Introduction to Robotics

Hesheng Wang

Department of AutomationEmail: wanghesheng@sjtu.edu.cn

Phone number: 34207252

Course Information –Textbook

Textbook: Modelling and Control of

Robot Manipulators (Second Edition), L. Sciavicco and B. Siciliano, Springer-Verlag, London, 2000.

Robotics: Modelling Planning and Control, B. Siciliano,L. Sciavicco,L. Villani,G. Oriolo, Springer-Verlag, London, 2008.

Course Information –Literature

中文参考书 机器人学导论 (原书第3

版) (美) John J. Craig著, 贠超 等译, 机械工业出版社, 2006.

Course Information –Contents

Modeling

• Kinematics

• Differential kinematics

• Direct / Inverse kinematics

• Dynamics

Control

• Trajectory planning

• Motion control

• Hardware/software

architecture

Course Information –Software tools

• Robotics Toolbox for MATLAB by Peter I. Corke

– http://petercorke.com/Robotics_Toolbox.html

Course Information –Examination

Course attendance (10%) Quiz (10%) Final Examination (80%)

Lecture 1: Introduction

Robotics

Industrial Robot

Manipulator Structures

Modeling and Control of Robot Manipulators

Robotics

History of Robotics

General Framework of Robotics

Classification of Robot

（ Robot）

History of Robotics

Date Significance Robot Name Inventor

First century A.D. and earlier

Descriptions of more than 100 machines and automata, including a fire engine, a wind organ, a coin-operated machine, and a steam-powered engine, in Pneumatica and Automata by Heron of Alexandria

Ctesibius, Philo of Byzantium, Heron of Alexandria, and others

1206 First programmable humanoid robotsBoat with four robotic musicians

Al-Jazari

c. 1495 Designs for a humanoid robot Mechanical knight Leonardo da Vinci

1738 Mechanical duck that was able to eat, flap its wings, and excrete Digesting Duck Jacques de Vaucanson

1800s Japanese mechanical toys that served tea, fired arrows, and painted Karakuri toys Tanaka Hisashige

History of Robotics

1921 First fictional automatons called “robots” appear in the play R.U.R.

Rossum’s Universal Robots Karel Čapek

1930s Humanoid robot exhibited at the 1939 and 1940 World’s Fairs Elektro

Westinghouse Electric Corporation

1948 Simple robots exhibiting biological behaviors[4] Elsie and Elmer William Grey Walter

1956First commercial robot, from the Unimation company founded by George Devol and Joseph Engelberger, based on Devol’s patents[5]

Unimate George Devol

1961 First installed industrial robot Unimate George Devol

1963 First palletizing robot[6] Palletizer Fuji Yusoki Kogyo

1973 First industrial robot with six electromechanically driven axes[7] Famulus KUKA Robot

Group

1975 Programmable universal manipulation arm, a Unimation product PUMA Victor Scheinman

The word robot was introduced to the public by Czech writer Karel Čapek in his play R.U.R. (Rossum’s Universal Robots), which premiered in 1921. The word robotics was first used in print by Isaac Asimov, in his science fiction short story “Liar!“, published in May 1941 in Astounding Science Fiction. Asimov was unaware that he was coining the term; since the science and technology of electrical devices is electronics, he assumed robotics already referred to the science and technology of robots.

History of Robotics

History of Robotics

Three Laws of Robotics:

* Law One: A robot may not injure a human being, or, through inaction, allow a human being to come to harm. * Law Two: A robot must obey orders given it by human beings, except when such orders would conflict with the first law. * Law Three: A robot must protect its own existence, as long as such protection does not conflict with the first or second law.

History of Robotics

early robots (1940's - 50's) Grey Walter's "Elsie the tortoise"

"Shakey" Stanford Research Institute in the 1960s.

The General Electric Walking Truck the first legged vehicle with a computer-brain, by Ralph Moser at General Electric Corp. in the 1960s.

History of Robotics

The first modern industrial robots were probably the "Unimates", created by George Devol and Joe Engleberger in the 1950's and 60's. Engleberger started the first robotics company, called "Unimation", and has been called the "father of robotics."

Isaac Asimov and Joe Engleberger (image from Robotics Society of America web site)

History of Robotics

History of Robotics

EXPLORATION People are interested in places that are sometimes full of danger, like outer space, or the deep ocean. But when they can not go there themselves, they make robots that can go there. The robots are able to carry cameras and other instruments so that they can collect information and send it back to their human operators

History of Robotics

INDUSTRY

When doing a job, robots can do many things faster than humans. Robots do not need to be paid, eat, drink, or go to the bathroom like people. They can do repetative work that is absolutely boring to people and they will not stop, slow down, or fall to sleep like a human.

History of Robotics

MEDICINESometimes when operating, doctors have to use a robot instead. A human would not be able to make a hole exactly one 100th of a inch wide and long. When making medicines, robots can do the job much faster and more accurately than a human can. Also, a robot can be more delicate than a human.

History of Robotics

MEDICINESome doctors and engineers are also developing prosthetic (bionic) limbs that use robotic mechanisms.

History of Robotics

MILITARY and POLICEPolice need certain types of robots for bomb-disposal and for bringing video cameras and microphones into dangerous areas, where a human policeman might get hurt or killed. The military also uses robots for (1) locating and destroying mines on land and in water, (2) entering enemy bases to gather information, and (3) spying on enemy troops.

TOYS

The new robot technology is making interesting types of toys that children will like to play with. One is the "LEGO MINDSTORMS" robot construction kit. These kits, which were developed by the LEGO company with M.I.T. scientists, let kids create and program their own robots. Another is "Aibo" - Sony Corporation's robotic dog.

History of Robotics

Robot Videos

• Bigdog

• SONY Humanoid robot

• HRP-4C Humanoid robot

General Framework of Robotics

Robotics is the science studying the intelligent connection of perception to action

• Action: mechanical system (locomotion & manipulation)

• Perception: sensory system (proprioceptive & heteroceptive)

• Connection: control system

Robotics is an interdisciplinary subject concerning mechanics, electronics, information theory, automation theory.

Classification of Robotics

Advanced Robot

autonomous execution of missions in unstructured or scarce

Industrial Robot

• Class 1: Manual Handling Device

• Class2: Fixed-Sequence Robot

• *Class3: Variable Sequence Robot

• Class4: Playback Robot

• Class5: Numerical Control Robot

• *Class6: Intelligent Robot

JIRA:Japanise Industrial Robot Association RIA: The Robotics Instute of America

Classification of Robotics

• Type A: Handling Devices with manual control

• Type B: Automatic Handling Devices with predetermined

cycles

• Type C: Programmable, servo controlled robots

• Type D: Type C with interactive with the environment

AFR: The Association Francaise de Robotique

Classification of Robotics

Industrial Robot

Automation & Robot

Application of Industrial Robot

Components of Industrial Robot

Rigid ( or Fixed ) Automation

• High initial investment for custom-engineered

equipment

• High production rates

• Relatively inflexible in accommodating product

variety

Types of Automated Manufacturing Systems

Types of Automated Manufacturing Systems

Programmable Automation• High investment in general purpose equipment

• Lower production rates than fixed automation

• Flexibility to deal with variations and changes in

product configuration

• Most suitable for batch production

Flexible Automation• High investment for a custom-engineered system• Continuous production of variable mixtures ofproducts

• Medium Production Rates• Flexibility to deal with product design variations

Types of Automated Manufacturing Systems

Automation Application

Hierarchical Structure of Automation

Definition of an Industrial Robot

A robot is a re-programmable multifunctionalmanipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks.

Robot Institute of America

(Group within Society of Manufacturing Engineers)

Industrial Robot Manufacturers

•ABB Robotics, Swiss/Swedish company•KUKA Robotics, German company. •Adept Technology, SCARA robots and more. •Motoman, a Yaskawa company (Japanese) •Fanuc, a Japanese company

Industrial Robot Examples

Gantry typeVertical articulated type SCARA type

Double arm typeParallel type

World Supply of RobotsWorld Supply of Robots

• World total: 114,365 units, up 3% on 2006• World total stock of operational industrial robots: 995,000 units, 5% greater than 2006• Robot investment is still booming in China, the third largest Asian robot market, with 6,600 units supplied in 2007, an increase of 14% on the previous year.• Total worldwide stock of operational industrial robots at the end of 2007 between a minimum of 994,000 units and a possible maximum of 1,200,000 units

World Robotics 2008

World Supply of RobotsWorld Supply of Robots

World Robotics 2008

World Supply of RobotsWorld Supply of Robots

•Service robots: •professional service robots (things like bomb-disposal bots, surgical systems, milking robots) •personal service robots (vacuum cleaners, lawn mowers, all sorts of robot hobby kits and toys).

World Robotics 2008

Material handling

Manipulation

Measurement

Typical ApplicationsTypical Applications

Packaging

Arc welding

Palletizing

Cutting

Measurement

Advantages of Robots

• Robotics and automation can, in many situation, increase productivity, safety, efficiency, quality, and consistency of products

• Robots can work in hazardous environments

• Robots need no environmental comfort

• Robots work continuously without any humanity needs and illnesses

• Robots have repeatable precision at all times

• Robots can be much more accurate than humans, they may have mili or micro inch accuracy.

• Robots and their sensors can have capabilities beyond that of humans

• Robots can process multiple stimuli or tasks simultaneously, humans can only one.

• Robots replace human workers who can create economic problems

Current Industrial Robots

are not creative or innovative, no capability to think independently, cannot make complicated decisions, do not learn from mistakes cannot adapt quickly to changes in their

surroundings

We must depend on real people for these abilities!

Components of Industrial Robot

Mechanical structure or manipulator

Actuator

Sensors

Control system

Manipulator Structures

Mechanical components

Mechanical configurations

Mechanical Components

Robots are serial “chain” mechanisms made • “links” (generally considered to be rigid), and • “joints” (where relative motion takes place)

Joints connect two links • Link 0 - Joint 1 - Link 1 - Joint 2 - Link 2-

“Degrees of Freedom”

Degrees of freedom (DoF) is the number of independent movements the robotis capable of Ideally, each joint has exactly one degree of freedom

• degrees of freedom = number of joints Industrial robots typically have 6 DoF, but 3, 4, 5, and 7 are also common

Types of Joints

Although there are a few other types,most current industrial robots useone of two types of joints:

• Prismatic or Translational (also called Linear), an• Revolute or Rotational

Prismatic Joints

Prismatic (Translational, Linear, Rectilinear) joints allow motion along a straight linebetween two links

Link 1

Link 2

Revolute (Rotational) joints allow motion along a circular arc between two links

Link 1 Link 2

Relative Motion provided by Revolute Joint

Mechanical Configurations

Industrial robots are categorized by the first three joint types

Five different robot configurations: • Cartesian (or Rectangular), • Cylindrical, • Spherical (or Polar), • Jointed (or Revolute), and • SCARA

Cartesian Configuration

All three joints are prismatic (PPP) Commonly used for positioning tools, such as dispensers, cutters, drivers, and routers

Cartesian Configuration

Often highly customizable, with options for X, Y, Z lengths

Payloads and speeds vary based on axis length and support structures

Simple kinematic equations

Robot Workspace

Workspace is the volume of space reachable by the end-effector mount

Everywhere a robot reaches must be within this space

Tool orientation and size also important!

Cartesian Workspace

Easiest workspace to compute and visualize Generally a simple “box” with width (X travel),

depth (Y travel), and height (Z travel)

Gantry Robot

A gantry robot is a special type of Cartesian robot

X

Y

Z

Gantry Robot

Vary widely in size, workspaces from “breadloaf” size to several cubic meters

Characteristics of Cartesian Robots

• Advantages: easy to visualize have better inherent

accuracy than most other types

easy to program off-line

highly configurable -get the size needed

• Disadvantages: not space efficient external frame can be

massive Z axis “post” frequently

in the way Axes hard to seal Can only reach in front

of itself

Cylindrical Configuration

First joint is revolute (rotation) Next two joints are prismatic (RPP)

Cylindrical Configuration

Vertical Z axis is located inside the base

Compact end-of-arm design that allows the robot to "reach" into tight work envelopes without sacrificing speed or repeatability

Cylindrical Design Robot

Cylindrical Workspace

Another “easy” workspace to compute and visualize

Characteristics of Cylindrical Robots

• Advantages: large workspace for

size easily computed

kinematics can reach all around

itself reach and height

axes rigid

• Disadvantages: cannot reach above

itself horizontal axis

frequently in the way largely fallen “out of

favor” and not common in new designs

Spherical Configuration

First two joints are revolute (rotation) Last joint is prismatic (RRP)

One of the earliest common robot designs (original UniMate)

Used in a variety of industrial tasks such as welding and material handling

Spherical Configuration

Spherical Design Robots

Spherical Workspace

Workspace shaped like parts of “orange peel”

Harder to compute and visualize

Spherical Workspace

Characteristics of Spherical Robots

• Advantages: large workspace for

size easily computed

kinematics

• Disadvantages: has short vertical

reach horizontal axis

frequently in the way also fallen “out of

favor” and not common in new designs

Anthropomorphic Configuration

First three joints are revolute or rotational (RRR)

Easily the most common type of modern robot

Anthropomorphic Configuration

Suitable for a wide variety of industrial tasks, ranging from welding to assembly

Often called an anthropomorphic arm because it resembles a human arm

Anthropomorphic Configuration

Anthropomorphic association extends to names of the links & joints

Joint 1 - “Waist”

Joint 2 - “Shoulder”

Joint 3 - “Elbow”

Anthropomorphic Configuration

Anthropomorphic association extends to names of the links & joints

Link 1 - “Trunk”

Link 2 - “Upper Arm”

Link 3 - “Forearm”

Anthropomorphic Configuration

Very hard to compute and visualize

Characteristics of Anthropomorphic Robots

• Advantages: excellent reach for size can reach above or

below obstacles characteristics similar to human arm

large workspace for size

• Disadvantages: complicated kinematics difficult to program off-

line workspace difficult to

visualize & compute small errors in first few

joints are amplified at end-effector

KUKA KR 1000 titan

The KR 1000 titan is the strongest and biggest 6-axis robot available on the market.

Loads Payload : 1000 kg Supplementary load: 50 kg

Workspace Max. reach: 3202 mm

Number of axes: 6 Repeatability: <±0.2 mm Weight: 4950 kg

KUKA KR 1000 titan

Workspace (mm)

SCARA Configuration

First two links are revolute, last link is prismatic (RRP)

SCARA stands for Selective Compliance Assembly Robot Arm

SCARA Configuration

Rigid in the vertical direction

Compliant in the horizontal direction

Used for assembly in a vertical direction • circuit board

component insertion

SCARA Workspace

Workspace shaped somewhat like a donut

maximum outer radius

minimum inner radius

uniform height

Adept Cobra s350

Characteristics of SCARA Robots

• Advantages: fast cycle times excellent repeatability

good payload capacity large workspace height axis is rigid

• Disadvantages: hard to program off-line often limited to planar

surfaces typically small with relatively

low load capacity two ways to reach same

point

Robot Arms & Wrists

Most robot arms have 3 “degrees of freedom” • can position the end of the arm at “any” point in 3-

D space Robot “wrists” also have 3 “degrees of

freedom” • usually all revolute / rotational joints • used to provide the final orientation to the “gripper”

or “end-effector”

Roll - Pitch - Roll Wrist

Can have problems when the first “roll” axis aligns with the last “roll” axis

Three main degrees of freedom

Wrist

Yaw - Pitch - Roll Wrist

•Typical knowledgebase for the design and operation of roboticssystems

–Dynamic system modeling and analysis

–Feedback control

–Sensors and signal conditioning

–Actuators and power electronics

–Hardware/computer interfacing

–Computer programming

Knowledgebase for Robotics

Disciplines: mathematics, physics, biology,mechanical engineering, electrical engineering,computer engineering, and computer science

Key Components

Base

Manipulator linkage

Controller

Sensors Actuators

User interface

Power conversionunit

Robot Base: Fixed v/s MobileMobile bases are typicallyplatforms with wheels or tracksattached. Instead of wheels ortracks, some robots employlegs in order to move about.

Robotic manipulators used inmanufacturing are examples offixed robots. They can notmove their base away from thework being done.

Robot Mechanism: Mechanical Elements

Inclined plane wedge

Slider-Crank

Cam and Follower

Gear, rack, pinion, etc.

Chain and sprocket

Lever

Linkage

Sensors: I•Human senses: sight, sound, touch, taste, andsmell provide us vital information to function andsurvive

•Robot sensors: measure robotconfiguration/condition and its environment andsend such information to robot controller aselectronic signals (e.g., arm position, presence oftoxic gas)

•Robots often need information that is beyond 5human senses (e.g., ability to: see in the dark,detect tiny amounts of invisible radiation, measuremovement that is too small or fast for the humaneye to see)

AccelerometerUsing Piezoelectric Effect

Flexiforce Sensor

In-Sight Vision Sensors

Part-Picking: Robot can handlework pieces that are randomlypiled by using 3-D vision sensor.Since alignment operation, aspecial parts feeder, and analignment pallete are notrequired, an automatic systemcan be constructed at low cost.

Vision Sensor: e.g., to pick bins, perform inspection, etc.

Sensors: II

Parts fitting and insertion:Robots can do precise fitting andinsertion of machine parts byusing force sensor. A robot caninsert parts that have the phasesafter matching their phases inaddition to simply inserting them.It can automate high-skill jobs.

Force Sensor: e.g.,parts fitting andinsertion, forcefeedback in roboticsurgery

Sensors: III

Infrared Ranging Sensor

KOALA ROBOT •6 ultrasonic sonar transducers to explore wide, open areas•Obstacle detection over a wide range from 15cm to 3m•16 built-in infrared proximity sensors (range 5-20cm)•Infrared sensors act as a “virtual bumper” and allow fornegotiating tight spaces

Sensors: IV

Example

Actuators: I

• Common robotic actuators utilize combinations ofdifferent electro-mechanical devices– Synchronous motor– Stepper motor– AC servo motor– Brushless DC servo motor– Brushed DC servo motor

http://www.ab.com/motion/servo/fseries.html

Hydraulic Motor Stepper Motor

Pneumatic Motor

Servo Motor

Actuators: II

Pneumatic Cylinder

DC Motor

Controller Provide necessary intelligence to control the

manipulator/mobile robot Process the sensory information and compute

the control commands for the actuators tocarry out specified tasks

Controller Hardware: I

Storage devices: e.g., memory to store thecontrol program and the state of the robotsystem obtained from the sensors

Computational engine that computes thecontrol commands

BASIC Stamp 2 Module

RoboBoard Robotics Controller

Controller Hardware: II

Analog to Digital Converter

Operational Amplifiers

Interface units: Hardware to interface digitalcontroller with the external world (sensors andactuators)

Controller Hardware: III

LM358 LM358

LM1458 dual operational amplifier

•Agriculture•Automobile•Construction•Entertainment•Health care: hospitals, patient-care, surgery , research, etc.•Laboratories: science, engineering , etc.•Law enforcement: surveillance, patrol, etc.•Manufacturing•Military: demining, surveillance, attack, etc.•Mining, excavation, and exploration•Transportation: air, ground, rail, space, etc.•Utilities: gas, water, and electric•Warehouses

Industries Using Robots

What Can Robots Do?

Industrial Robots

Material Handling Manipulator

Assembly Manipulator

Spot Welding Manipulator

•Material handling•Material transfer•Machine loading and/orunloading•Spot welding•Continuous arc welding•Spray coating•Assembly•Inspection

Robots in Space

NASA Space Station

Robots in Hazardous Environments

TROV in Antarcticaoperating underwater

HAZBOT operating inatmospheres containingcombustible gases

Medical Robots

Robotic assistant formicro surgery

Robots at Home

Sony AidoSony SDR-3X Entertainment Robot

Future of Robots: I

Cog Kismet

Artificial Intelligence

Future of Robots: II

Garbage Collection Cart

Robot Work Crews

Autonomy

Future of Robots: III

HONDA Humanoid Robot

Humanoids

Audio Enabled Hexapod

Four Legged Hexapod Metal Mine Surveyor

RoboVac

Use the web to research the different

manufacturers and types of industrial

robots available.

Review linear algebra and mechanics

Assignment