introduction-to-robotics.pdf
- 1. Introduction to Robotics Vikram Kapila, Associate Professor, Mechanical Engineering
- 2. Outline • Definition • Types • Uses • History • Key components • Applications • Future • Robotics @ MPCRL
- 3. Robot Defined • Word robot was coined by a Czech novelist Karel Capek in a 1920 play titled Rassum’s Universal Robots (RUR) • Robot in Czech is a word for worker or servant zDefinition of robot: –Any machine made by by one our members: Robot Institute of America - –A robot is a reprogrammable, multifunctional manipulator 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, 1979 Karel Capek
- 4. Types of Robots: I Manipulator
- 5. Wheeled Robot Legged Robot Types of Robots: II
- 6. Types of Robots: III Unmanned Aerial Vehicle Autonomous Underwater Vehicle
- 7. Robot Uses: I Decontaminating Robot Cleaning the main circulating pump housing in the nuclear power plant Jobs that are dangerous for humans
- 8. Repetitive jobs that are boring, stressful, or labor- intensive for humans Welding Robot Robot Uses: II
- 9. The SCRUBMATE Robot Menial tasks that human don’t want to do Robot Uses: III
- 10. Laws of Robotics • Asimov proposed three “Laws of Robotics” and later added the “zeroth law” • Law 0: A robot may not injure humanity or through inaction, allow humanity to come to harm • Law 1: A robot may not injure a human being or through inaction, allow a human being to come to harm, unless this would violate a higher order law • Law 2: A robot must obey orders given to it by human beings, except where such orders would conflict with a higher order law • Law 3: A robot must protect its own existence as long as such protection does not conflict with a higher order law
- 11. • The first industrial robot: UNIMATE • 1954: The first programmable robot is designed by George Devol, who coins the term Universal Automation. He later shortens this to Unimation, which becomes the name of the first robot company (1962). UNIMATE originally automated the manufacture of TV picture tubes History of Robotics: I
- 12. PUMA 560 Manipulator History of Robotics: II 1978: The Puma (Programmable Universal Machine for Assembly) robot is developed by Unimation with a General Motors design support
- 13. 1980s: The robot industry enters a phase of rapid growth. Many institutions introduce programs and courses in robotics. Robotics courses are spread across mechanical engineering, electrical engineering, and computer science departments. Adept’s SCARA robots Barrett Technology Manipulator Cognex In-Sight Robot History of Robotics: III
- 14. 2003: NASA’s Mars Exploration Rovers will launch toward Mars in search of answers about the history of water on Mars 1995-present: Emerging applications in small robotics and mobile robots drive a second growth of start-up companies and research History of Robotics: IV
- 15. •Typical knowledgebase for the design and operation of robotics systems –Dynamic system modeling and analysis –Feedback control –Sensors and signal conditioning –Actuators (muscles) and power electronics –Hardware/computer interfacing –Computer programming Knowledgebase for Robotics Disciplines: mathematics, physics, biology, mechanical engineering, electrical engineering, computer engineering, and computer science
- 16. Key Components Base Manipulat or linkage Controller Sensors Actuators User interface Power conversion unit
- 17. Robot Base: Fixed v/s Mobile Mobile bases are typically platforms with wheels or tracks attached. Instead of wheels or tracks, some robots employ legs in order to move about. Robotic manipulators used in manufacturing are examples of fixed robots. They can not move their base away from the work being done.
- 19. Sensors •Human senses: sight, sound, touch, taste, and smell provide us vital information to function and survive •Robot sensors: measure robot configuration/condition and its environment and send such information to robot controller as electronic signals (e.g., arm position, presence of toxic gas) •Robots often need information that is beyond 5 human senses (e.g., ability to: see in the dark, detect tiny amounts of invisible radiation, measure movement that is too small or fast for the human eye to see) Accelerometer Using Piezoelectric Effect Flexiforce Sensor
- 20. In-Sight Vision Sensors Part-Picking: Robot can handle work pieces that are randomly piled by using 3-D vision sensor. Since alignment operation, a special parts feeder, and an alignment pallete are not required, an automatic system can be constructed at low cost. Vision Sensor: e.g., to pick bins, perform inspection, etc. Vision Sensors
- 21. Parts fitting and insertion: Robots can do precise fitting and insertion of machine parts by using force sensor. A robot can insert parts that have the phases after matching their phases in addition to simply inserting them. It can automate high- skill jobs. Force Sensor: e.g., parts fitting and insertion, force feedback in robotic surgery Force Sensors
- 22. 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 for negotiating tight spaces Proximity Sensors Example
- 23. Tilt Sensor Planar Bipedal Robot Tilt sensors: e.g., to balance a robot Tilt Sensors Example
- 24. Actuators/Muscles: I • Common robotic actuators utilize combinations of different 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
- 25. Hydraulic Motor Stepper Motor Pneumatic Motor Servo Motor Actuators/Muscles: II Pneumatic Cylinder DC Motor Muscle Wire
- 26. Controller z Provide necessary intelligence to control the manipulator/mobile robot z Process the sensory information and compute the control commands for the actuators to carry out specified tasks
- 27. Storage Hardware Storage devices: e.g., memory to store the control program and the state of the robot system obtained from the sensors
- 28. Computational engine that computes the control commands BASIC Stamp 2 Module RoboBoard Robotics Controller Computation Hardware
- 29. Analog to Digital Converter Operational Amplifiers Interface units: Hardware to interface digital controller with the external world (sensors and actuators) Interface Hardware LM358 LM358 LM1458 dual operational amplifier
- 30. •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 Robots in Industry
- 31. Industrial Applications of Robots Material Handling Manipulator Assembly Manipulator Spot Welding Manipulator •Material handling •Material transfer •Machine loading and/or unloading •Spot welding •Continuous arc welding •Spray coating •Assembly •Inspection
- 32. Robots in Space NASA Space Station
- 33. Robots in Hazardous Environments TROV in Antarctica operating under water HAZBOT operating in atmospheres containing combustible gases
- 34. Medical Robots Robotic assistant for micro surgery
- 35. Robots in Military SPLIT STRIKE: Deployed from a sub’s hull, Manta could dispatch tiny mine-seeking AUVs or engage in more explosive combat. PREDATOR GLOBAL HAWK ISTAR GOLDENEYE
- 36. Robots at Home Sony Aido Sony SDR-3X Entertainment Robot
- 37. Future of Robots: I Cog Kismet Artificial Intelligence
- 38. Future of Robots: II Garbage Collection Cart Robot Work Crews Autonomy
- 39. Future of Robots: III HONDA Humanoid Robot Humanoids
- 40. Robotics @ MPCRL: Remote Robot Arm Manipulation
- 41. Robotics @ MPCRL: Smart Irrigation System
- 42. Robotics @ MPCRL: RoboDry
- 43. Robotics @ MPCRL: 4-Legged Hexapod
- 44. Robotics @ MPCRL: Hexapod for Disaster Recovery
- 45. Robotics @ MPCRL: Hexapod for Disaster Recovery
- 46. Robotics @ MPCRL: Robotic Vacuum Cleaner
- 47. Robotics @ MPCRL: Automated Distinguisher
- 48. Robotics @ MPCRL: Automated Distinguisher