10-03-2011, 02:18 PM
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Robotics
TEXTBOOK
Saeed B. Niku, “Introduction to robotics,” Prentice Hall, 2001
REFERENCES
John Craig, “Introduction to robotics,3rd Ed.” Prentice Hall, 2005
Mark W. Spong, M. Vidyasagar, “Robot Dynamics and Control”, John Wiley.
Richard P. Paul, “Robot Manipulators: Mathematics, Programming and Control”, MIT Press
Course Objectives
At the end of this course, you should be able to:
Describe and analyze rigid motion.
Write down manipulator kinematics and operate with the resulting equations
Solve simple inverse kinematics problems.
Syllabus
A brief history of robotics. Coordinates and Coordinates Inversion. Trajectory planning. Sensors. Actuators and control. Why robotics?
Basic Kinematics. Introduction. Reference frames. Translation. Rotation. Rigid body motion. Velocity and acceleration for General Rigid Motion. Relative motion. Homogeneous coordinates.
Robot Kinematics. Forward kinematics. Link description and connection. Manipulator kinematics. The workspace.
Syllabus (cont.)
Inverse Kinematics. Introduction. Solvability. Inverse Kinematics. Examples. Repeatability and accuracy.
Basic Dynamics. Definitions and notation. Laws of Motion.
Trajectory Planning
Presenations
Policies and Grades
There will be two homework assignments, one mid-term and one final examinations.
The test will be close book. The homeworks will count 7.5% each towards the final grade, the midterm exam 30%, final exam 40% and lab 15%.
Policies and Grades (cont.)
Collaboration in the sense of discussions is allowed. You should write final solutions and understand them fully. Violation of this norm will be considered cheating, and will be taken into account accordingly.
Can work alone or in teams of 2
You can also consult additional books and references but not copy from them.
The Project
EXTRA 10% marks on overall performance!
Can work alone or in teams of 2
Outline
Introduction
What is a Robot?
Why use Robots?
Robot History
Robot Applications
What is a robot?
Origin of the word “robot”
Czech word “robota”– labor, “robotnik” – workman
1923 play by Karel Capek – Rossum’s Universal Robots
Definition: (no precise definition yet)
Webster’s Dictionary
An automatic device that performs functions ordinarily ascribed to human beings èwashing machine = robot?
Robotics Institute of American
A robot (industrial robot) is a reprogrammable, multifunctional manipulator designed to move materials, parts, tools, or specialized devices, through variable programmed motions for the performance of a variety of tasks.
What is a robot?
By general agreement, a robot is:
A programmable machine that imitates the actions or appearance of an intelligent creature–usually a human.
To qualify as a robot, a machine must be able to:
1) Sensing and perception: get information from its surroundings
2) Carry out different tasks: Locomotion or manipulation, do something physical–such as move or manipulate objects
3) Re-programmable: can do different things
4) Function autonomously and/or interact with human beings
Types of Robots
Robot Manipulators
Types of Robots
Mobile Robot Examples
Autonomous Robot Examples
Why Use Robots?
Application in 4D environments
Dangerous
Dirty
Dull
Difficult
4A tasks
Automation
Augmentation
Assistance
Autonomous
Why Use Robots?
Increase product quality
Superior Accuracies (thousands of an inch, wafer-handling: microinch)
Repeatable precision è Consistency of products
Increase efficiency
Work continuously without fatigue
Need no vacation
Increase safety
Operate in dangerous environment
Need no environmental comfort – air conditioning, noise protection, etc
Reduce Cost
Reduce scrap rate
Lower in-process inventory
Lower labor cost
Reduce manufacturing lead time
Rapid response to changes in design
Increase productivity
Value of output per person per hour increases
Robot History
1961
George C. Devol obtains the first U.S. robot patent, No. 2,998,237.
– Joe Engelberger formed Unimation and was the first to market robots
First production version Unimate industrial robot is installed in a die-casting machine
1962
Unimation, Inc. was formed, (Unimation stood for "Universal Automation")
Robot History
1968
Unimation takes its first multi-robot order from General Motors.
1966-1972
"Shakey," the first intelligent mobile robot system was built at Stanford Research Institute, California.
Robot History
Shakey (Stanford Research Institute)
the first mobile robot to be operated using AI techniques
Simple tasks to solve:
To recognize an object using vision
Find its way to the object
Perform some action on the object (for example, to push it over)
Shakey
Robot History
1969
Robot vision, for mobile robot guidance, is demonstrated at the Stanford Research Institute.
Unimate robots assemble Chevrolet Vega automobile bodies for General Motors.
1970
General Motors becomes the first company to use machine vision in an industrial application The Consight system is installed at a foundry in St. Catherines, Ontario, Canada.
The Stanford Cart
1973-1979
Stanford Cart
Equipped with stereo vision.
Take pictures from several different angles
The computer gauged the distance between the cart and obstacles in its path
Robot History
1978
The first PUMA (Programmable Universal Machine for Assembly) robot is developed by Unimation for General Motors.
1981
IBM enters the robotics field with its 7535 and 7565 Manufacturing Systems.
1983
Westinghouse Electric Corporation bought Unimation, Inc., which became part of its factory automation enterprise. Westinghouse later sold Unimation to Staubli of Switzerland.
Industrial Robot --- PUMA
Installed Industrial Robots
How are they used?
Industrial robots
70% welding and painting
20% pick and place
10% others
Research focus on
Manipulator control
End-effector design
Compliance device
Dexterity robot hand
Visual and force feedback
Flexible automation
Robotics: a much bigger industry
Robot Manipulators
Assembly, automation
Field robots
Military applications
Space exploration
Service robots
Cleaning robots
Medical robots
Entertainment robots
Field Robots
Service robots
The Course at a Glimpse: Kinematics
F(robot variables) = world coordinates
x = x(x1,¼, xn)
y = y(x1,¼, xn)
z = z(x1,¼, xn)
In a “cascade” robot, Kinematics is a single-valued mapping.
“Easy” to compute.
Kinematics: Example
x1= q, x2=r
1£ r £ 4.5
0 £ q£ 50o
Inverse Kinematics
G(world coordinates) = robot variables
x1 = x1(x,y,z)
M
x1 = x1(x,y,z)
The inverse problem has a lot of geometrical difficulties
inversion may not be unique!
Inverse Kinematics: Example
Robotics
TEXTBOOK
Saeed B. Niku, “Introduction to robotics,” Prentice Hall, 2001
REFERENCES
John Craig, “Introduction to robotics,3rd Ed.” Prentice Hall, 2005
Mark W. Spong, M. Vidyasagar, “Robot Dynamics and Control”, John Wiley.
Richard P. Paul, “Robot Manipulators: Mathematics, Programming and Control”, MIT Press
Course Objectives
At the end of this course, you should be able to:
Describe and analyze rigid motion.
Write down manipulator kinematics and operate with the resulting equations
Solve simple inverse kinematics problems.
Syllabus
A brief history of robotics. Coordinates and Coordinates Inversion. Trajectory planning. Sensors. Actuators and control. Why robotics?
Basic Kinematics. Introduction. Reference frames. Translation. Rotation. Rigid body motion. Velocity and acceleration for General Rigid Motion. Relative motion. Homogeneous coordinates.
Robot Kinematics. Forward kinematics. Link description and connection. Manipulator kinematics. The workspace.
Syllabus (cont.)
Inverse Kinematics. Introduction. Solvability. Inverse Kinematics. Examples. Repeatability and accuracy.
Basic Dynamics. Definitions and notation. Laws of Motion.
Trajectory Planning
Presenations
Policies and Grades
There will be two homework assignments, one mid-term and one final examinations.
The test will be close book. The homeworks will count 7.5% each towards the final grade, the midterm exam 30%, final exam 40% and lab 15%.
Policies and Grades (cont.)
Collaboration in the sense of discussions is allowed. You should write final solutions and understand them fully. Violation of this norm will be considered cheating, and will be taken into account accordingly.
Can work alone or in teams of 2
You can also consult additional books and references but not copy from them.
The Project
EXTRA 10% marks on overall performance!
Can work alone or in teams of 2
Outline
Introduction
What is a Robot?
Why use Robots?
Robot History
Robot Applications
What is a robot?
Origin of the word “robot”
Czech word “robota”– labor, “robotnik” – workman
1923 play by Karel Capek – Rossum’s Universal Robots
Definition: (no precise definition yet)
Webster’s Dictionary
An automatic device that performs functions ordinarily ascribed to human beings èwashing machine = robot?
Robotics Institute of American
A robot (industrial robot) is a reprogrammable, multifunctional manipulator designed to move materials, parts, tools, or specialized devices, through variable programmed motions for the performance of a variety of tasks.
What is a robot?
By general agreement, a robot is:
A programmable machine that imitates the actions or appearance of an intelligent creature–usually a human.
To qualify as a robot, a machine must be able to:
1) Sensing and perception: get information from its surroundings
2) Carry out different tasks: Locomotion or manipulation, do something physical–such as move or manipulate objects
3) Re-programmable: can do different things
4) Function autonomously and/or interact with human beings
Types of Robots
Robot Manipulators
Types of Robots
Mobile Robot Examples
Autonomous Robot Examples
Why Use Robots?
Application in 4D environments
Dangerous
Dirty
Dull
Difficult
4A tasks
Automation
Augmentation
Assistance
Autonomous
Why Use Robots?
Increase product quality
Superior Accuracies (thousands of an inch, wafer-handling: microinch)
Repeatable precision è Consistency of products
Increase efficiency
Work continuously without fatigue
Need no vacation
Increase safety
Operate in dangerous environment
Need no environmental comfort – air conditioning, noise protection, etc
Reduce Cost
Reduce scrap rate
Lower in-process inventory
Lower labor cost
Reduce manufacturing lead time
Rapid response to changes in design
Increase productivity
Value of output per person per hour increases
Robot History
1961
George C. Devol obtains the first U.S. robot patent, No. 2,998,237.
– Joe Engelberger formed Unimation and was the first to market robots
First production version Unimate industrial robot is installed in a die-casting machine
1962
Unimation, Inc. was formed, (Unimation stood for "Universal Automation")
Robot History
1968
Unimation takes its first multi-robot order from General Motors.
1966-1972
"Shakey," the first intelligent mobile robot system was built at Stanford Research Institute, California.
Robot History
Shakey (Stanford Research Institute)
the first mobile robot to be operated using AI techniques
Simple tasks to solve:
To recognize an object using vision
Find its way to the object
Perform some action on the object (for example, to push it over)
Shakey
Robot History
1969
Robot vision, for mobile robot guidance, is demonstrated at the Stanford Research Institute.
Unimate robots assemble Chevrolet Vega automobile bodies for General Motors.
1970
General Motors becomes the first company to use machine vision in an industrial application The Consight system is installed at a foundry in St. Catherines, Ontario, Canada.
The Stanford Cart
1973-1979
Stanford Cart
Equipped with stereo vision.
Take pictures from several different angles
The computer gauged the distance between the cart and obstacles in its path
Robot History
1978
The first PUMA (Programmable Universal Machine for Assembly) robot is developed by Unimation for General Motors.
1981
IBM enters the robotics field with its 7535 and 7565 Manufacturing Systems.
1983
Westinghouse Electric Corporation bought Unimation, Inc., which became part of its factory automation enterprise. Westinghouse later sold Unimation to Staubli of Switzerland.
Industrial Robot --- PUMA
Installed Industrial Robots
How are they used?
Industrial robots
70% welding and painting
20% pick and place
10% others
Research focus on
Manipulator control
End-effector design
Compliance device
Dexterity robot hand
Visual and force feedback
Flexible automation
Robotics: a much bigger industry
Robot Manipulators
Assembly, automation
Field robots
Military applications
Space exploration
Service robots
Cleaning robots
Medical robots
Entertainment robots
Field Robots
Service robots
The Course at a Glimpse: Kinematics
F(robot variables) = world coordinates
x = x(x1,¼, xn)
y = y(x1,¼, xn)
z = z(x1,¼, xn)
In a “cascade” robot, Kinematics is a single-valued mapping.
“Easy” to compute.
Kinematics: Example
x1= q, x2=r
1£ r £ 4.5
0 £ q£ 50o
Inverse Kinematics
G(world coordinates) = robot variables
x1 = x1(x,y,z)
M
x1 = x1(x,y,z)
The inverse problem has a lot of geometrical difficulties
inversion may not be unique!
Inverse Kinematics: Example
