sign in sign up
<<
Home , Automation, Elektro, Entertainment robot, George Devol, Industrial robot, KUKA

Introduction to

Hesheng Wang

Department of Email: [email protected] Phone number: 34207252 Course Information – Textbook

 Textbook:  Modelling and Control of 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 •

• Direct / Inverse kinematics • Hardware/software

• Dynamics architecture Course Information – Software

• 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

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 and century automata, including a fire , a wind organ, a Ctesibius, Philo of A.D. coin-operated , 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 robotic Al-Jazari musicians Mechanical c. 1495 Designs for a 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 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 Corporation William Grey 1948 Simple robots exhibiting biological behaviors[4] Elsie and Elmer Walter First commercial robot, from the 1956 company founded by Devol and Joseph 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 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 of electrical devices is , he assumed robotics already referred to the science and technology of robots. History of Robotics

Three :

* 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 Walking tortoise" Stanford Research Truck the first legged Institute in the with a -brain, by Ralph . Moser at General Electric Corp. in the 1960s. History of Robotics

The first modern industrial robots were probably the "", 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 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 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" - 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:

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: 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 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 • 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

Measurement Advantages of Robots

• Robotics and automation can, in many situation, increase productivity, safety, efficiency, quality, and consistency of products • Robots can work in hazardous environments • Robots need no environmental comfort • Robots work continuously without any humanity needs and illnesses • Robots have repeatable precision at all times • Robots can be much more accurate than humans, they may have mili or micro inch accuracy. • Robots and their can have capabilities beyond that of humans • Robots can process multiple stimuli or tasks simultaneously, humans can only one. • Robots replace human workers who can create economic problems Current Industrial Robots

 are not creative or innovative,  no capability to think independently,  cannot make complicated decisions,  do not learn from mistakes  cannot adapt quickly to changes in their surroundings

We must depend on real people for these abilities! Components of Industrial Robot

 Mechanical structure or manipulator

 Sensors

 Control system Manipulator Structures

 Mechanical components

 Mechanical configurations Mechanical Components

 Robots are serial “chain” mechanisms made • “links” (generally considered to be rigid), and • “joints” (where relative motion takes place)  Joints connect two links • Link 0 - Joint 1 -Link 1 -Joint 2 -Link 2- “Degrees of Freedom”

 Degrees of freedom (DoF) is the number of independent movements the robot is capable of  Ideally, each joint has exactly one degree of freedom • degrees of freedom = number of joints  Industrial robots typically have 6 DoF,  but 3, 4, 5, and 7 are also common Types of Joints

 Although there are a few other types, most current industrial robots use one of two types of joints: • Prismatic or Translational (also called Linear), an • Revolute or Rotational Prismatic Joints

 Prismatic (Translational, Linear, Rectilinear) joints allow motion along a straight line between two links

Link 2

Link 1  Revolute (Rotational) joints allow motion along a circular arc between two links

Link 1 Link 2

Relative Motion provided by Revolute Joint Mechanical Configurations

 Industrial robots are categorized by the first three joint types  Five different robot configurations: • Cartesian (or Rectangular), • Cylindrical, • Spherical (or Polar), • Jointed (or Revolute), and • SCARA Cartesian Configuration

 All three joints are prismatic (PPP) Commonly used for positioning tools, such as dispensers, cutters, drivers, and routers Cartesian Configuration

 Often highly customizable, with options for X, Y, Z lengths  Payloads and speeds vary based on axis length and support structures  Simple kinematic equations Robot Workspace

 Workspace is the volume of space reachable by the end-effector mount  Everywhere a robot reaches must be within this space  orientation and size also important! Cartesian Workspace

 Easiest workspace to compute and visualize  Generally a simple “box” with width (X travel), depth (Y travel), and height (Z travel) Gantry Robot

 A gantry robot is a special type of Cartesian robot Y

X

Z Gantry Robot

 Vary widely in size, workspaces from “breadloaf” size to several cubic meters Characteristics of Cartesian Robots

• Advantages: • Disadvantages:  easy to visualize  not space efficient  have better inherent  external frame can be accuracy than most massive other types  Z axis “post” frequently  easy to program off- in the way line  Axes hard to seal  highly configurable -  Can only reach in front get the size needed of itself Cylindrical Configuration

 First joint is revolute (rotation) Next two joints are prismatic (RPP) Cylindrical Configuration

 Vertical Z axis is located inside the base  Compact end-of-arm design that allows the robot to "reach" into tight work without sacrificing or repeatability Cylindrical Design Robot Cylindrical Workspace

 Another “easy” workspace to compute and visualize Characteristics of Cylindrical Robots

• Advantages: • Disadvantages:  large workspace for  cannot reach above size itself  easily computed  horizontal axis kinematics frequently in the way  can reach all around  largely fallen “out of itself favor” and not common in new  reach and height axes rigid designs Spherical Configuration

 First two joints are revolute (rotation) Last joint is prismatic (RRP) Spherical Configuration

 One of the earliest common robot designs (original UniMate)  Used in a variety of industrial tasks such as welding and material handling Spherical Design Robots Spherical Workspace

 Workspace shaped like parts of “orange peel”  Harder to compute and visualize Spherical Workspace Characteristics of Spherical Robots

• Advantages: • Disadvantages:  large workspace for  has short vertical size reach  easily computed  horizontal axis kinematics frequently in the way  also fallen “out of favor” and not common in new designs Anthropomorphic Configuration

 First three joints are revolute or rotational (RRR)  Easily the most common type of modern robot Anthropomorphic Configuration

 Suitable for a wide variety of industrial tasks, ranging from welding to assembly  Often called an anthropomorphic arm because it resembles a human arm Anthropomorphic Configuration

 Anthropomorphic association extends to names of the links & joints

Joint 3 - “Elbow”

Joint 2 - “Shoulder”

Joint 1 - “Waist” Anthropomorphic Configuration

 Anthropomorphic association extends to names of the links & joints Link 3 - “Forearm”

Link 2 - “Upper Arm”

Link 1 - “Trunk” Anthropomorphic Configuration

 Very hard to compute and visualize Characteristics of Anthropomorphic Robots

• Advantages: • Disadvantages:  excellent reach for size  complicated kinematics  can reach above or  difficult to program off- below obstacles line characteristics similar  workspace difficult to to human arm visualize & compute  large workspace for  small errors in first few size joints are amplified at end-effector KUKA KR 1000 titan

 The KR 1000 titan is the strongest and biggest 6-axis robot available on the market.  Loads  Payload : 1000 kg  Supplementary load: 50 kg  Workspace  Max. reach: 3202 mm  Number of axes: 6  Repeatability: <±0.2 mm  Weight: 4950 kg KUKA KR 1000 titan

Workspace (mm) SCARA Configuration

 First two links are revolute, last link is prismatic (RRP)  SCARA stands for Selective Compliance Assembly Robot Arm SCARA Configuration

 Rigid in the vertical direction  Compliant in the horizontal direction  Used for assembly in a vertical direction • circuit board component insertion SCARA Workspace

 Workspace shaped somewhat like a donut  maximum outer radius  minimum inner radius  uniform height Adept Cobra s350 Characteristics of SCARA Robots

• Advantages: • Disadvantages:  fast cycle times  hard to program off-line  excellent repeatability  often limited to planar good payload capacity surfaces  large workspace  typically small with relatively  height axis is rigid low load capacity  two ways to reach same point Robot Arms & Wrists

 Most robot arms have 3 “degrees of freedom” • can position the end of the arm at “any” point in 3- D space  Robot “wrists” also have 3 “degrees of freedom” • usually all revolute / rotational joints • used to provide the final orientation to the “gripper” or “end-effector” Roll - Pitch - Roll Wrist

Three main degrees of freedom Can have problems when the first “roll” axis aligns with the last “roll” axis

Wrist Yaw - Pitch - Roll Wrist Knowledgebase for Robotics

•Typical knowledgebase for the design and operation of robotics systems –Dynamic system modeling and analysis – control –Sensors and signal conditioning – and power electronics –Hardware/computer interfacing – Disciplines: mathematics, physics, biology, mechanical , , computer engineering, and computer science Key Components Power conversion unit

Sensors Actuators Controller Manipulator linkage Base Robot Base: Fixed v/s Mobile

Robotic manipulators used in Mobile bases are typically manufacturing are examples of platforms with wheels or tracks fixed robots. They can not attached. Instead of wheels or move their base away from the tracks, some robots employ work being done. legs in order to move about. Robot Mechanism: Mechanical Elements Gear, rack, pinion, etc.

Cam and Follower Inclined plane wedge Chain and sprocket

Lever Slider-Crank

Linkage Sensors: I

•Human senses: sight, sound, touch, taste, and smell provide us vital information to function and survive

•Robot sensors: measure robot configuration/condition and its environment and send such information to robot controller as Accelerometer electronic signals (e.g., arm position, presence of Using Piezoelectric Effect toxic gas)

•Robots often need information that is beyond 5 human senses (e.g., ability to: see in the dark, detect tiny amounts of invisible radiation, measure movement that is too small or fast for the human eye to see) Flexiforce Sensors: II

Vision Sensor: e.g., to pick bins, perform inspection, etc.

Part-Picking: Robot can handle In-Sight Vision work pieces that are randomly Sensors piled by using 3-D vision sensor. Since alignment operation, a special parts feeder, and an alignment pallete are not required, an automatic system can be constructed at low cost. Sensors: III

Force Sensor: e.g., parts fitting and insertion, force feedback in robotic surgery Parts fitting and insertion: Robots can do precise fitting and insertion of machine parts by using force sensor. A robot can insert parts that have the phases after matching their phases in addition to simply inserting them. It can automate high-skill jobs. Sensors: IV

Example Infrared Ranging Sensor

KOALA ROBOT

•6 ultrasonic sonar to explore wide, open areas •Obstacle detection over a wide range from 15cm to 3m •16 built-in infrared proximity sensors (range 5-20cm) •Infrared sensors act as a “virtual bumper” and allow for negotiating tight spaces Actuators: I

• Common robotic actuators utilize combinations of different electro-mechanical devices – Synchronous motor – Stepper motor – AC servo motor – Brushless DC servo motor – Brushed DC servo motor

http://www.ab.com/motion/servo/fseries.html Actuators: II

Pneumatic Cylinder Hydraulic Motor Stepper Motor

DC Motor Pneumatic Servo Motor Motor Controller

 Provide necessary intelligence to control the manipulator/  Process the sensory information and compute the control commands for the actuators to carry out specified tasks Controller Hardware: I

Storage devices: e.g., memory to store the control program and the state of the robot system obtained from the sensors Controller Hardware: II

Computational engine that computes the control commands

RoboBoard Robotics Controller BASIC Stamp 2 Module Controller Hardware: III

Interface units: Hardware to interface digital controller with the external world (sensors and actuators) Analog to Digital Operational Amplifiers Converter

LM358 LM358

LM1458 dual operational amplifier Industries Using Robots

•Agriculture •Automobile •Construction •Entertainment •Health care: hospitals, patient-care, surgery , research, etc. •Laboratories: science, engineering , etc. •Law enforcement: , patrol, etc. •Manufacturing •Military: demining, surveillance, attack, etc. •, excavation, and exploration •Transportation: air, ground, rail, space, etc. •Utilities: gas, water, and electric • What Can Robots Do?

Industrial Robots

•Material handling •Material transfer •Machine loading and/or unloading Material Handling Manipulator • •Continuous arc welding •Spray coating •Assembly •Inspection Assembly Manipulator Spot Welding Manipulator Robots in Space

NASA Space Station Robots in Hazardous Environments

TROV in Antarctica HAZBOT operating in operating under atmospheres containing combustible gases water Medical Robots

Robotic assistant for micro surgery Robots at Home

Sony SDR-3X Sony Aido Future of Robots: I

Artificial Intelligence

Cog Kismet Future of Robots: II

Autonomy

Robot Work Crews Garbage Collection Cart Future of Robots: III

Humanoids

HONDA Humanoid Robot Four Legged Metal Mine Surveyor

Audio Enabled Hexapod RoboVac Assignment

Use the web to research the different manufacturers and types of industrial robots available.

Review linear algebra and mechanics