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Intelligent Robotics Lab.

Introduction to Robotics

Dr. Byoung-Ho Kim

ProfessorBiomimetics, Robotics and Wellness Lab.,

Dept. of Mechatronics Eng., Kyungsung University

Office : 8-403, Engineering Building, Tel. : 051-663-4692

E-mail: kimbh@ks.ac.kr

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Intelligent Robotics Lab.

Outline

Title : Introduction to Robotics

Objectives

Understanding on

Spatial Descriptions and Transformations

Manipulator Kinematics

Jacobians

Examples for the Kinematic Motion of Robot Manipulator

Using MATLAB

Lecture Plans

English-Based Lecture Plan

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Intelligent Robotics Lab.

Industrial Robots

Iron Transfer Robot

Factory Automation

Dangerous Works

Welding Robot

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Industrial Robots

Baxter-Research-Robot

Factory Automation

Co-works with Humans

ABB YuMi Robothttp://www.active-robots.com/baxter-research-robot

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Intelligent Robotics Lab.

Humanoid Robots

ASIMO

Honda, Japan

https://www.youtube.com/watch?v=_ceMnoFsxw8

Surena III

IRAN, Nov. 17, 2015

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Home Robots

IrobiQ

Yujin Robot, Korea

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Medical Robots

daVinci

Intuitive Surgical(IS), USA

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Military Robots

ATLAS

DARPA, USA

Advanced Humanoid Robots for Military Applications

https://robots.ieee.org/

Boston Dynamics Co. : https://www.bostondynamics.com/

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Contents

Ch1. Introduction

Ch2. Spatial Description and Transformation

Ch3. Manipulator Kinematics

Ch4. Inverse Manipulator Kinematics

Ch5. Jacobians: Velocities and Static Forces

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Intelligent Robotics Lab.

Ch1. Introduction

Objectives

Understand the historical background of industrial automation and robots

Know and be able to use the definition of robot

Know and be able to use the mechanics and control of mechanical manipulators

Be able to use the useful notation

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Intelligent Robotics Lab.

Outline

Ch1 provides an introduction to the field of robotics.

It introduces some background material, a few fundamental ideas, and the adopted notation of the book, and it previews the material in the later chapters.

Definition of robot

Historical Background

Major areas in robotics

Mechanics and control of mechanical manipulators

Useful notation

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Intelligent Robotics Lab.

Definition of Robot

American Heritage Dictionary

A mechanical device that sometimes resembles a human and is capable of performing a variety of often complex human tasks on command or by being programmed in advance

Robot Institute of America (RIA)

A robot is a reprogrammable multi-functional manipulator designed to move materials, parts, tools or specialized devices through variable programmed motions for the performance of a variety of tasks

Japan Industrial Robot Association (JIRA)

A robot is a machine which performs a variety of operations similar to the movements of the human being’s upper limbs or works.

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Intelligent Robotics Lab.

Japan Industrial Standard (JIS)

A robot is defined as a mechanical system which has flexible motion functions analogous to the motion functions of living organism or combines such motion function with intelligent functions, and which acts in response to the human will.

Historical Background

1921, Czech play writer, Karel Capek’s play “Rossum’s Universal Robots”

Robota forced labor

Robot worker

1947~1949, Argonne National Lab.: first manipulator

Master-slave type teleoperator

Radio active material handling

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Intelligent Robotics Lab.

Mechanical coupled

Two multiple degrees of freedom manipulator

1949~1953, MIT Radiation Lab.

Numerically controlled milling machine

Precise positioning control of motor

1954, George C. Devol

“programmed article transfer” USA Patent

1958, Consolidated Control Corp., USA

“Automatic Programmed Apparatus” based on Devol’s Patent

1959, Unimation/AMF

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1961, MIT AI Lab., by Ernst

First computer-controlled mechanical hand

1967, Wichman: real time camera sensor

Japan-Kawasaki: Unimation joint

1968, Pieper

Kinematics of manipulator under computer control

1970, Feldman

Assembly task

1979, Korea

Control Systems Lab., KAIST

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Robot Market: Figs. 1.1, 1.4

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Number of Industrial Robots: Fig. 1.2

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Robot Prices: Fig. 1.3

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Major Areas in Robotics

Mechanical manipulation

Mechanics

Control theory

Computer science

Locomotion

Computer vision

Artificial intelligence

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Mechanics and control of mechanical manipulators

Position and Orientation

Forward kinematics

Inverse kinematics

Velocity

Static forces

Singularities

Useful notation

Coordinate system

Position vector

Rotation matrix, Inverse matrix, Transpose of a matrix

Sine and cosine of angle

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Home Works

Exercise 1.4

1.5

1.6

The history of robotics Industrial robots

Humanoid Robots

Home Robots

Medical Robots

Military Robots, etc.