmovesfromonesolutiontoanothersolutionselectedinstep7

Figure15:InverseKinematicsButton

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Figure16:InverseKinematicsof3RArticulatedRobot

6. INVERSE DYNAMICS

InverseDynamics (IDyn) isadynamicsproblem,wheretherobotgeometric, inertialparameters,andthe jointmotionsi.eitspositions,velocitiesandaccelerationaregivenandthecorrespondingjointtorquesorforcesarecalculated.InRoboAnalyzer,thedynamicssolverisbasedonReDySimalgorithm,whichusesDecoupledNaturalOrthogonalComplement(DeNOC)Matricesbasedrecursiveformulation.MoredetailsonReDySimcanbefoundat[2].MoredetailsonInverseDynamicsandDeNOCcanbefoundinChapters8and9respectivelyof[1].

6.1. SOLUTIONOF IDYN

SelectarobotandredefineDHparametersasexplainedinSection2.1,tosolveforIDynoftherobotbetweentwosetsofinitialandfinalvaluesofjointvariables,thefollowingarethestepsasshowninFigures17,18,and19. The trajectory of input joint values, joint velocities and joint accelerations follow Cycloidal trajectorymentionedinChapter8of[1].ThetrajectorycanbechangedasexplainedinSection8

1. Settheinitialandfinalvaluesofjointvariables2. SetTimeDurationandNumberofSteps3. SetGravity(allvaluesshouldbeinSIunits,i.e.m/s^2)4. SelectarobotlinktoenteritsCenterofGravity(CG)location.ItcorrespondstoavectorfromtheCGofthe

robotlinktotheoriginofthecoordinateframeattachedtothatlink,measuredinthereferenceofthecoordinateframeattachedtothatlink.

5. SelectMassPropertiesofarobotlink.SetMassofeachrobotlink(valuesshouldbeinSIunits,i.e.kg)andsetInertiatensorofeachrobotlinkwithrespecttothecoordinateframeattachedattheCGoftherobotlinkandthecoordinateframeisparalleltotheoneattachedtotherobotlink(valuesshouldbeinSIunits,i.e.kgm^2).Thesevaluesaretobeenteredmanuallyandnotcalculatedautomaticallyfromtheshapeoftherobotlinks.

6. ClickonFKinbutton(requiredtopopulatetheinputjointtrajectory)7. ClickonPlaybuttontoseetheanimation(onlyforvisualizationpurpose,notnecessaryforIDyn)8. ClickonIDynbuttontoperformInverseDynamics9. lickonGraphtabtoviewthegraph

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Figure17:InverseDynamicsSettings

Figure18:SetCenterofGravityforInverseDynamics

Figure19:SetMassandInertiaPropertiesandPerformInverseDynamics

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6.2. GRAPH PLOTS OF IDYN

Toviewthegraphplotsofjointtorquesandforces,thefollowingarethestepsasshowninFigure20.

1. Clickon+nexttothejointofwhichtheplotsaretobeviewed2. Clickonboxtoplotgraphofjointtorque/force

Figure20:GraphPlotofJointTorque/Force

MoredetailsandinformationontheGraphPlotoptionscanbefoundinSection9.

7. FORWARD DYNAMICS

ForwardDynamics(FDyn)isadynamicsproblem,wheretherobotgeometric,inertialparameters,andthejointtorquesandforcesaregivenandthejointaccelerationsarecalculated.ThedynamicssolverusesReDySim[2]asinIDyn.MoredetailsonForwardDynamicscanbefoundinChapters8and9of[1].

7.1. SOLUTIONOF FDYN

SelectarobotandredefineDHparametersasexplained inSection2.1, tosolve forFDynof therobot foragiven initialvaluesof jointvariables,please refer toSection6.1 toperform steps1 to5mentionedbelow.Thenperformsteps6,7and8asshowninFigure21.

1. Settheinitialvalueofjointvariables2. SetTimeDurationandNumberofSteps3. SetGravity(allvaluesshouldbeinSIunits,i.e.m/s^2)4. SelectarobotlinktoenteritsCenterofGravity(CG)location.ItcorrespondstoavectorfromtheCGoftherobotlinktotheoriginofthecoordinateframeattachedtothatlink,measuredinthereferenceofthecoordinateframeattachedtothatlink.

5. SelectMassPropertiesofarobotlink.SetMassofeachrobotlink(valuesshouldbeinSIunits,i.e.kg)andsetInertiatensorofeachrobotlinkwithrespecttothecoordinateframeattachedattheCGoftherobotlinkandthecoordinateframeisparalleltotheoneattachedtotherobotlink(valuesshouldbeinSIunits,

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i.e.kgm^2).Thesevaluesaretobeenteredmanuallyandnotcalculatedautomaticallyfromtheshapeoftherobotlinks.

6. ClickonFDynbuttontoperformForwardDynamics.Therobotissimulatedforfreefallduetotheactionofgravity.Infuture,jointtorques/forcescanbesetasinput.

7. ClickonPlaybuttontoseetheanimation8. ClickonGraphtabtoviewthegraph

Figure21:ForwardDynamics

7.2. GRAPH PLOTS OF FDYN

Toviewthegraphplotsofjointaccelerationsandpositionoflinks,followthestepsmentionedinSection4.2.

8. MOTION PLANNING

Thegoalofmotionplanningofa robot is togeneratea functionaccording towhicha robotwillmove.Thisfunction generation depends on the robot tasks. A robot user typically specifies a number of parameterstodescribeapointtopointor continuouspath task.Trajectoryplanningalgorithm thengenerates thereferenceinputsforthecontrolsystemofthemanipulator,soastobeabletoexecutethemotion.Thegeometricpath,the kinematic and dynamic constraints are the inputs of the trajectory planning algorithm, whereas thetrajectory of the joints (or of the end effector), expressed as a time sequence ofposition, velocity andaccelerationvalues,istheoutput.Trajectoryplanningcanbedoneeitherinthejointspace,i.e.,intermsofjointpositions,velocitiesandaccelerations,orCartesianspace(alsocalledoperationalspace)i.e.,intermsoftheendeffectorpositions,orientations, and their timederivatives.More detailsonMotion Planning canbe found inChapter11of[1].

8.1. SOLUTIONOF MOTIONPLANNING

Select a robot and redefine DH parameters as explained in Section 2.1.For a given initial values of jointvariables,MotionplanningoftheselectedrobotcanbeperformedbyselectingparticularmotiontrajectoryasshowninFigure21followedbysteps1to5mentionedinsection4.1.

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Figure21:MotionPlanning

9. GRAPH PLOT OPTIONS

TheanalysesresultsforFKin,IDynandFDyncanbeviewedasgraphplotsasexplainedinSections4.2,6.2and7.2respectively.SeveraloptionsforgraphplotfunctionalitesareexplainedbelowandasshowninFigure22.1. Selectagraphplotnode2. Settheplotcolor,symbolandlinestyle3. Rightclickongraphtoshowamenu.Hereyoucanusevariousoptionstozoom,printetc4. ExportDataasCSV:ExportplotdatathatcanbeopenedinaspreadsheetsuchasMSExcel5. UseMousewheeltozoominandout6. PressMousewheelanddragthemousetopanaroundthegraph

Figure22:GraphPlotOptions

10. SAVING AND OPENINGSKELETON MODELS

TheskeletonmodelscanbesavedaftermodifyingtheDHparametersandmassinertiapropertiesaspertheconvenience.

1. Tosaveaskeletonmodel:a. ClickonFilemenub. SelecttheSaveoption.c. Savetherobotintherequireddirectorywithasuitablefilename.Thefileextensionmustbe.xml.d. TheSavewindowcanbeopenedusingtheshortcut,CTRL+S.

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RoboAnalyyzerUserManuual http://wwww.roboanalyzeer.com

2. Tooopenaprevioouslysavedskeletonmodel:

a.. ClickonFilemenub.. SelecttheOpenoption.c. Navigatetootherequiredddirectoryandoopenthepreviiouslysavedmmodel.d.. Theopenwwindowcanbeopenedusingtheshortcut,CTRL+O.

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12. MATLAB INTEGRATIONVirtualRobotApplication(explainedinSection10)ismadeavailableasaCOMinterfacewhichcanbecalledandcontrolledfromMATLAB.OthersoftwarewhichcaninterfacewithCOMobjects(suchasMSExcel,programsdevelopedinC++etc.)canalsousedtocontrolVirtualRobot.Atpresent,onlyVirtualKUKAKR5robotcanbecontrolledfromMATLAB.ThefollowingstepsaretobefollowedtoinstallVirtualRobotCOMonacomputer:

1. Download"VirtualRobotsCOM.zip"andunzipitinC:\drive2. IfMATLABinstallationis32bitversion,rightclickonC:\VirtualRobotsCOM\register32.batand"RunasAdministrator"elseifMATLABinstallationis64bitversion,rightclickonC:\VirtualRobotsCOM\register64.batand"RunasAdministrator"

3. Acommandwindowopens,executessomecodeandclosesonitsown(Installationiscomplete!).4. OpenC:\VirtualRobotsCOM\virtualRobotInMatlab.minMATLABandrunit.VirtualRobotApplicationasshowninFigure25isdisplayed.

5. MATLABfilehasbriefcommentsontheworkflow.Jointanglesoftherobot(KUKAKR5)havetobeupdatedaspertheusersrequirementandalgorithm(suchasJacobiancontrol,Cartesianmotionplanningetc.)

6. DenavitHartenberg(DH)parametersofKukaKR5robotisgivenin"C:\VirtualRobotsCOM\DHParameters_KukaKR5.pdf"

Figure25:VirtualRobotApplicationBeingControlledfromMATLAB

13. REFERENCES

[1]S.K.Saha,IntroductiontoRobotics,2ndEdition,TataMcGrawHill,NewDelhi,2014[2]ReDySim,websiteaccessedonDecember28,2011,http://www.roboanalyzer.com/redysim.html

APPENDIX A: RECURSIVE DYNAMICS SIMULATOR (REDYSIM)

A.1.GENERAL DESCRIPTION

RecursiveDynamicsSimulator(ReDySim)isaMATLABbasedrecursivesolver[A1]fordynamicanalysisofroboticandmultibodysystems.ReDySimhascapabilitytoincorporateanycontrolalgorithmandtrajectoryplannerwithutmostease.Thisabilityprovides flexibility touser/researcher in incorporatinganycustomizedalgorithms.ReDySimshowedconsiderable improvement[A1]overthecommercialsoftwareandexistingalgorithms intermsofbothcomputationaltimeandnumericalaccuracy.ReDySimhasthreemodulesasshowninTable1.

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Table1:DetailsofmodulesinReDySim ModulesofReDySim Demoswithinthemodule1 BasicModule:FixedbaseSystems

(OpenandClosedloopSystems)3linkrobot,gripper,KUKArobot,fourbarmechanism,biped,longchain,3RRRparallelrobotandroboticleg

2 SpecializedModule:FloatingbaseSystems(a)ModuleforSpaceRobots(b)ModuleforLeggedRobots

3and7link space robots,dualarm space robot,andbiped,quadrupedandhexapodleggedrobots

3 SymbolicModule(a)ModuleforFixedbasesystems*(b)ModuleforFloatingbaseSystems

FixedbasePRrobot,2linkrobotandKUKArobot,andfloatingbase2linkspacerobot

*Presently,onlyfixedbasesymbolicmodulecanmodelprismaticjoint.Itwillsoonbeaddedtoothermodules.

A.2.HOW TO INSTALL AND USEa) RequireMATLAB2009aorhigherversioninordertouseReDySim.b) Gotothewebpagehttp://www.redysim.co.nr/download.c) Downloadtherequiredmoduleandunzipthedownloadedfolder.d) Followtheinstructionmanualprovidedinthemoduletostartsolvingaproblem.e) Foranalysisofanysystem,theinputsareenteredinthefilesshowninTable2(Seeinstructionmanual).Table2:Detailsofthefilesinwhichinputsarerequiredtobeenteredforanalysis Module Submodule input.m initial.m trajectory.m torque.m jacobian.m inv_kine.m1 Fixedbased Inverse Yes Yes Yes++

Forward Yes Yes Yes+ Yes Yes++ 2 Floatingbase Inverse Yes Yes Yes

Forward Yes Yes Yes+ Yes 3 Symbolic Fixed/Floating Yes +Desiredtrajectoryforcontrolledsimulation;++Thisfileisrequiredonlyinthecaseofclosedloopsystems

A.3.RUN DEMOS a) OpenthedownloadedmoduleandselectInverse/forwarddynamicssubfolder.b) Within inverse/forwarddynamics folder,open the subfolderwithnameof the system tobe analyzed, i.e.,

openfoldernamedbipedforanalysesofbiped.ThisfolderhastherequiredinputfilesshowninTable2.c) Copyallthefilesfromthisfolderandpastethemininversedynamics/forwarddynamicsfolder.d) Run function file run_me.m. Thiswill simulate the system and plot the results of inverse dynamics (joint

torques)orforwarddynamics(jointmotions),totalenergy,etc.e) Runanimate.mforanimatingthesystem.

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A.4.SNAPSHOTS OF SIMULATION RESUTLS OFA FLAOTINGBASE BIPED USING REDYSIMA.4.SNAPSHOTS OF SIMULATION RESUTLS OFA FLAOTINGBASE BIPED USING REDYSIM

FigureA.1:SnapshotsofsimulationresultsofabipedusingfloatingbasemoduleofReDySim

REFERENCEA1.ShahS.V.,SahaS.K.,andDuttJ.K.,DynamicsofTreetypeRoboticSystems,IntelligentSystems,Controland

Automation:ScienceandEngineeringBookseries,Springer,Netherlands(ISBN9789400750050).

S.V.Shah,IIITHyderabad;S.K.Saha,IITDelhi;J.K.Dutt,IITDelhiDynamicsofTreeTypeRoboticSystemsSeries:IntelligentSystems,ControlandAutomation:ScienceandEngineering,Vol.62FeaturesIndispensibleonestopresourcePresentsaframeworkfordynamicmodelingandanalysisoftreetyperoboticsystemsIntroducesconceptsofkinematicmoduleandEulerAngleJoints InclusionofclosedloopsystemsIllustrationofmodelbasedcontrolComeswithRecursiveDynamicsSimulator(ReDySim),afreesolverfordynamicanalysis

RoboAnalyzerDevelopedbyProfS.K.Saha&Team

(Mr.RajeevlochanaC.G.,Mr.Amit Jain,Mr.Suril V.Shah,Ms.Jyoti Bahuguna,Mr.Ratan Sadanand andMr.RaviJoshi)MechatronicsLab,MechanicalEngineeringDepartment,IITDelhi,NewDelhi,India

Contact:[email protected],[email protected] Website:http://www.roboanalyzer.com

3DModelBasedRoboticsLearningSoftware

Togetmoreinsighton

Robotics

http://www.mhhe.com/saha/robotics

"Comprehensive book thatpresents a detailed expositionof the concepts using a simpleand student friendly approach

Excellent coverage of Roboticapplications, Homogeneoustransformation and Roboticprogramming etc.

comprehensive coverage onDrive Systems, Robot Control,and Robot Applications

PublishedinMexico(Spanish)

PublishedinP.R.China

1Slide Number 1

2PREFACECONTENTS1. GETTING STARTED1.1. MINIMUM SYSTEM REQUIREMENT1.2. INSTALLATION

2. INTRODUCTION TO ROBOANALYZER2.1. MODEL A ROBOT2.2. FEATURES OF ROBOANALYZER2.3. OVERVIEW OF USER INTERFACE2.4. 3D MODEL VIEW OPTIONS

3. DENAVIT-HARTENBERG PARAMETERS VISUALIZATION3.1. VISUALIZE DH3.2. LINK CONFIGURATION3.3. END-EFFECTOR CONFIGURATION

4. FORWARD KINEMATICS4.1. ANIMATION OF FKIN4.2. GRAPH PLOTS OF FKIN

5. INVERSE KINEMATICS5.1. SOLUTIONS OF IKIN

6. INVERSE DYNAMICS6.1. SOLUTION OF IDYN6.2. GRAPH PLOTS OF IDYN

7. FORWARD DYNAMICS7.1. SOLUTION OF FDYN7.2. GRAPH PLOTS OF FDYN

8. MOTION PLANNING8.1. SOLUTION OF MOTION PLANNING

9. GRAPH PLOT OPTIONS10. SAVING AND OPENING SKELETON MODELS11. VIRTUAL ROBOT MODULE12. MATLAB INTEGRATION13. REFERENCESA.4. SNAPSHOTS OF SIMULATION RESUTLS OF A FLAOTING-BASE BIPED USING REDYSIMREFERENCE

3Slide Number 1

Robo Analyzer User Manual

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