Geometry / Kinematic
Courses tagged with "Geometry / Kinematic"
Learning Path: Modeling of the Ned2
- Length:20h
- Content Type:Lab
- Programming language:Python
- Equipment:Ned2
This course is designed to guide you through the practical aspects of robotic kinematics and motion control using the NED2 robotic arm. Through a series of hands-on laboratories, you will learn how to model, program, and control the NED2 robot using Python.
Course Structure
This course is divided into four laboratories, each focusing on a crucial aspect of robotics modeling and programming:
Laboratory 1: Direct Geometric Model (DGM)
Concepts Covered:
- Denavit-Hartenberg Modified (DHM) parameterization
- Homogeneous transformation matrices
- Direct geometric modeling
Skills Gained:
- Positioning and parameterizing the robot
- Implementing DGM using Python
- Programming basic robot movements
Laboratory 2: Direct Kinematic Model (DKM)
Concepts Covered:
- Position, velocity, and acceleration in 3D space
- Calculation of the direct kinematic model
- Jacobian matrix calculation
Skills Gained:
- Representing the NED2 arm in specific configurations
- Computing transformation matrices
- Using Python for kinematic verification
Laboratory 3: Inverse Kinematics and Singularity Detection
Concepts Covered:
- Inverse kinematics calculations
- Jacobian matrix rank determination
- Detection of singularities using determinant and condition number
Skills Gained:
- Computing joint velocities
- Analyzing singularity conditions in robotic movement
- Implementing Python-based verification techniques
Laboratory 4: Motion Planning and Control
Concepts Covered:
- Differential kinematics for trajectory generation
- Python programming of motion control
- Precision improvement in robotic movement
Skills Gained:
- Implementing a straight-line trajectory in Python
- Controlling NED2 using Python
- Graphical verification and accuracy enhancement
Knowledge Prerequisites
Before starting, ensure you are familiar with:
- Python: Basic syntax, lists, dictionaries, loops, and function calls
- Mathematics: Matrix multiplication and transformation matrices
- Robotics: Coordinate frame setup, Denavit-Hartenberg parameterization, kinematic modeling
- Kinematics: Position, velocity, and acceleration in 3D, Jacobian matrix calculations
Required Equipment
- NED2 Robotic Arm (properly set up and connected)
- NiryoStudio (for robot interfacing)
- Python Console (with pyniryo library installed)
Getting Started
Make sure your NED2 robot is correctly set up, and your Python environment is ready before proceeding to the laboratory modules. Click on a lab module to begin your journey into robotics programming!
- Enrolled students: 41
Complete Direct Geometric Model of the Ned2
- Length:5h
- Content Type:Lab
- Programming language:Python
- Equipment:Ned2
Scenario
Geometric modeling of an articulated robot establishes a crucial connection between joint coordinates and Cartesian coordinates. This relationship is fundamental when it comes to controlling the position and orientation of a tool, especially for assigning motor joint angle commands to position an object in space, such as in pick-and-place operations. The objective of this lab is to provide comprehensive training on the forward geometric modeling of manipulator robots, with particular focus on the Niryo NED2 robot, which has six degrees of freedom.
We will adopt the Khalil and Kleinfinger method, known for its ability to provide a homogeneous and efficient description with a reduced number of parameters, suitable for both simple mechanical structures and more complex configurations. The course will detail, step by step, how to use this notation to determine the Cartesian coordinates of the robot’s tool endpoint, whether it is the sixth axis or the center of the gripper equipped with a specific tool.
During interactive practical sessions, students will be guided through the application of key geometric transformations to achieve both precise and simplified modeling. They will explore how to interpret coordinate systems, use transformation matrices, and understand the interactions between the various components of the robot. By mastering these skills, students will be able to efficiently model the movement and control of serial-type manipulator robots, paving the way for advanced applications in robotics.
Laboratory contents
Chapter 1: Geometric Modeling of a NED2 Robot
- Identification of Joints via the NiryoStudio Software
- Visualization of Frames in 3D Modeling Software
- Plotting the Kinematic Chain of the Robot in HOME Position
- Placement of Frames According to Methodology Conventions
- Identification of Geometric Parameters
Chapter 2: Direct Geometric Model of the NED2 Robot
- Writing the Transformation Matrix for Each Joint
- Calculation of the Global Matrix
- Extraction of Positions and Orientations
- Python Code to Plot the Workspace of the Niryo NED2 Robot
- Comparison of Results
Required equipment
Ned 2
NiryoStudio
Prerequisite knowledge
- Python/Matlab: Basic syntax + simple data structures and control structures + simple function calls
- Math: Matrix calculations – Ability to multiply matrices
- Robotics: Ability to perform positioning and parameterization following the modified Denavit-Hartenberg convention, express a transformation matrix, and calculate the direct geometric model of a robot.
Setup
- Place the NED2 robotic arm on a table. The NED2 robotic arm should have a clear perimeter of obstacles approximately 60 centimeters in radius.
- Connect the NED2 robotic arm to the safety box of the NED robotic arm.
- Connect the safety box of the NED2 robotic arm to the power supply of the NED2 robotic arm.
- Plug the power supply of the NED2 robotic arm into the electrical network.
- Connect the NED2 robotic arm to NiryoStudio.
- Enrolled students: 40