ENAE 692 - Introduction to Space Robotics
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Course Introduction Introduction to Space Robotics U N I V E R S I T Y O F MARYLAND 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!
Transcript of ENAE 692 - Introduction to Space Robotics
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 [email protected]://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
U N I V E R S I T Y O FMARYLAND
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
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“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
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“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
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PUMA Robot Arm (1979)
Programmable Universal Machine for Assembly
Course Introduction Introduction to Space Robotics
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C-3PO (Star Wars - 1977)
Course Introduction Introduction to Space Robotics
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“ASIMO” (Honda - 2000)
Course Introduction Introduction to Space Robotics
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Industrial Robot Applications (2004)
1%1%5%5%
18%
35%
35%
Materials HandlingSpot WeldingArc WeldingCoating/DispensingMaterial RemovalAssemblyOther
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Service Robot Applications (2004)
4%5%8%
11%
13%
14%
24%
21% UnderwaterCleaningLaboratoryDemolition/ConstructionMedicalMobile PlatformRescue/SecurityField (milk, forestry)
