DOCSLIB.ORG

Robot Control and Programming: Class Notes Dr

Total Page：16

File Type：pdf, Size：1020Kb

Download full-text PDF Read full-text
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. Por ello estoy profundamente agradecido. Me gustar´ıa citar a cada una de las personas que han colaborado en la redaccion´ del texto, pero por falta de espacio me resulta imposible. No obstante, citare´ a algunos de ellos y seguro que todav´ıa me seguire´ olvidando de los mas´ importantes. As´ı que env´ıo un fuerte abrazo a Inaki˜ D´ıaz, Tim Smithers, Arthur Siro, Luis Zaldua,´ Jeff Diamond, Javi Mart´ın, Joan Savall, Jose Luis Olazagoitia, Janelcy Alferes, Belen´ Gisbert, Marc Oakley, Joaqu´ın Prada y a todos los alumnos que tienen paciencia de trabajar con estos apuntes. Solo´ me queda animaros a que los leais´ con carino˜ y me comuniqueis´ cualquier errata y metedura de pata para no dar mas´ la lata. c Emilio Jose´ Sanchez,´ Donostia-San Sebastian,´ 26 de junio de 2009 iii iv Contents I Introduction to Robotics 1 1 Introduction 3 1.1 Introduction . 3 1.2 A Little about the History . 3 1.3 The Technological Roots of Robotics . 5 1.4 First Approach . 6 1.4.1 Science Fiction Robots . 7 1.4.2 Toy Robots . 7 1.4.3 Real Robots . 8 1.5 Basic Terminology in Robotics . 15 1.5.1 Kinematic Chain . 15 1.5.2 Mechanism/Manipulator . 16 1.5.3 Degree of Freedom (DoF) . 17 1.5.4 End Point . 17 1.5.5 Cartesian Space vs. Joint Space . 18 1.5.6 Workspace . 18 1.5.7 Accuracy, Precision, Repeatability, Resolution . 19 1.6 Some Things to Think About . 21 2 Introduction to Industrial Robotics 23 2.1 Some Definitions of Industrial Robots . 23 v vi CONTENTS 2.1.1 Robotics Industry Association (RIA)’s Industrial Robot definition . 23 2.1.2 French Standards Association’s Industrial Robot definition . 23 2.1.3 International Federation of Robotics (IFR)’s Industrial Robot defini- tion . 24 2.2 Robot generations . 24 2.3 Industrial Applications . 25 2.3.1 Welding . 28 2.3.2 Surface Treatment and Painting/Spraying . 28 2.3.3 Cutting/Machining . 29 2.3.4 Assembly . 29 2.3.5 Disassembly . 30 2.3.6 Machine Tending/Handling . 30 2.3.7 Packaging/Palletizing . 30 II Industrial Robotics 31 3 Industrial Robot Programming 33 3.1 Introduction . 33 3.2 Levels of Robot Programming . 35 3.3 Robot Programming Methods . 36 3.3.1 On-line Programming Methods . 37 3.3.2 Off-line Programming Methods . 40 3.3.3 Robot Programming Architecture . 41 3.4 Examples of Robot Programming Languages . 41 3.5 Robot programming Language Architecture . 42 3.6 Robot Program Development Process: the six steps . 43 3.6.1 Step 1: Task Analysis . 44 3.6.2 Step 2: Identify Placements for Pe .................... 46 3.6.3 Step 3: Identify Subroutines . 48 3.6.4 Step 4: Robot Programming and Documentation . 50 CONTENTS vii 3.6.5 Step 5: Program Testing . 50 3.6.6 Step 6: Test the program on the real robot. 50 3.7 Some Things to Think About . 51 4 Robot Geometry 53 4.1 Dimensions and Degrees of Freedom (DoF) . 53 4.2 Types of Joints . 54 4.3 The Geometry of Robot Manipulators . 58 4.3.1 Serial Geometries . 58 4.3.2 Parallel Geometries . 63 4.3.3 Wrists . 66 4.3.4 Some Things to Think About . 69 5 Basic Components of Robots 71 5.1 Introduction . 71 5.2 Links . 71 5.3 Actuators and Motors . 73 5.3.1 Pneumatic Actuators . 73 5.3.2 Hydraulic Actuators . 74 5.3.3 Electric Actuators . 74 5.4 Reduction mechanisms . 83 5.4.1 Harmonic-Drive . 84 5.4.2 Cyclo-Drive . 85 5.4.3 Other reduction and Transmission mechanisms . 86 5.5 Sensors . 86 5.5.1 Internal Sensors . 90 5.5.2 External Sensors . 99 5.6 End-Effectors and Terminal Devices . 101 5.7 Some Things to Think About . 102 viii CONTENTS III Robot Mathematical Modelling and Control 103 6 Coordinate frames and homogeneous transformation 105 6.1 Introduction . 105 6.2 The Representation of Position in 3D Space . 106 6.3 The Representation of Orientation in Space . 108 6.3.1 Rotation Matrices . 108 6.3.2 Properties of the Rotation Matrix . 110 6.3.3 Basic 3D rotation matrices . 111 6.3.4 The Composition of Basic Rotation Matrices . 113 6.3.5 Formulation Singularity in Euler Angles . 114 6.3.6 Rotation Axis- Rotation Angle Representation . 116 6.3.7 Quaternions or Euler Parameters . 116 6.4 Homogeneous Coordinates . 117 6.4.1 Position and Orientation in Space . 117 6.4.2 Homogeneous Coordinates . 118 6.4.3 Homogeneous Transformation . 120 6.4.4 Inverse Homogeneous Transformation Matrix . 122 6.4.5 Basic Translation Homogeneous Transformation Matrix . 122 6.4.6 Basic Rotation Homogeneous Transformation Matrix . 125 6.4.7 Composition of Translation and Rotation Matrices . 128 6.4.8 Composition of Homogeneous Transformation Matrices . 131 7 Kinematics of Manipulators 137 7.1 Introduction . 137 7.2 Forward and Inverse Kinematics . 137 7.3 Geometric Parametres of Robotic Mechanisms . 138 7.3.1 Link Parameters . 138 7.3.2 Joint Parameters . 140 7.4 Denavit and Hartenberg method . 141 CONTENTS ix 7.5 Forward Kinematics Examples . 143 7.6 Inverse Kinematics . 156 7.6.1 Multiple Solutions . 157 7.6.2 Inverse Kinematics of a Serial Robot . 158 8 The Jacobian Matrix 169 8.1 Calculating the Jacobian Matrix . 170 8.2 Speed Propagation Method to Compute the Jacobian Matrix . 173 8.3 Static of Robotic Manipulators . 173 8.4 Force/Torque Propagation Method to Compute the Jacobian Matrix . 175 8.5 Singularities and Singular Configurations . 176 9 Path planning 179 9.1 Introduction . 179 9.2 Types of Trajectories in Kinematic Control . 184 9.3 Trajectory interpolation in joint-space . ..
Load more

Recommended publications
  • Premiere Props • Hollyw Ood a Uction Extra Vaganza VII • Sep Tember 1 5
    Premiere Props • Hollywood Auction Extravaganza VII • September 15-16, 2012 • Hollywood Live Auctions Welcome to the Hollywood Live Auction Extravaganza weekend. We have assembled a vast collection of incredible movie props and costumes from Hollywood classics to contemporary favorites. From an exclusive Elvis Presley museum collection featured at the Mississippi Music Hall Of Fame, an amazing Harry Potter prop collection featuring Harry Potter’s training broom and Golden Snitch, to a entire Michael Jackson collection featuring his stage worn black shoes, fedoras and personally signed items. Plus costumes and props from Back To The Future, a life size custom Robby The Robot, Jim Carrey’s iconic mask from The Mask, plus hundreds of the most detailed props and costumes from the Underworld franchise! We are very excited to bring you over 1,000 items of some of the most rare and valuable memorabilia to add to your collection. Be sure to see the original WOPR computer from MGM’s War Games, a collection of Star Wars life size figures from Lucas Film and Master Replicas and custom designed costumes from Bette Midler, Kate Winslet, Lily Tomlin, and Billy Joel. If you are new to our live auction events and would like to participate, please register online at HollywoodLiveAuctions.com to watch and bid live. If you would prefer to be a phone bidder and be assisted by one of our staff members, please call us to register at (866) 761-7767. We hope you enjoy the Hollywood Live Auction Extravaganza V II live event and we look forward to seeing you on October 13-14 for Fangoria’s Annual Horror Movie Prop Live Auction.
    [Show full text]
  • Rethinking the Fourth Amendment in the Age of Supercomputers, Artificial Intelligence, and Robots
    Volume 119 Issue 3 Article 4 April 2017 Rethinking the Fourth Amendment in the Age of Supercomputers, Artificial Intelligence, and Robots Melanie Reid Lincoln Memorial University School of Law Follow this and additional works at: https://researchrepository.wvu.edu/wvlr Part of the Constitutional Law Commons, Fourth Amendment Commons, Law Enforcement and Corrections Commons, and the Science and Technology Law Commons Recommended Citation Melanie Reid, Rethinking the Fourth Amendment in the Age of Supercomputers, Artificial Intelligence, and Robots, 119 W. Va. L. Rev. (2017). Available at: https://researchrepository.wvu.edu/wvlr/vol119/iss3/4 This 2017 Evolving Investigative Technologies and the Law Symposium is brought to you for free and open access by the WVU College of Law at The Research Repository @ WVU. It has been accepted for inclusion in West Virginia Law Review by an authorized editor of The Research Repository @ WVU. For more information, please contact [email protected]. Reid: Rethinking the Fourth Amendment in the Age of Supercomputers, Art RETHINKING THE FOURTH AMENDMENT IN THE AGE OF SUPERCOMPUTERS, ARTIFICIAL INTELLIGENCE, AND ROBOTS by Melanie Reid* I. IN TRODU CTION ............................................................................. 864 II. M EET OFFICER "JOE ROBOTO". ................................................... 868 A. Issue #1: Officer Joe Roboto Will Be Smarter, Faster,and More Efficient than Its Human Counterparts....................... 871 B. Issue #2: Officer Joe Roboto Signifies a GreaterIntrusion into Our P rivate L ives .................................................................. 872 C. Issue #3: Officer Joe Roboto's Easy Access to an Endless DatabaseRequires a Complete Rethinking of CurrentFourth A m endment D octrine ............................................................ 873 III. A TYPICAL DAY IN THE LIFE OF OFFICER JOE ROBOTO ..............
    [Show full text]
  • Improved Design of a Three-Degree of Freedom Hip Exoskeleton Based on Biomimetic Parallel Structure
    Improved Design of a Three-degree of Freedom Hip Exoskeleton Based on Biomimetic Parallel Structure by Min Pan A Thesis Submitted in Partial Fulfillment of the requirements for the Degree of Master of Applied Science in The Faculty of Engineering and Applied Science Mechanical Engineering Program University of Ontario Institute of Technology July, 2011 © Min Pan, 2011 Abstract The external skeletons, Exoskeletons, are not a new research area in this highly developed world. They are widely used in helping the wearer to enhance human strength, endurance, and speed while walking with them. Most exoskeletons are designed for the whole body and are powered due to their applications and high performance needs. This thesis introduces a novel design of a three-degree of freedom parallel robotic structured hip exoskeleton, which is quite different from these existing exoskeletons. An exoskeleton unit for walking typically is designed as a serial mechanism which is used for the entire leg or entire body. This thesis presents a design as a partial manipulator which is only for the hip. This has better advantages when it comes to marketing the product, these include: light weight, easy to wear, and low cost. Furthermore, most exoskeletons are designed for lower body are serial manipulators, which have large workspace because of their own volume and occupied space. This design introduced in this thesis is a parallel mechanism, which is more stable, stronger and more accurate. These advantages benefit the wearers who choose this product. This thesis focused on the analysis of the structure of this design, and verifies if the design has a reasonable and reliable structure.
    [Show full text]
  • Fun Facts and Activities
    Robo Info: Fun Facts and Activities By: J. Jill Rogers & M. Anthony Lewis, PhD Robo Info: Robot Activities and Fun Facts By: J. Jill Rogers & M. Anthony Lewis, PhD. Dedication To those young people who dare to dream about the all possibilities that our future holds. Special Thanks to: Lauren Buttran and Jason Coon for naming this book Ms. Patti Murphy’s and Ms. Debra Landsaw’s 6th grade classes for providing feedback Liudmila Yafremava for her advice and expertise i Iguana Robotics, Inc. PO Box 625 Urbana, IL 61803-0625 www.iguana-robotics.com Copyright 2004 J. Jill Rogers Acknowledgments This book was funded by a research Experience for Teachers (RET) grant from the National Science Foundation. Technical expertise was provided by the research scientists at Iguana Robotics, Inc. Urbana, Illinois. This book’s intended use is strictly for educational purposes. The author would like to thank the following for the use of images. Every care has been taken to trace copyright holders. However, if there have been unintentional omissions or failure to trace copyright holders, we apologize and will, if informed, endeavor to make corrections in future editions. Key: b= bottom m=middle t=top *=new page Photographs: Cover-Iguana Robotics, Inc. technical drawings 2003 t&m; http://robot.kaist.ac.kr/~songsk/robot/robot.html b* i- Iguana Robotics, Inc. technical drawings 2003m* p1- http://www.history.rochester.edu/steam/hero/ *p2- Encyclopedia Mythica t *p3- Museum of Art Neuchatel t* p5- (c) 1999-2001 EagleRidge Technologies, Inc. b* p9- Copyright 1999 Renato M.E. Sabbatini http://www.epub.org.br/cm/n09/historia/greywalter_i.htm t ; http://www.ar2.com/ar2pages/uni1961.htm *p10- http://robot.kaist.ac.kr/~songsk/robot/robot.html /*p11- http://robot.kaist.ac.kr/~songsk/robot/robot.html; Sojourner, http://marsrovers.jpl.nasa.gov/home/ *p12- Sony Aibo, The Sony Corporation of America, 550 Madison Avenue, New York, NY 10022 t; Honda Asimo, Copyright, 2003 Honda Motor Co., Ltd.
    [Show full text]
  • Robot Control for Remote Ophthalmology and Pediatric Physical Rehabilitation Melissa Morris Florida International University, [email protected]
    Florida International University FIU Digital Commons FIU Electronic Theses and Dissertations University Graduate School 4-21-2017 Robot Control for Remote Ophthalmology and Pediatric Physical Rehabilitation Melissa Morris Florida International University, [email protected] DOI: 10.25148/etd.FIDC001981 Follow this and additional works at: https://digitalcommons.fiu.edu/etd Part of the Acoustics, Dynamics, and Controls Commons, Biomechanical Engineering Commons, and the Electro-Mechanical Systems Commons Recommended Citation Morris, Melissa, "Robot Control for Remote Ophthalmology and Pediatric Physical Rehabilitation" (2017). FIU Electronic Theses and Dissertations. 3350. https://digitalcommons.fiu.edu/etd/3350 This work is brought to you for free and open access by the University Graduate School at FIU Digital Commons. It has been accepted for inclusion in FIU Electronic Theses and Dissertations by an authorized administrator of FIU Digital Commons. For more information, please contact [email protected]. FLORIDA INTERNATIONAL UNIVERSITY Miami, Florida ROBOT CONTROL FOR REMOTE OPHTHALMOLOGY AND PEDIATRIC PHYSICAL REHABILITATION A dissertation submitted in partial fulfillment of the requirements for the degree of DOCTOR OF PHILOSOPHY in MECHANICAL ENGINEERING by Melissa Morris 2017 To: Interim Dean Ranu Jung, College of Engineering and Computing This dissertation, written by Melissa Morris, and entitled Robot Control for Remote Ophthalmology and Pediatric Physical Rehabilitation, having been approved in respect to style and intellectual content, is referred to you for judgment. We have read this dissertation and recommend that it be approved. ______________________________ Benjamin Boesl ______________________________ Yiding Cao ______________________________ Leonard Elbaum ______________________________ Oren Masory ______________________________ Ibrahim Tansel ______________________________ Sabri Tosunoglu, Major Professor Date of Defense: April 21, 2017 The dissertation of Melissa Morris is approved.
    [Show full text]
  • AI, Robots, and Swarms: Issues, Questions, and Recommended Studies
    AI, Robots, and Swarms Issues, Questions, and Recommended Studies Andrew Ilachinski January 2017 Approved for Public Release; Distribution Unlimited. This document contains the best opinion of CNA at the time of issue. It does not necessarily represent the opinion of the sponsor. Distribution Approved for Public Release; Distribution Unlimited. Specific authority: N00014-11-D-0323. Copies of this document can be obtained through the Defense Technical Information Center at www.dtic.mil or contact CNA Document Control and Distribution Section at 703-824-2123. Photography Credits: http://www.darpa.mil/DDM_Gallery/Small_Gremlins_Web.jpg; http://4810-presscdn-0-38.pagely.netdna-cdn.com/wp-content/uploads/2015/01/ Robotics.jpg; http://i.kinja-img.com/gawker-edia/image/upload/18kxb5jw3e01ujpg.jpg Approved by: January 2017 Dr. David A. Broyles Special Activities and Innovation Operations Evaluation Group Copyright © 2017 CNA Abstract The military is on the cusp of a major technological revolution, in which warfare is conducted by unmanned and increasingly autonomous weapon systems. However, unlike the last “sea change,” during the Cold War, when advanced technologies were developed primarily by the Department of Defense (DoD), the key technology enablers today are being developed mostly in the commercial world. This study looks at the state-of-the-art of AI, machine-learning, and robot technologies, and their potential future military implications for autonomous (and semi-autonomous) weapon systems. While no one can predict how AI will evolve or predict its impact on the development of military autonomous systems, it is possible to anticipate many of the conceptual, technical, and operational challenges that DoD will face as it increasingly turns to AI-based technologies.
    [Show full text]
  • 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].
    [Show full text]
  • MSC.ADAMS Functions
    COSMOSMotion User’s Guide COPYRIGHT NOTICE Copyright © 20023by Structural Research and Analysis Corp, All rights reserved. Portions Copyright © 1997-2003 by MSC.Software Corporation. All rights reserved. U. S. Government Restricted Rights: If the Software and Documentation are provided in connection with a government contract, then they are provided with RESTRICTED RIGHTS. Use, duplication or disclosure is subject to restrictions stated in paragraph (c)(1)(ii) of the Rights in Technical Data and Computer Software clause at 252.227-7013. MSC.Software. 2 MacArthur Place, Santa Ana, CA 92707. Information in this document is subject to change without notice. This document contains proprietary and copyrighted information and may not be copied, reproduced, translated, or reduced to any electronic medium without prior consent, in writing, from MSC.Software Corporation. REVISION HISTORY First Printing December 2001 Second Printing September 2002 Third Printing August 2003 TRADEMARKS MSC.ADAMS is a registered United States trademark and MSC.ADAMS/Solver, MSC.ADAMS/Kinematics, MSC.ADAMS/View, and COSMOSMotion are trademarks of MSC.Software. SolidWorks, FeatureManager, SolidBasic, and RapidDraft are trademarks of SolidWorks Corporation. Windows is a registered trademark of MicroSoft Corporation. All other brands and product names are the trademarks of their respective holders. Table of Contents Table of Contents...........................................................................................................................i 1 COSMOSMotion...........................................................................................................
    [Show full text]
  • AGV (Automated Guided Vehicle) Robot: Mission and Obstacles in Design
    Journal of Simulation & Analysis of Novel Technologies in Mechanical Engineering 12 (4) (2019) 0005~0018 HTTP://JSME.IAUKHSH.AC.IR ISSN: 2008-4927 AGV (automated guided vehicle) robot: Mission and obstacles in design and performance Ata Jahangir Moshayedi1,*, Jinsong Li2, Liefa Liao1 1- School of Information Engineering, Jiangxi University of Science and Technology, No 86, Hongqi Ave, Ganzhou, Jiangxi,341000, China. 2- School of Science, Jiangxi University of Science and Technology, No 86, Hongqi Ave, Ganzhou, Jiangxi,341000, China. (Manuscript Received --- 02 Jul. 2019; Revised --- 23 Sep. 2019; Accepted --- 16 Nov. 2019) Abstract The AGV (automated guided vehicle) was introduced in UK in 1953 for transporting. But nowadays, due to their high efficiency, flexibility, reliability, safety and system scalability, they are used in various applications in industries. In brief, the AGV robot is a system which typically made up of vehicle chassis, embedded controller, motors, drivers, navigation and collision avoidance sensors, communication device and battery, some of which have load transfer device. In this review paper, based on existing systems, the AGV structures are studied and compared from various points of view and analysis of the AGV structure is done for designer. Keywords: AGV, automated guided vehicle, Robotics, automated guided vehicle 1- Introduction control system, charge system and Today’s industries activity have merged communication system[2]. The initial used with the robotic and automation world and and Invention AGV is not clear exactly and day by day having the precise and better- was mentioned in different articles and quality product make the sense of using reference for many times but the earliest new technology.
    [Show full text]
  • Design Procedure for a Fast and Accurate Parallel Manipulator Sébastien Briot, Stéphane Caro, Coralie Germain
    Design Procedure for a Fast and Accurate Parallel Manipulator Sébastien Briot, Stéphane Caro, Coralie Germain To cite this version: Sébastien Briot, Stéphane Caro, Coralie Germain. Design Procedure for a Fast and Accurate Parallel Manipulator. Journal of Mechanisms and Robotics, American Society of Mechanical Engineers, 2017, 9 (6), pp.061012. 10.1115/1.4038009. hal-01587975 HAL Id: hal-01587975 https://hal.archives-ouvertes.fr/hal-01587975 Submitted on 13 Oct 2017 HAL is a multi-disciplinary open access L’archive ouverte pluridisciplinaire HAL, est archive for the deposit and dissemination of sci- destinée au dépôt et à la diffusion de documents entific research documents, whether they are pub- scientifiques de niveau recherche, publiés ou non, lished or not. The documents may come from émanant des établissements d’enseignement et de teaching and research institutions in France or recherche français ou étrangers, des laboratoires abroad, or from public or private research centers. publics ou privés. Design Procedure for a Fast and Accurate Parallel Manipulator Sebastien´ Briot∗ Stephane´ Caro CNRS CNRS Laboratoire des Sciences Laboratoire des Sciences du Numerique´ de Nantes (LS2N) du Numerique´ de Nantes (LS2N) UMR CNRS 6004 UMR CNRS 6004 44321 Nantes, France 44321 Nantes, France Email: [email protected] Email: [email protected] Coralie Germain Agrocampus Ouest 35042 Rennes, France Email: [email protected] printed circuit boards. This paper presents a design procedure for a two- Several robot architectures with four degrees of free- degree of freedom translational parallel manipulator, named dom (dof) and generating Schonflies¨ motions [2] for high- IRSBot-2. This design procedure aims at determining the speed operations have been proposed in the past decades [1, optimal design parameters of the IRSBot-2 such that the 3–6].
    [Show full text]
  • 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.
    [Show full text]
  • Ph. D. Thesis Stable Locomotion of Humanoid Robots Based
    Ph. D. Thesis Stable locomotion of humanoid robots based on mass concentrated model Author: Mario Ricardo Arbul´uSaavedra Director: Carlos Balaguer Bernaldo de Quiros, Ph. D. Department of System and Automation Engineering Legan´es, October 2008 i Ph. D. Thesis Stable locomotion of humanoid robots based on mass concentrated model Author: Mario Ricardo Arbul´uSaavedra Director: Carlos Balaguer Bernaldo de Quiros, Ph. D. Signature of the board: Signature President Vocal Vocal Vocal Secretary Rating: Legan´es, de de Contents 1 Introduction 1 1.1 HistoryofRobots........................... 2 1.1.1 Industrialrobotsstory. 2 1.1.2 Servicerobots......................... 4 1.1.3 Science fiction and robots currently . 10 1.2 Walkingrobots ............................ 10 1.2.1 Outline ............................ 10 1.2.2 Themes of legged robots . 13 1.2.3 Alternative mechanisms of locomotion: Wheeled robots, tracked robots, active cords . 15 1.3 Why study legged machines? . 20 1.4 What control mechanisms do humans and animals use? . 25 1.5 What are problems of biped control? . 27 1.6 Features and applications of humanoid robots with biped loco- motion................................. 29 1.7 Objectives............................... 30 1.8 Thesiscontents ............................ 33 2 Humanoid robots 35 2.1 Human evolution to biped locomotion, intelligence and bipedalism 36 2.2 Types of researches on humanoid robots . 37 2.3 Main humanoid robot research projects . 38 2.3.1 The Humanoid Robot at Waseda University . 38 2.3.2 Hondarobots......................... 47 2.3.3 TheHRPproject....................... 51 2.4 Other humanoids . 54 2.4.1 The Johnnie project . 54 2.4.2 The Robonaut project . 55 2.4.3 The COG project .
    [Show full text]