Pusan National University M&C Lab

로봇공학특론 (I) Advanced (I)

Min Cheol Lee Professor, School of Mechanical Engineering Pusan National University, Korea Office: Mechanical Building 819 (M 819) Phone: 051-510-2439 Email: [email protected] Home Page: http://mclab.me.pusan.ac.kr

1/55 Pusan National University M&C Lab Main Reference Text

Robotics Analysis, Systems, and Applications, Saeed B. Niku, Prentice Hall, 2001

Robotics Control, Sensing, Vision, and Intelligence, Fu, Gonzalez, and Lee, McGraw-Hill, Inc, 1995. Saeed B. Niku, Prentice Hall, 2001

염 영 일, 김 정 하 공역, SciTech, 2001 2/55 Pusan National University M&C Lab Robotics Analysis, Systems, and Applications Control, Sensing, Vision, and Intelligence

Contents

(1) Arm Kinematics(chap2) - Direct(Forward) Kinematics : Denavit-Hartenberg Representation.

θ i → determine a position and an orientation of end-effector - Inverse Kinematics : Give a position and an orientation of end-

i q effector → determine θ 3

q 2 (2) Robot Arm Dynamics (chap 3) (3) The Trajectory Planning (chap. 4)

(4) The Motion Control (chap. 5) q1 (5) Robot Sensing (chap. 6, Chap. 7)

3/55 Pusan National University M&C Lab Chapter 1 Fundamentals

1. Introduction

A Kuhnezug truck-mounted crane Cincinnati Unimation Milacron T3 PUMA 560 4/55 Pusan National University M&C Lab

Fanuc S-500 Performing seam-sealing on a truck. FANUC SAMSUNG R-2000ia SCARA robot 5/55 Pusan National University M&C Lab Industrial Robot

6/55 Pusan National University M&C Lab

 Mobile and

7/55 Pusan National University M&C Lab ♦ How classify ?

- JIRA (Japanese Industrial Robot Association)

Class1: Manual-Handling Device Class2: Fixed Sequence Robot Class3: Variable Sequence Robot Class4: Playback Robot Class5: Numerical Control Robot Class6: Intelligent Robot

- RIA (Robotics Institute of America)

Variable Sequence Robot(Class3) Playback Robot(Class4) Numerical Control Robot(Class5) Intelligent Robot(Class6)

8/55 Pusan National University M&C Lab

Classification of Robots

- AFR (Association FranÇaise de Robotique)

Type A: Manual Handling Devices/ telerobotics Type B: Automatic Handling Devices/ predetermined cycles Type C: Programmable, Servo controlled robot, continuous point-to-point trajectories Type D: Same type with C, but it can acquire information.

9/55 Pusan National University M&C Lab ♦ History of Robotics

1922: Karel Čapek’s novel, Rossum’s Universal Robots, word “Robota” (worker) 1952: NC machine (MIT) 1955: Denavit-Hartenberg Homogeneous Transformation 1967: Mark II (Unimation Inc.) 1968: Shakey (SRI) - intelligent robot 1973: T3 (Cincinnati Milacron Inc.) 1978: PUMA (Unimation Inc.) 1983: Robotics Courses 21C: Walking Robots, Mobile Robots, Humanoid Robots

Domestic(Korea): 1996: SCARA type FARAMAN SM5(Samsung Electronics) 1998: Vertical multi AM1, AS1, Dual Arm FARAMAN SD1 structure(Samsung Electronics) 2003 ~: HX1, HX 165, HR1 and intelligent multi articulated robot (HHI, Hyundae Heavy Industry ) , Vaccum Robot(Yujin Robot)

10/55 Pusan National University M&C Lab

Type of Industrial robot (HHI) HX300 HD165 HR006 HR015

HX130/165 HX165S

HR100P

11/55 Pusan National University M&C Lab

 Robot Structure of HA165

A1-PART

W1 - PART

V-Link A2 - PART & Hinge

S1 - PART

HA165 Model HX165 Model

12/55 Pusan National University M&C Lab

 Spot Welding

HX165 HR120

13/55 Pusan National University M&C Lab

 Advantages VS. Disadvantages of Robots

♦ Robots increase productivity, safety, efficiency, quality, and consistency of products. ♦ Robots can work in hazardous environments without the need. ♦ Robots need no environmental comfort. ♦ Robots work continuously without experiencing fatigue of problem. ♦ Robots have repeatable precision at all times. ♦ Robots can be much more accurate than human. ♦ Robots replace human workers creating economic problems. ♦ Robots can process multiple stimuli or tasks simultaneously. ♦ Robots lack capability to respond in emergencies. ♦ Robots, although superior in certain senses, have limited capabilities in Degree of freedom, Dexterity, Sensors, Vision system, real time response. ♦ Robots are costly, due to Initial cost of equipment, Installation costs, Need for Peripherals, Need for training, Need for programming.

14/55 Pusan National University M&C Lab

 Domestic Research Trend

Vision System based on collision detection -- Dajin System (2002)

. OOBB (Object-Oriented Bounding Box) which is collision detection algorithm is applied to automatic welding system. . Selecting each plate detection and recognizing welding position . Effect : Increase of productivity and reduction to equipment cost

< Simulation >

• Source : the Korean Intellectual Property Office, an applicant for a patent – Dajin System Company, Register date – 11/01/2003 15/55 Pusan National University M&C Lab

 Overseas Research Trend

ABB’s MultiMove Robot Controller IRC5

. Integrated control technology for positioner of 36 axis robot Dependent and independent motion control for each axis . Higher tact time , Minimizing waiting cycle Higher welding quality . Flexpendant with touch screen function

. Effect : flexibility and optimization

• Sourse – ABB’s MultiMove fires the imagination, Industrial Robot : An International Journal Vol.31 No.5 2004 pp.401-404 • ABB( Asea Brown Boveri) 16/55 Pusan National University M&C Lab

 Overseas Research Trend

Estimation of position of industrial robot(ABB IRB1400)

. accelerometer data based extended Kalman filter (EKF) and the particle filter (solving the Bayesian estimation problem) =>Increase of positioning accuracy

< The ABB IRB1400 robot with the accelerometer. >

• 출처 – Sensor fusion for position estimation of an industrial robot, Technical reports from the Control & Communication group in LinkÄoping http://www.control.isy.liu.se/publications.

17/55 Pusan National University M&C Lab FANUC - Factory Automation by Robot

Machining (Milling) Factory

Servo Motor Factory

< Robot Factory >

18/55 Pusan National University M&C Lab YASKAWA - Factory Automation by Robot

19/55 Pusan National University M&C Lab

 Overseas Research Trend

Turboscara SR4/6/8 – Bosch Rexroth (2002년)

. Increase of processing time of robot control . Internet connection for transferring data . Remote maintenance . Robotvision image processing system

. Effect : Support of variable function for satisfying user’s needs

• Source – Robots make a show at the UK automation and machine tool exhibitions, Industrial Robot : An International Journal Vol.29 No.6 2002 pp.511-516

20/55 Pusan National University M&C Lab

http://www.bing.com/videos/search?q  =Fanuc%20Robot&qs=n&form=QBVR& Overseas Research Trend pq=fanuc%20robot&sc=8-11&sp=- 1&sk= Bin picking – FANUC Robotics

. 2D Vision sensing – Parts Recognition . 3D Vision sensing – Measurement of position and orientation . Teach Pendant . Communication between vision systems . Reliablity - verified performance history . Effect : Flexibility in application environment, easier teaching plan , high reliability of controller

• Source – Robots make a show at the UK automation and machine tool exhibitions, Industrial Robot : An International Journal Vol.29 No.6 2002 pp.511-516 & http://www.fanucrobotics.com

21/55 Pusan National University M&C Lab

 Overseas Research Trend

Robot controller, 8-axis KR C2 – KUKA . Safety fieldbus interface- peripheral safety monitoring devices, limit switches . Effect : reduction of error rate due to keeping safety

KUKA Robot https://www.youtube.co m/watch?v=lv6op2HHIuM

• Source – Robots make a show at the UK automation and machine tool exhibitions, Industrial Robot : An International Journal Vol.29 No.6 2002 pp.511-516 22/55 Pusan National University M&C Lab

 Robot Application in the world

https://www.youtube.com/wat ch?v=ym64NFCWORY

Painting Robot in Motor Company Assembly Robot in Electronic Company https://www.youtube.com/watch?v =nah4BQ9y8IY 23/55 Pusan National University M&C Lab  Change of Paradigm

Industrial Society to Intelligent Based Society via Information Society

Classic Robot Intelligent Robot

Substitution of labor Environment change Coexistence with human Innovation of Self motion Repetitive work technology

Increase of productivity Change of Incerase of life quality society needs

24/55 Pusan National University M&C Lab  Developing to Intelligent Robot

 Intelligent Robot  - Voice recognition, Advanced Intelligent Robot Artificial vision - Bio-mimic - Learning, inference - Co-existance environment - Autonomous mobile with human……. robot - Personal - Ultimate environment  Robot for simple work - Simple sensor and controller After 2015 - Repetitive industrial robot

2005

1990

25/55 Pusan National University M&C Lab

 Definition of Intelligent Robot and Classification

Perception of environment

Self cognition

Autonomous Mobility & Manipulation

Intelligent robot includes network based service robot with IT technology

Service Robot Classification Industrial Robot Service Robot for Service Robot for Professional Personal Use Use

Source : IFR (International Federation of Robot] 26/55 Pusan National University M&C Lab  Classification of Intelligent Robot IFR(International Federation of Robotics) Robot Classification

Classification of Specific Classification by Application Areas Robot

Industrial Robot Manufacturing

Field, Cleaning, Inspection Expert Service Robot Construction, Logistics, Medical, Military, Rescue, Security, Underwater, Humanoid

Personal Service Home tasks, (toy, hobby), Handicap Assistance 27/55 Pusan National University M&C Lab

 Robot in the world

Wearable and Tele-Operated Robot (KIST)

https://www.youtube.com/watch?v=jqdBcVVb8IE

28/55 Pusan National University M&C Lab

 Robot for Production Manufacture

Japan , YASKAWA USA, AGV Products

Automated guided vehicles https://www.youtube.com/watch?v=jpP0zBFmQ9g 29/55 Pusan National University M&C Lab

Robot for Production Manufacture

HX165 HR120

30/55 Pusan National University M&C Lab

 Intelligent Manipulator

KUKA Robot https://www.youtube.com/watch?v=lv6op2HHIuM 31/55 Pusan National University M&C Lab

 Home Service Robot

iRobot 社 Vacuum robot Guide and Coffee delivery Security robot

Tutor for education, Pet, Silver robot

32/55 Pusan National University M&C Lab  Entertainment Robot

Sony (AIBO) – Toy robot

33/55 Pusan National University M&C Lab

 Entertainment & Humanoid(biped) Robot

Cat robot ASIMO

34/55 Pusan National University M&C Lab  Biped Robot

HONDA (ASIMO) - 2002 Hubo II – 2010

35/55 Pusan National University M&C Lab

Biped robot: SDR 4X (Surfing robot)

36/55 Pusan National University M&C Lab  Surgical Robot

Laparoscope CAD/CAM Surgical Holder Arthrobot Robot

AESOP RoboDoc daVinci

Laparoscopic Laparoscopic Surgical Instrument Hip joint surgical robot with camera assistance Surgical robot

3737/55 Pusan National University M&C Lab  Surgical Robot

38/55 Pusan National University M&C Lab

 Healthcare Robot

Rehabilitation and walking assistance Human interface based intelligent intelligent wheel chair robot wheel chair

39/55 Pusan National University M&C Lab  Welfare Robot

40/55 Pusan National University M&C Lab Importance of Intelligent Robot Industry Future STAR Industry 1 robot / one house in 2020 2025 Reading ( Japan Robot Society) Industry Higher value-added business

Advanced Fusion Technology

Robot Convergence Technology (Sensor fusion technology: Innovation Computer -> Automobile -> Intelligent robot) Extension of Information space- Ubiquitous network fusion

Realization of Welfare Society

Social Reduction of birth rate, Preparation for aging society Stabilization Stable economy through creation of jobs

41/55 Pusan National University M&C Lab  Market Forecasting of Intelligence Robot Market Forcasting

World market size in 2013: 200 Billion dollors( 500 Billion, 2020 ) Robot Market size in Japan in 2013: 19.8 Trillion Yen

’13년 일본내수시장 예측 19.8 Trilion Yen

Robot application S/W, Service contents, 12. Tri Yen Network based Robotic Appliance, Independent 4.3 Tri Yen Robot Independent 3.5 Tri Yen Robot 3.5 Tri Yen

(‘네트워크로봇의 실현을 향해서,’ 일본로봇공업회, 일본총무성, ’03) 42/55 Pusan National University M&C Lab  Market Forecasting of Intelligence Robot Market size forecasting

2018 Yr World Market Size: 100 Billion USD 2022 Yr Domestic Market Size: 2.45 Trillion Won (2.4 Billion USD)

43/55 Pusan National University M&C Lab  Robot Components

♦ Manipulator or Rover: Main body of robot (Links, Joints, other structural element of the robot) ♦End Effector: The part that is connected to the last joint(hand) of a manipulator

♦ Actuators: Muscles of the manipulators (servomotor, stepper motor, pneumatic and hydraulic cylinder)

♦ Sensors: To collect information about the internal state of the robot or To communicate with the outside environment

♦ Controller: Similar to cerebellum. It controls and coordinates the motion of the actuators.

♦ Processor: The brain of the robot. It calculates the motions and the velocity of the robot’s joints, etc.

♦ Software: Operating system, robotic software and the collection of routines.

Fig. 1.2 44/55 Pusan National University M&C Lab

External  Structure of Industrial Robot Power Unit.

Teach device Robot Robot terminal Computer mechanical or Controller arm pendent

Permanent End-of-arm Program tooling Storage

PROM,disk,tape

D/A AMP

Host Controller (Micro -processor, A/D Computer DSP,8086 ....) Counter ...... PID Trajectory Planning. Sliding Mode Control Data Comunication Adaptation Conrol Acturator (DC,AC,BLDC) Sensor(Resolver,Encoder, Potentiometer) 45/55 Pusan National University M&C Lab

 Robot Degree of Freedom

Consider what is the degree of Fig. 3

1 D.O.F. 2 D.O.F. 3 D.O.F.

Fig. 1.3 A Fanuc P-15 robot. Reprinted with permission from Fanuc Robotics, North America, Inc.

46/55 Pusan National University M&C Lab

 Robot Joints

Prismatic Joint: Linear, No rotation involved. (Hydraulic or pneumatic cylinder)

Revolute Joint: Rotary, (electrically driven with stepper motor, servo motor)

47/55 Pusan National University M&C Lab  Robot Coordinates

• Cartesian/rectangular/gantry (3P) : 3 cylinders joint • Cylindrical (R2P) : 2 Prismatic joint and 1 revolute joint • Spherical (2RP) : 1 Prismatic joint and 2 revolute joint • Articulated/anthropomorphic (3R) : All revolute(Human arm) • Selective Compliance Assembly Robot Arm (SCARA): 2 paralleled revolute joint and 1 additional prismatic joint

Fig. 1.4 48/55 Pusan National University M&C Lab  Robot Reference Frames

Fig. 1.6 A robot’s World, Joint, and Tool reference frames. Most robots may be programmed to move relative to either of these reference frames.

49/55 Pusan National University M&C Lab

 Programming Modes

Physical Setup: PLC Lead Through/ Teach Mode: Teaching Pendant/ Playback, p-to-p Continuous Walk-Through Mode: Simultaneous joint-movement Software Mode: Use of feedback information

 Robot Characteristics Payload: Fanuc Robotics LR Mate™ (6.6/ 86 lbs), M- 16i ™(35/ 594 lbs) Reach: The maximum distance a robot can reach within its work envelope. Precision (validity): defined as how accurately a specified point can be reached… 0.001 inch or better. Repeatability (variability): how accurately the same position can be reached if the motion is repeated many times.

50/55 Pusan National University M&C Lab

 Robot Workspace

Fig. 1.7 Typical workspaces for common robot configurations

51/55 Pusan National University M&C Lab

 Robot Languages

Microcomputer Machine Language Level: the most basic and very efficient but difficult to understand to follow. Point-to-Point Level: Funky Cincinnati Milacron’s T3 It lacks branching, sensory information. Primitive Motion Level: VAL by Unimation™ Interpreter based language. Structured Programming Level: This is a compiler based but more difficult to learn. Task-Oriented Level: Not exist yet and proposed IBM in the 1980s.

52/55 Pusan National University M&C Lab

 Robot Application

• Machine loading: • Pick and place operations: • Welding: • Painting: • Inspection: • Sampling: • Assembly operation: • Manufacturing: • Surveillance: • Medical applications: • Assisting disabled individuals: • Hazardous environments: • Underwater, space, and remote locations: 53/55 Pusan National University M&C Lab  Robot Application Machine loading Pick and place operations

Fig. 1.8 A Staubli robot loading and unloading Fig. 1.9 Staubli robot placing dishwasher tubs

Welding Painting

Fig. 1.10 An AM120 Fanuc robot Fig. 1.11 A P200 Fanuc painting automobile bodies 54/55 Pusan National University M&C Lab  Robot Application

Inspection Manufacturing

Fig. 1.12 Staubli RX FRAMS robot in a BMW Fig. 1.13 A Fanuc LR Mate 200i robot removal operation Remote locations Medical applications

Fig. 1.14 The Arm, a 6 DOF bilateral force- feedback manipulator of German 55/55