Course Introduction Introduction to Space Robotics

U N I V E R S I T Y O FMARYLAND

ENAE 692 - Introduction to Space Robotics

• Prerequisites– ENAE 301 or equivalent dynamics– ENAE 432 or equivalent controls (recommended)

• Computer skills (recommended)– Mathematica– Matlab– C or C++

• Acknowledgment - thanks to Dr. Craig Carignan for his excellent course notes!

Course Introduction Introduction to Space Robotics

U N I V E R S I T Y O FMARYLAND

Contact Information

Dr. Dave AkinSpace Systems Laboratory

Neutral Buoyancy Research Facility/Room 2100D301-405-1138dakin@ssl.umd.eduhttp://spacecraft.ssl.umd.edu

Course Introduction Introduction to Space Robotics

U N I V E R S I T Y O FMARYLAND

Textbook

Introduction to Robotics: Mechanics and Control (3rd edition)John J. CraigAddison-Wesley, 2003

Course Introduction Introduction to Space Robotics

U N I V E R S I T Y O FMARYLAND

Goals of ENAE 692• Understand the fundamentals of the kinematics,

dynamics, and control of manipulators• Be able to analyze the operation and performance of

serial and parallel manipulators• Understand the fundamental hardware systems used

in manipulator design• Develop experience in manipulator design processes• Understand the capabilities, limitations, and unique

constraints on manipulators in space applications

Course Introduction Introduction to Space Robotics

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Grading Policies

• Grade Distribution– 20% Homework Problems– 20% Exams (x2)– 20% Final Exam– 20% Term Project

• Late Policy– On time: Full credit– Before solutions: 70% credit– After solutions: 20% credit

Course Introduction Introduction to Space Robotics

U N I V E R S I T Y O FMARYLAND

Course SyllabusTuesdays Thursdays

Aug 30, 2007 Introduction

Sep 4, 2007 Cartesian Position Mappings

Sep 6, 2007 Operators

Sep 11, 2007 Link Description (D-H Notation)

Sep 13, 2007 Link Transformations

Sep 18, 2007 Cartesian Velocities Sep 20, 2007 Link Velocity Propagation

Sep 25, 2007 Velocity Transformation Sep 27, 2007 Static Force Transformation

Oct 2, 2007 Inverse Kinematics Approaches/Planar Arm

Oct 4, 2007 Kinematics Exam

Oct 9, 2007 Pieper’s Solution/Iterative Solution Method

Oct 11, 2007 Kinematic Redundancy/Singularities

Oct 16, 2007 Newton/Euler Dynamics Oct 18, 2007 Lagrangian Dynamics/Properties of Dynamics

Oct 23, 2007 SIngle Joint Linear Control

Oct 25, 2007 Control Law Partitioning/Trajectory Following Control

Oct 30, 2007 Decoupling Joint Control Nov 1, 2007 Jacobian/Inverse Kinematics/Dynamics Exam

Nov 6, 2007 Force Control Nov 8, 2007 Hybrid Position/Force Control

Nov 13, 2007 Parallel Mechanism and Closed Chains

Nov 15, 2007 Four-Bar Linkages

Nov 20, 2007 Kinematic Configuration/Workspace

Nov 22, 2007 Thanksgiving

Nov 27, 2007 Single Joint Modeling Nov 29, 2007 Actuators and Drive Systems

Dec 4, 2007 Sensors and Actuators Dec 6, 2007 Force Feedback Devices

Dec 11, 2007 Project Presentations

Course Introduction Introduction to Space Robotics

U N I V E R S I T Y O FMARYLAND

“Robot Knight” (Leonardo da Vinci - 1495)

Course Introduction Introduction to Space Robotics

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“R.U.R.” (Karel Capek - 1921)

• Play - “Rossum’s Universals Robots”• “robota” is Czeck for “drudgery” or “servitude”• “Rossum” comes from “rozum”=”reason”, “wisdom”,

“intellect”• Really more like androids or artificial people than

robots - biological constructs

Course Introduction Introduction to Space Robotics

U N I V E R S I T Y O FMARYLAND

“Maria” (Metropolis - 1927)

Course Introduction Introduction to Space Robotics

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Asimov’s Laws of Robotics (1939)

• A robot may not injure a human being, or, through inaction, allow a human being to come to harm.

• A robot must obey the orders given it by human beings except where such orders would conflict with the First Law.

• A robot must protect its own existence as long as such protection does not conflict with the First or Second Law

Course Introduction Introduction to Space Robotics

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“Gort” (Day the Earth Stood Still - 1951)

Course Introduction Introduction to Space Robotics

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“Robby” (Forbidden Planet - 1956)

Course Introduction Introduction to Space Robotics

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“Uni-Mate” (1961)

Course Introduction Introduction to Space Robotics

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“Robot” (Lost in Space - 1964)

Course Introduction Introduction to Space Robotics

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SCARA (1968)

Selective Compliance Assembly Robot Arm

Course Introduction Introduction to Space Robotics

U N I V E R S I T Y O FMARYLAND

PUMA Robot Arm (1979)

Programmable Universal Machine for Assembly

Course Introduction Introduction to Space Robotics

U N I V E R S I T Y O FMARYLAND

C-3PO (Star Wars - 1977)

Course Introduction Introduction to Space Robotics

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“ASIMO” (Honda - 2000)

Course Introduction Introduction to Space Robotics

U N I V E R S I T Y O FMARYLAND

Industrial Robot Applications (2004)

1%1%5%5%

18%

35%

35%

Materials HandlingSpot WeldingArc WeldingCoating/DispensingMaterial RemovalAssemblyOther

Course Introduction Introduction to Space Robotics

U N I V E R S I T Y O FMARYLAND

Service Robot Applications (2004)

4%5%8%

11%

13%

14%

24%

21% UnderwaterCleaningLaboratoryDemolition/ConstructionMedicalMobile PlatformRescue/SecurityField (milk, forestry)