MEAM 520 MEAM 520 Introduction to Robotics Introduction to Robotics Outline u What is a robot? Vijay Kumar u History u University of Pennsylvania Anatomy of a robot u Philadelphia, PA Trends in robot automation u Robot industry in the U.S. and in the world u Applications l manufacturing automation l service industry University of Pennsylvania 1 University of Pennsylvania 2 MEAM 520 MEAM 520 What is a robot? History u Webster u Origin of the word “robot” An automatic apparatus or device that performs functions ordinarily l Czech word “robotnik” ascribed to humans or operates with what appears to be almost human l 1920 play by Karel Capek intelligence. l 1940s - Isaac Asimov’s science fiction u Robotics Institute of America u History of automation A robot is a reprogrammable multifunctional manipulator designed to l Industrial revolution (late 18th century) move material, parts, tools or specialized devices through variable l programmed motions for the performance of a variety of tasks. Mechanical looms t Jacquard looms t Programmable looms l Crane with motorized grippers (1892) l Mechanical arm for spray painting (1938) l Telecheric/teleoperators (World War II) University of Pennsylvania 3 University of Pennsylvania 4 MEAM 520 MEAM 520 History History Advent of computers Walking robots u First large scale electronic computer (1946) u Ralph Moser’s walking machine (1967) l Eniac (University of Pennsylvania) u Odetics’ Hexapod (1983) l Whirlwind (MIT) u Adaptive Suspension Vehicle (1985) u Numerically controlled machine tool (1952) u Ambler (1993) u Robot with playback memory (1954) u Humanoid (1997) u First industrial robot (1962) University of Pennsylvania 5 University of Pennsylvania 6 MEAM 520 MEAM 520 The Honda Humanoid The Honda Humanoid University of Pennsylvania 7 University of Pennsylvania 8 MEAM 520 MEAM 520 The Honda Humanoid What is a robot? Definition of a robot revisited l manipulate objects in the physical world t compare this to a PC manipulating data l sense information about the physical world l make decisions based on available information or ask for additional information l interface in a “friendly”manner with humans l mimic humans l reprogrammable by humans l safe t Asimov’s laws of robotics University of Pennsylvania 9 University of Pennsylvania 10 MEAM 520 MEAM 520 Definition of a robot Anatomy of a robot Basic components The robot is a computer-controlled device that combines the u the mechanical linkage technology of digital computers with the technology of servo- u actuators and transmissions control of articulated chains. It should be easily reprogrammed to u sensors perform a variety of tasks, and must have sensors that enable it to u react and adapt to changing conditions. controllers u user interface u power conversion unit l Do industrial robots satisfy this definition? l Service robots? University of Pennsylvania 11 University of Pennsylvania 12 MEAM 520 MEAM 520 Anatomy of a robot The Seiko RT33 Manipulator linkage The manipulator consists of a set of rigid links connected by joints. The joints are typically rotary or sliding. The last link or the most distal link is called the end effector because it is this link to which a gripper or a tool is attached. Sometimes one distinguishes between this last link and the end effector that is mounted to this link at the tool mounting plate or the tool flange. The manipulator can generally be divided into a l regional structure l orientational structure An industrial robot with a spherical workspace University of Pennsylvania 13 University of Pennsylvania 14 MEAM 520 MEAM 520 The Stanford Arm SCARA Manipulator The Adept 1850 Palletizer l Cylindrical workspace l Applications in assembly, palletizing 3 2 1 Axes 4, 5, 6 Research prototype developed by Stanford University (1960’s) University of Pennsylvania 15 University of Pennsylvania 16 MEAM 520 MEAM 520 Anatomy of a robot Transmissions ELBOW Actuators JOINT u linear or rotary u electric, hydraulic, pneumatic PASS IVE JOINTS Transmissions ACTUATOR u FOR THE ELBOW to convert rotary to linear motion or linear to rotary motion. SHOULDER JOINT u to convert the actuator output into a form that is suitable for driving the robot linkage. BASE SWIVEL u to locate actuators away from the joints. The regional structure for the Cincinnati Milacron T-3 robot University of Pennsylvania 17 University of Pennsylvania 18 MEAM 520 MEAM 520 Parallel robot manipulators Parallel robot manipulators (continued) The Stewart Platform Planar parallel manipulators l flight simulators, test rigs l capable of movements in the horizontal plane l NIST high-performance manufacturing cell l high strength to inertia ratio l Ingersoll-Rand machine l high stiffness END-E FFE CTOR l limited workspace l more complicated END EFFECTOR Leg 5 S ACTUATORS Leg 4 Leg 6 Leg 3 Leg 2 Leg 1 P Leg i BASE S University of Pennsylvania 19 University of Pennsylvania 20 MEAM 520 MEAM 520 Anatomy of a robot Anatomy of a robot manipulator Controller Sensors The controller provides the intelligence that is necessary to control the u to know the position of each joint in the mechanical linkage manipulator system. l potentiometers, encoders l memory to store the control program and the state of the robot system u to measure the velocity and/or acceleration at each joint obtained from the sensors l l tachometers, accelerometers a computational unit (CPU) that computes the control commands l u to measure the forces and moments exerted by the end the appropriate hardware to interface with the external world (sensors and actuators) effector or the torques/forces exerted by each actuator l the hardware for a user interface u to detect objects or features in the environment l vision sensors (cameras, laser range finders), accoustic sensors (ultrasonic ranging systems), touch sensors University of Pennsylvania 21 University of Pennsylvania 22 MEAM 520 MEAM 520 Anatomy of a robot manipulator A rotary joint actuated by a DC motor The user interface This interface allows use a human operator to monitor or control the operation of the robot. It must have a display that shows the status of the system. It must also have an input device that allows the human to enter commands to the robot. The power conversion unit The power conversion unit takes the commands issued by the controller which may be low power and even digital signals and converts them into high power analog signals that can be used to drive the actuators. University of Pennsylvania 23 University of Pennsylvania 24 MEAM 520 MEAM 520 A linear, electropneumatic actuator Controller Example University of Pennsylvania 25 University of Pennsylvania 26 MEAM 520 MEAM 520 Stock of industrial robots by year-end in 1992 Trends in robot automation Country 1989 1990 1991 1992 u Australia 1,350 1,490 1,644 1,762 U.S. is the second largest robot user behind Japan Austria 895 1,186 1,465 1,693 Benelux 1,340 1,715 1,975 2,562 u Czechoslovakia 7,007 7,160 7,211 Japan installed more robots annually in 1990-1992 than the total Cyprus 3 3 3 4 Denmark 402 489 579 584 that U.S. installed in the 32 years from 1962-1992 Finland 671 825 955 1,051 u France 7,063 8,551 9,808 10,821 Annual sales of robots peaked at 80,000 in 1990 and then fell to Germany 22,395 28,240 34,140 39,390 Hungary 138 199 229 237 56,000 in 1993 Italy 10,000 12,500 14,700 17,097 Japan 219,700 274,210 324,895 349,458 u New Zealand 70 80 90 Annual growth rate in 1995-2000 was around 15% Norway 493 527 555 576 l Poland 506 532 630 627 Dramatic increase in sales in Asia (excluding Japan) Republic of Korea 4, 080 4,900 Singapore 1,459 1,625 1,906 2,090 u Spain* 1,752 2,224 2,632 3,200 U.S. sales Sweden 3,463 3,791 4,099 4,550 l Switzerland 1,525 1,700 2,050 for the first half of 1997 - 6,275 robots, $548 million Taiwan 965 1,293 1,688 2,217 l Former USSR* 62,339 64,204 65,000 65,000 Market for robots and accessories is estimated at $1.5 billion annual United Kingdom 5,717 6,227 6,974 7,598 u United States 37,000 40,000 44,000 47,000 Annual sales in Japan is 36,000, while the same in U.S.A., U.K., Slovakia 589 Czech Rep. 6,622 Germany, France and Italy is 23,000. Slovenia 118 Total 384,658 458,586 530,948 571,886 University of Pennsylvania 27 University of Pennsylvania 28 MEAM 520 MEAM 520 Trends in U.S. robot automation Robot sales in the U.S. u First industrial robot was installed by Unimation in 1961 u Many big companies (e.g., Westinghouse, General Motors, Cincinnati Milacron and General Electric) entered the robotics business u Today, the only industrial robot manufacturer is Adept u Although the U.S. is a distant second to Japan in using robots, it is catching up l The main cause is labor shortage University of Pennsylvania 29 University of Pennsylvania 30 MEAM 520 MEAM 520 Application of Robotics in the U.S. Robot industry in Japan u The Japanese robot industry was $3.6 billion in 1991 and estimated to grow to $11.9 billion by 2000 u Japanese robot manufacturers Percentage of Manufacturer Japanese production Matsushita Electric Industry 16.5 (MEI) Fuji Machine Manufacturing 8.3 Fanuc 5.4 Yasakawa Electric Manufacturing 5.3 Kawasaki Heavy Industries 3.4 University of Pennsylvania 31 University of Pennsylvania 32 MEAM 520 MEAM 520 Japanese robot industry New applications of robotics u The major reasons for growth in this industry are a Japanese labor “...service robotics will surely outstrip industrial robotics” shortage and strong investment by industry and the government.