Fundamentals of Robotics
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Project Number: ECC - JOIN Design of Low Cost Modular Robotic Manipulator Joints A Major Qualifying Project Report Submitted to the Faculty of the WORCESTER POLYTECHNIC INSTITUTE in partial fulfillment of the requirements for the Degree of Bachelor of Science in Mechanical Engineering by __________________________ __________________________ Jonathan Baldiga Shivahn Fitzell __________________________ __________________________ Colin McCarthy Thomas Watson Date: April 28th, 2009 Approved: __________________________ Prof. Cobb, Major Advisor __________________________ Prof. Looft, Co-Advisor __________________________ Prof. Looft, Co-Advisor Keywords: 1. Modular joints 2. Inexpensive robotics 3. Infinite rotation Abstract The goal of this project was to design and manufacture robotic joints that are inexpensive and capable of being used in a variety of applications. In order to maximize the number of applications in which our design could be utilized, research was done on optimal strength, size, communications, modularity, and price. This project includes the research and design development necessary to engineer such a joint, including part selection, motor control, manufacturing processes, and strength analysis. Two Joints were constructed and tested: a rotator joint and a elbow-joint. The joints performed well under testing conditions and overall prices were kept low. With future development, these joints could be used in fields where size and price are critical. i Acknowledgements We would like to thank the following individuals for their -
Robotic Manipulators Mechanical Project for the Domestic Robot HERA
See discussions, stats, and author profiles for this publication at: https://www.researchgate.net/publication/333931156 Robotic Manipulators Mechanical Project For The Domestic Robot HERA Conference Paper · April 2019 CITATIONS READS 0 197 3 authors: Marina Gonbata Fabrizio Leonardi University Center of FEI University Center of FEI 3 PUBLICATIONS 0 CITATIONS 97 PUBLICATIONS 86 CITATIONS SEE PROFILE SEE PROFILE Plinio Thomaz Aquino Junior University Center of FEI 58 PUBLICATIONS 237 CITATIONS SEE PROFILE Some of the authors of this publication are also working on these related projects: Vehicle Coordination View project HERA: Home Environment Robot Assistant View project All content following this page was uploaded by Plinio Thomaz Aquino Junior on 21 June 2019. The user has requested enhancement of the downloaded file. BRAHUR-BRASERO 2019 II Brazilian Humanoid Robot Workshop and III Brazilian Workshop on Service Robotics Robotic Manipulators Mechanical Project For The Domestic Robot HERA Marina Yukari Gonbata1, Fabrizio Leonardi1 and Plinio Thomaz Aquino Junior1 Abstract— Robotics can ease peoples life, in the industrial that can ”read” the environment where it acts), ability to act and home environment. When talking about homes, robot may actuators and motors capable of producing actions, such as assist people in some domestic and tasks, done in repeat. To the displacement of the robot in the environment), robustness accomplish those tasks, a robot must have a robotic arm, so it can interact with the environment physically, therefore, a robot and intelligence (ability to handle the most diverse situations, must use its arm to do the tasks that are required by its user. in order to solve and perform tasks as complex as they are) [2]. -
History of Robotics: Timeline
History of Robotics: Timeline This history of robotics is intertwined with the histories of technology, science and the basic principle of progress. Technology used in computing, electricity, even pneumatics and hydraulics can all be considered a part of the history of robotics. The timeline presented is therefore far from complete. Robotics currently represents one of mankind’s greatest accomplishments and is the single greatest attempt of mankind to produce an artificial, sentient being. It is only in recent years that manufacturers are making robotics increasingly available and attainable to the general public. The focus of this timeline is to provide the reader with a general overview of robotics (with a focus more on mobile robots) and to give an appreciation for the inventors and innovators in this field who have helped robotics to become what it is today. RobotShop Distribution Inc., 2008 www.robotshop.ca www.robotshop.us Greek Times Some historians affirm that Talos, a giant creature written about in ancient greek literature, was a creature (either a man or a bull) made of bronze, given by Zeus to Europa. [6] According to one version of the myths he was created in Sardinia by Hephaestus on Zeus' command, who gave him to the Cretan king Minos. In another version Talos came to Crete with Zeus to watch over his love Europa, and Minos received him as a gift from her. There are suppositions that his name Talos in the old Cretan language meant the "Sun" and that Zeus was known in Crete by the similar name of Zeus Tallaios. -
February8-2016-Ihmcbodminutes
IHMC Board of Directors Meeting Minutes Monday February 8, 2016 8:30 a.m. CST/9:30 a.m. EST Teleconference Meeting Roll Call Chair Ron Ewers Chair’s Greetings Chair Ron Ewers Action Items 1. Approval of December 7, 2015 Minutes Chair Ron Ewers 2. Approval of IHMC Conflict of Interest Policy Chair Ron Ewers Chief Executive Officer’s Report 1. Update on Pensacola Expansion Dr. Ken Ford 2. Research Update Dr. Ken Ford 3. Federal Legislative Update Dr. Ken Ford 4. State Legislative Update Dr. Ken Ford Other Items Adjournment IHMC Chair Ron Ewers called the meeting to order at 8:30 a.m. CST. Directors in attendance included: Dick Baker, Carol Carlan, Bill Dalton, Ron Ewers, Eugene Franklin, Hal Hudson, Jon Mills, Mort O’Sullivan, Alain Rappaport, Martha Saunders, Gordon Sprague and Glenn Sturm. Also in attendance were Ken Ford, Bonnie Dorr, Pam Dana, Sharon Heise, Row Rogacki, Phil Turner, Ann Spang, and Julie Sheppard. Chair Ewers welcomed and thanked everyone who dialed in this morning. He informed the Board that the next meeting is an in person meeting scheduled for Pensacola on Sunday, June 5 and Monday, June 6, 2016 adding that we would begin the event late Sunday afternoon with a dinner at the Union Public House and have a half day Board meeting in Pensacola on Monday the 6th. He asked all Board members to place this meeting date on their calendar as soon as possible and let Julie know if you are able to attend so we can solidify arrangements and book hotel rooms for out of town guests. -
Robot Control and Programming: Class Notes Dr
NAVARRA UNIVERSITY UPPER ENGINEERING SCHOOL San Sebastian´ Robot Control and Programming: Class notes Dr. Emilio Jose´ Sanchez´ Tapia August, 2010 Servicio de Publicaciones de la Universidad de Navarra 987‐84‐8081‐293‐1 ii Viaje a ’Agra de Cimientos’ Era yo todav´ıa un estudiante de doctorado cuando cayo´ en mis manos una tesis de la cual me llamo´ especialmente la atencion´ su cap´ıtulo de agradecimientos. Bueno, realmente la tesis no contaba con un cap´ıtulo de ’agradecimientos’ sino mas´ bien con un cap´ıtulo alternativo titulado ’viaje a Agra de Cimientos’. En dicho capitulo, el ahora ya doctor redacto´ un pequeno˜ cuento epico´ inventado por el´ mismo. Esta pequena˜ historia relataba las aventuras de un caballero, al mas´ puro estilo ’Tolkiano’, que cabalgaba en busca de un pueblo recondito.´ Ya os podeis´ imaginar que dicho caballero, no era otro sino el´ mismo, y que su viaje era mas´ bien una odisea en la cual tuvo que superar mil y una pruebas hasta conseguir su objetivo, llegar a Agra de Cimientos (terminar su tesis). Solo´ deciros que para cada una de esas pruebas tuvo la suerte de encontrar a una mano amiga que le ayudara. En mi caso, no voy a presentarte una tesis, sino los apuntes de la asignatura ”Robot Control and Programming´´ que se imparte en ingles.´ Aunque yo no tengo tanta imaginacion´ como la de aquel doctorando para poder contaros una historia, s´ı que he tenido la suerte de encontrar a muchas personas que me han ayudado en mi viaje hacia ’Agra de Cimientos’. Y eso es, amigo lector, al abrir estas notas de clase vas a ser testigo del final de un viaje que he realizado de la mano de mucha gente que de alguna forma u otra han contribuido en su mejora. -
Industrial Robot
1 Introduction 25 1.2 Industrial robots - definition and classification 1.2.1 Definition (ISO 8373:2012) and delimitation The annual surveys carried out by IFR focus on the collection of yearly statistics on the production, imports, exports and domestic installations/shipments of industrial robots (at least three or more axes) as described in the ISO definition given below. Figures 1.1 shows examples of robot types which are covered by this definition and hence included in the surveys. A robot which has its own control system and is not controlled by the machine should be included in the statistics, although it may be dedicated for a special machine. Other dedicated industrial robots should not be included in the statistics. If countries declare that they included dedicated industrial robots, or are suspected of doing so, this will be clearly indicated in the statistical tables. It will imply that data for those countries is not directly comparable with those of countries that strictly adhere to the definition of multipurpose industrial robots. Wafer handlers have their own control system and should be included in the statistics of industrial robots. Wafers handlers can be articulated, cartesian, cylindrical or SCARA robots. Irrespective from the type of robots they are reported in the application “cleanroom for semiconductors”. Flat panel handlers also should be included. Mainly they are articulated robots. Irrespective from the type of robots they are reported in the application “cleanroom for FPD”. Examples of dedicated industrial robots that should not be included in the international survey are: Equipment dedicated for loading/unloading of machine tools (see figure 1.3). -
Moral and Ethical Questions for Robotics Public Policy Daniel Howlader1
Moral and ethical questions for robotics public policy Daniel Howlader1 1. George Mason University, School of Public Policy, 3351 Fairfax Dr., Arlington VA, 22201, USA. Email: [email protected]. Abstract The roles of robotics, computers, and artifi cial intelligences in daily life are continuously expanding. Yet there is little discussion of ethical or moral ramifi cations of long-term development of robots and 1) their interactions with humans and 2) the status and regard contingent within these interactions– and even less discussion of such issues in public policy. A focus on artifi cial intelligence with respect to differing levels of robotic moral agency is used to examine the existing robotic policies in example countries, most of which are based loosely upon Isaac Asimov’s Three Laws. This essay posits insuffi ciency of current robotic policies – and offers some suggestions as to why the Three Laws are not appropriate or suffi cient to inform or derive public policy. Key words: robotics, artifi cial intelligence, roboethics, public policy, moral agency Introduction Roles for robots Robots, robotics, computers, and artifi cial intelligence (AI) Robotics and robotic-type machinery are widely used in are becoming an evermore important and largely un- countless manufacturing industries all over the globe, and avoidable part of everyday life for large segments of the robotics in general have become a part of sea exploration, developed world’s population. At present, these daily as well as in hospitals (1). Siciliano and Khatib present the interactions are now largely mundane, have been accepted current use of robotics, which include robots “in factories and even welcomed by many, and do not raise practical, and schools,” (1) as well as “fi ghting fi res, making goods moral or ethical questions. -
Coordinated Control of a Mobile Manipulator
University of Pennsylvania ScholarlyCommons Technical Reports (CIS) Department of Computer & Information Science March 1994 Coordinated Control of a Mobile Manipulator Yoshio Yamamoto University of Pennsylvania Follow this and additional works at: https://repository.upenn.edu/cis_reports Recommended Citation Yoshio Yamamoto, "Coordinated Control of a Mobile Manipulator", . March 1994. University of Pennsylvania Department of Computer and Information Science Technical Report No. MS-CIS-94-12. This paper is posted at ScholarlyCommons. https://repository.upenn.edu/cis_reports/240 For more information, please contact [email protected]. Coordinated Control of a Mobile Manipulator Abstract In this technical report, we investigate modeling, control, and coordination of mobile manipulators. A mobile manipulator in this study consists of a robotic manipulator and a mobile platform, with the manipulator being mounted atop the mobile platform. A mobile manipulator combines the dextrous manipulation capability offered by fixed-base manipulators and the mobility offered by mobile platforms. While mobile manipulators offer a tremendous potential for flexible material handling and other tasks, at the same time they bring about a number of challenging issues rather than simply increasing the structural complexity. First, combining a manipulator and a platform creates redundancy. Second, a wheeled mobile platform is subject to nonholonomic constraints. Third, there exists dynamic interaction between the manipulator and the mobile platform. Fourth, -
Science and Technology In-Space Assembly Open Forum Presentations
WELCOME TO THE SCIENCE AND TECHNOLOGY (S&T) PARTNERSHIP OPEN FORUM: Information exchange for market analysis of commercial in-space assembly (iSA) activities November 6, 2018 Science & Technology Partnership Forum AF– NASA – NRO Interagency S&T Partnership Forum Activities and Background 6 Nov 2018 DISTRIBUTION STATEMENT A - APPROVED FOR PUBLIC RELEASE. DISTRIBUTION IS UNLIMITED. THIS BRIEFING IS FOR INFORMATION ONLY. NO U.S. GOVERNMENT COMMITMENT TO SELL, LOAN, LEASE, CO-DEVELOP, OR CO-PRODUCE DEFENSE ARTICLES OR PROVIDE DEFENSE SERVICES IS IMPLIED OR INTENDED Science and Technology Collaboration Background Focus Areas • Established S&T Partnership in 2015 as 16 topics identified and prioritized. Top 4: Summit Action Item 1. Small Satellite Technology 3. In-Space Assembly (ISA) – Strategic AF/NRO/NASA forum to identify Lead: AF Lead: NASA synergistic efforts and technologies 2. Big Data Analytics 4. Space Cybersecurity – Additional orgs: OSD, DOS, DARPA, Lead: NRO Lead: NASA AFRL, SMDC, NRL, DIA, NOAA, + Accomplishments Next Steps • In-Space Assembly industry/FFRDC summit (NOW) • 10 Tech Exchange Meetings to date: 24 orgs • Deliver ISA recommendations to Agencies (Fall ‘18) • Cross-walked S&T roadmaps in each area • One-day Big Data Research Workshop (Mar‘18) • Topic 1 transitioned to Gov’t Forum on CubeSats • New topic: cislunar space technologies (FY19) • Cross-agency Innovation Summits with industry • Normalized terms/requirements/goals • Delivered recommendations on goals, strategies, and potential joint concepts • 2 Analytical Games -
The Roar Vol. 1, Edition 02 Rgb Final
Vol . 1 -2 1 | The Roar Monday, October 19, 2015 the ROAR LCHS NEWS LIVING IN THE SHADOW OF A SIBLING ! JACQUELINE RYAN Your older sibling does not define you. They set their W HAT’ S INSIDE… Junior High Writer own bar, but you should know that you do not have to ! compete with them. Do not put them on a pedestal, because no one is perfect. As Romans 3:23 says, “All L IVING IN THE SHADOW OF A SIBLING You may be wondering: “What does it Jacqueline Ryan mean to live in the shadow of an older have sinned and fallen short of the glory of God.” sibling?” It means that because your ! STUDENT SPOTLIGHT: JONAH sibling is successful, you feel as though Find your own strengths and do something new! You H INTON’ S PAPER you must also be successful in order to don’t have to join the same clubs as your siblings, nor Sydney Beech feel a sense of accomplishment and self- do you have to play the same sports. Learn from their worth. mistakes, as well as the good things they did. You are J OKES FROM DR . SHUMAN ! your own person. God created you. You are unique. Tom Scoggin Quite a few junior high students at LCHS are younger ! While I was talking to Grace Jones, she said she feels T HE TWO DOLLAR DILEMMA siblings to upperclassmen. On the first day of school, a Tom Scoggin few of you probably heard a teacher say, “I know your like she has to live up to her older sisters because they brother/sister” as they were reading roll call. -
Motion Planning for a Mobile Humanoid Manipulator Working in an Industrial Environment
applied sciences Article Motion Planning for a Mobile Humanoid Manipulator Working in an Industrial Environment Iwona Pajak † and Grzegorz Pajak *,† Institute of Mechanical Engineering, University of Zielona Gora, 65-516 Zielona Gora, Poland; [email protected] * Correspondence: [email protected] † These authors contributed equally to this work. Abstract: This paper presents the usage of holonomic mobile humanoid manipulators to carry out autonomous tasks in industrial environments, according to the smart factory concept and the Industry 4.0 philosophy. The problem of transporting lengthy objects, taking into account mechanical limitations, the conditions for avoiding collisions, as well as the dexterity of the manipulator arms was considered. The primary problem was divided into three phases, leading to three different types of robotic tasks. In the proposed approach, the pseudoinverse Jacobian method at the acceleration level to solve each of the tasks was used. The redundant degrees of freedom were used to satisfy secondary objectives such as robot kinetic energy, the maximization of the manipulability measure, and the fulfillment mechanical and collision-avoidance limitations. A computer example involving a mobile humanoid manipulator, operating in an industrial environment, illustrated the effectiveness of the proposed method. Keywords: humanoid manipulator; mobile robot; motion planning; transportation task Citation: Pajak, I.; Pajak, G. Motion Planning for a Mobile Humanoid Manipulator Working in an Industrial Environment. Appl. Sci. 2021, 11, 1. Introduction 6209. https://doi.org/10.3390/ The history of industrial robotics dates back to the 1950s. At that time, the first designs app11136209 of numerically controlled machine tools and programmable manipulators for industrial applications were created. -
An Engineer's Guide to Industrial Robot Designs
e-book An Engineer’s Guide to Industrial Robot Designs A compendium of technical documentation on robotic system designs ti.com/robotics Q2 | 2020 Table of Contents/Overview 1. Introduction 3. Robot arm and driving system (manipulator) 1.1 An introduction to an industrial robot system. 3 3.1.1 How to protect battery power management systems from thermal damage. 45 2. Robot system controller 3.1.2 Protecting your battery isn’t as hard as 2.1 Control panel you think.....................................46 2.1.1 Using Sitara™ processors for Industry 3.1.3 Position feedback-related reference designs 4.0 servo drives.......................9 for robotic systems............................47 2.2 Servo drives for robotic systems 4. Sensing and vision technologies 2.2.1 The impact of an isolated gate driver. 13 4.1 TI mmWave radar sensors in robotics 2.2.2 Understanding peak source and applications..................................48 sink current parameters . 17 4.2 Intelligence at the edge powers autonomous 2.2.3 Low-side gate drivers with UVLO versus factories .....................................53 BJT totem poles ......................19 4.3 Use ultrasonic sensing for graceful robots. 55 2.2.4 An external gate-resistor design guide for 4.4 How sensor data is powering AI in robotics. 57 gate drivers.......................... 20 4.5 Bringing machine learning to embedded 2.2.5 High-side motor current monitoring for systems .....................................61 overcurrent protection. 22 4.6 Robots get wheels to address new 2.2.6 Five benefits of enhanced PWM rejection for challenges and functions. 65 in-line motor control. 24 4.7 Vision and sensing-technology reference 2.2.7 How to protect control systems from thermal designs for robotic systems.