EEEE3024: Robotics, Dynamics and Control 2024 - 2025
Course assignment: Utilizing the ABB irb660 robotic arm to explore forward kinematics and inverse kinematics
Overview
This course work constitutes 25% of the total module content. After completing the following tasks, you will be required to submit a brief report summarizing the work you have done to answer the five questions related to this assignment. The goals of tasks 1 to 3 account for 50% of the total course work, while tasks 4 to 5 make up the remaining 50%.
Objective:
1. Understand the kinematic chain of the irb660 robotic arm.
2. Provide the inverse kinematics equations developed in course assignment 1.
3. Implement the inverse kinematics solution to complete the picking and placing tasks.
Task:
1. Propose a set of possible inverse kinematics equations. (5 points)
2. Create a flowchart showing all the steps required to complete a routine procedure, including selecting and placing one of the cubes. The center of the object will be placed 2.5 meters directly in front of the bottom of the arm. Pick it up and move it 0.6 meters to the right (refer to Figure 2) and release it. Then move the irb660 arm to its original position for picking up the item. The end effector will be a vacuum gripper, with a length of 0.25 meters, located directly below point D (refer to Figure 3), and the height of the cube is 0.3 meters. (15 marks)
3. Develop a method, such as a MATLAB script, to solve the inverse kinematics equation set developed in Course Assignment 1 and apply it to the problem in Task 2 to verify the equations. (30 points)
4. Write pseudo-code to show the movement required to pick up and place the building blocks from the initial position to the target position, completing the movement of all three building blocks from position M to position P (refer to Figure 1). Only one block can be moved at a time. You need to explain the obstacles as if they exist, so as to arrange the building blocks in the correct order. The initial position of the tower composed of the three building blocks is set at point m. [10 points]
5. Discuss the program for controlling the irb660 arm to complete the interception action. For each action/position, it is necessary to use the IK equations provided earlier to calculate the joint angles. The initial stack of three blocks (each block is 0.3m high) will be placed 0.6m to the left of the midpoint of the robot base (refer to Figure 4). You need to move the building block tower from point M to point P, moving one block at a time. The distances between points M, N, O, and P are all 0.4m. (40 points)