Matlab tool box for determining the workspace of Mitsubishi Robot RV-M1

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

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.