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Introduction to Robotics

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Introduction to Robotics Introduction to Robotics Hesheng Wang Department of Automation Email: [email protected] Phone number: 34207252 Course Information – Textbook Textbook: Modelling and Control of Robot Manipulators (Second Edition), L. Sciavicco and B. Siciliano, Springer-Verlag, London, 2000. Robotics: Modelling Planning and Control, B. Siciliano,L. Sciavicco,L. Villani,G. Oriolo, Springer-Verlag, London, 2008. Course Information – Literature 中文参考书 机器人学导论 (原书第3 版) (美) John J. Craig著, 贠超, 等译 机械工业出版 社, 2006. Course Information – Contents Modeling Control • Trajectory planning • Kinematics • Differential kinematics • Motion control • Direct / Inverse kinematics • Hardware/software • Dynamics architecture Course Information – Software tools • Robotics Toolbox for MATLAB by Peter I. Corke – http://petercorke.com/Robotics_Toolbox.html Course Information – Examination Course attendance (10%) Quiz (10%) Final Examination (80%) Lecture 1: Introduction Robotics Industrial Robot Manipulator Structures Modeling and Control of Robot Manipulators Robotics History of Robotics General Framework of Robotics Classification of Robot （ Robot） History of Robotics Date Significance Robot Name Inventor First Descriptions of more than 100 machines and century automata, including a fire engine, a wind organ, a Ctesibius, Philo of A.D. coin-operated machine, and a steam-powered Byzantium, Heron of and engine, in Pneumatica and Automata by Heron of Alexandria, and others earlier Alexandria Boat with four 1206 First programmable humanoid robots robotic Al-Jazari musicians Mechanical c. 1495 Designs for a humanoid robot Leonardo da Vinci knight Mechanical duck that was able to eat, flap its 1738 Digesting Duck Jacques de Vaucanson wings, and excrete Japanese mechanical toys that served tea, fired 1800s Karakuri toys Tanaka Hisashige arrows, and painted History of Robotics First fictional automatons called “robots” appear in Rossum’s 1921 Karel Čapek the play R.U.R. Universal Robots Westinghouse Humanoid robot exhibited at the 1939 and 1940 1930s Elektro Electric World’s Fairs Corporation William Grey 1948 Simple robots exhibiting biological behaviors[4] Elsie and Elmer Walter First commercial robot, from the Unimation 1956 company founded by George Devol and Joseph Unimate George Devol Engelberger, based on Devol’s patents[5] 1961 First installed industrial robot Unimate George Devol 1963 First palletizing robot[6] Palletizer Fuji Yusoki Kogyo First industrial robot with six electromechanically KUKA Robot 1973 Famulus driven axes[7] Group Programmable universal manipulation arm, a 1975 PUMA Victor Scheinman Unimation product History of Robotics The word robot was introduced to the public by Czech writer Karel Čapek in his play R.U.R. (Rossum’s Universal Robots), which premiered in 1921. The word robotics was first used in print by Isaac Asimov, in his science fiction short story “Liar!“, published in May 1941 in Astounding Science Fiction. Asimov was unaware that he was coining the term; since the science and technology of electrical devices is electronics, he assumed robotics already referred to the science and technology of robots. History of Robotics Three Laws of Robotics: * Law One: A robot may not injure a human being, or, through inaction, allow a human being to come to harm. * Law Two: A robot must obey orders given it by human beings, except when such orders would conflict with the first law. * Law Three: A robot must protect its own existence, as long as such protection does not conflict with the first or second law. History of Robotics early robots (1940's - 50's) Grey Walter's "Elsie the "Shakey" The General Electric Walking tortoise" Stanford Research Truck the first legged vehicle Institute in the with a computer-brain, by Ralph 1960s. Moser at General Electric Corp. in the 1960s. History of Robotics The first modern industrial robots were probably the "Unimates", created by George Devol and Joe Engleberger in the 1950's and 60's. Engleberger started the first robotics company, called "Unimation", and has been called the "father of robotics." History of Robotics Isaac Asimov and Joe Engleberger (image from Robotics Society of America web site) History of Robotics EXPLORATION People are interested in places that are sometimes full of danger, like outer space, or the deep ocean. But when they can not go there themselves, they make robots that can go there. The robots are able to carry cameras and other instruments so that they can collect information and send it back to their human operators History of Robotics INDUSTRY When doing a job, robots can do many things faster than humans. Robots do not need to be paid, eat, drink, or go to the bathroom like people. They can do repetative work that is absolutely boring to people and they will not stop, slow down, or fall to sleep like a human. History of Robotics MEDICINE Sometimes when operating, doctors have to use a robot instead. A human would not be able to make a hole exactly one 100th of a inch wide and long. When making medicines, robots can do the job much faster and more accurately than a human can. Also, a robot can be more delicate than a human. History of Robotics MEDICINE Some doctors and engineers are also developing prosthetic (bionic) limbs that use robotic mechanisms. History of Robotics MILITARY and POLICE Police need certain types of robots for bomb-disposal and for bringing video cameras and microphones into dangerous areas, where a human policeman might get hurt or killed. The military also uses robots for (1) locating and destroying mines on land and in water, (2) entering enemy bases to gather information, and (3) spying on enemy troops. History of Robotics TOYS The new robot technology is making interesting types of toys that children will like to play with. One is the "LEGO MINDSTORMS" robot construction kit. These kits, which were developed by the LEGO company with M.I.T. scientists, let kids create and program their own robots. Another is "Aibo" - Sony Corporation's robotic dog. Robot Videos • Bigdog • SONY Humanoid robot • HRP-4C Humanoid robot General Framework of Robotics Robotics is the science studying the intelligent connection of perception to action • Action: mechanical system (locomotion & manipulation) • Perception: sensory system (proprioceptive & heteroceptive) • Connection: control system Robotics is an interdisciplinary subject concerning mechanics, electronics, information theory, automation theory. Classification of Robotics Advanced Robot autonomous execution of missions in unstructured or scarce Industrial Robot Classification of Robotics • Class 1: Manual Handling Device • Class2: Fixed-Sequence Robot • *Class3: Variable Sequence Robot • Class4: Playback Robot • Class5: Numerical Control Robot • *Class6: Intelligent Robot JIRA:Japanise Industrial Robot Association RIA: The Robotics Instute of America Classification of Robotics • Type A: Handling Devices with manual control • Type B: Automatic Handling Devices with predetermined cycles • Type C: Programmable, servo controlled robots • Type D: Type C with interactive with the environment AFR: The Association Francaise de Robotique Industrial Robot Automation & Robot Application of Industrial Robot Components of Industrial Robot Types of Automated Manufacturing Systems Rigid ( or Fixed ) Automation • High initial investment for custom-engineered equipment • High production rates • Relatively inflexible in accommodating product variety Types of Automated Manufacturing Systems Programmable Automation • High investment in general purpose equipment • Lower production rates than fixed automation • Flexibility to deal with variations and changes in product configuration • Most suitable for batch production Types of Automated Manufacturing Systems Flexible Automation • High investment for a custom-engineered system • Continuous production of variable mixtures of products • Medium Production Rates • Flexibility to deal with product design variations Automation Application Hierarchical Structure of Automation Definition of an Industrial Robot A robot is a re-programmable multifunctional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks. Robot Institute of America (Group within Society of Manufacturing Engineers) Industrial Robot Manufacturers •ABB Robotics, Swiss/Swedish company •KUKA Robotics, German company. •Adept Technology, SCARA robots and more. •Motoman, a Yaskawa company (Japanese) •Fanuc, a Japanese company Industrial Robot Examples Vertical articulated type Gantry type SCARA type Parallel type Double arm type World Supply of Robots • World total: 114,365 units, up 3% on 2006 • World total stock of operational industrial robots: 995,000 units, 5% greater than 2006 • Robot investment is still booming in China, the third largest Asian robot market, with 6,600 units supplied in 2007, an increase of 14% on the previous year. • Total worldwide stock of operational industrial robots at the end of 2007 between a minimum of 994,000 units and a possible maximum of 1,200,000 units World Robotics 2008 World Supply of Robots World Robotics 2008 World Supply of Robots •Service robots: •professional service robots (things like bomb-disposal bots, surgical systems, milking robots) •personal service robots (vacuum cleaners, lawn mowers, all sorts of robot hobby kits and toys). World Robotics 2008 Typical Applications Material handling Manipulation Measurement Palletizing Packaging Cutting Arc welding
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