Introduction to Robotics -...
Transcript of Introduction to Robotics -...
Introduction to Robotics
Hesheng Wang
Department of AutomationEmail: [email protected]
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