Pusan National University M&C Lab
로봇공학특론 (I) Advanced Robotics(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)Robot 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
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Mobile and Humanoid Robot
7/55 Pusan National University M&C Lab ♦ How classify robots?
- 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)
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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 articulated robot 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)
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Type of Industrial robot (HHI) HX300 HD165 HR006 HR015
HX130/165 HX165S
HR100P
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Robot Structure of HA165
A1-PART
W1 - PART
V-Link A2 - PART & Hinge
S1 - PART
HA165 Model HX165 Model
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Spot Welding
HX165 HR120
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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.
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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
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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
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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
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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 service robot - Ultimate environment Robot for simple work - Simple sensor and controller After 2015 - Repetitive industrial robot
2005
1990
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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, Entertainment Robot (toy, hobby), Handicap Assistance 27/55 Pusan National University M&C Lab
Robot in the world
Wearable Robotic Arm and Tele-Operated Robot (KIST)
https://www.youtube.com/watch?v=jqdBcVVb8IE
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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
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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
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Entertainment & Humanoid(biped) Robot
Cat robot ASIMO
34/55 Pusan National University M&C Lab Biped Robot
HONDA (ASIMO) - 2002 Hubo II – 2010
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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
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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.
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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.
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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.
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Robot Workspace
Fig. 1.7 Typical workspaces for common robot configurations
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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.
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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 Medical Robot of German 55/55