ECE 5463 (Spring 2018) Introduction to Robotics Course...

ECE 5463 (Spring 2018)

Introduction to Robotics

Course Introduction

Wei ZhangAssociate Professor

Electrical and Computer Engineering

Ohio State University

1

Course Information:

Title: Introduction to Real Time Robotics

Location: Smith Lab 1009

Time: 12:40pm ---1:35pm (M/W/F)

Instructor: Wei Zhang, zhang.491@osu.edu

Office Hours: 404 Dreese Labs, 1:40 – 2:40 M/F (tentative)

Webpage: www.carmen.osu

http://www2.ece.ohio-state.edu/~zhang/RoboticsClass/index.html

2

Reference Books:

Textbook (Required) : "Modern Robotics: Mechanics, Planning, and Control", Kevin M. Lynch and Frank C. Park, Cambridge University Press, 2017, ISBN 9781107156302.

"A Mathematical Introduction to Robotic Manipulation", Richard M. Murray, Zexiang Li, and S. Shankara Sastry, 1994

"Robot Modeling and Control", Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, 2005

Grading Policy:

Homework 20%

Programming Assignment 10% (group with 2 – 3 people)

Final Project 10%

Midterm 25% (in class)

Final Exam 35% (Tuesday, May 1st, 12:00pm-1:45pm)

3

What is Robot?

“Goal oriented machine that can sense, plan and act”

A robot senses its environment and uses that information, together with a goal, to plan some action.

The action might be to move the tool of an arm-robot to grasp an object or it might be to drive a mobile robot to some place

4

Robot Manipulators (Industrial Robots)

Originally designed for industrial automation

Four largest traditional robot manufacturers

5

ABB KUKA FUNUC Yaskawa

Many new players …

Dobot Makerarm uArm

https://www.youtube.com/watch?v=rhN2U5JbTY0

Walking Robots

1976 – OSU Hexapod – McGhee

1984 – OSU ASV (Adaptive Suspension Vehicle) – Waldron & McGhee

https://www.youtube.com/watch?time_continue=71&v=DIiD1JimBXQ

6

Boston Dynamics

https://www.youtube.com/watch?v=fRj34o4hN4I

Robot Cassie

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

Other Robots

Quadrotors: https://www.youtube.com/watch?v=YQIMGV5vtd4

Cheetah https://www.youtube.com/watch?v=_luhn7TLfWU

Flyboard: https://www.youtube.com/watch?v=deyMNPbaRpA

Kiva: https://www.youtube.com/watch?v=urWtlOVhg_4

7

Autonomous

Underwater Vehicle iRobot Roomba Honda ASIMO Autonomous Vehicle

Robotics

Kinematics: How to describe possible motions of objects without considering mass and forces

Dynamics: How to compute motion of objects given forces on the objects

Planning & Control: how to move objects in a desired manner under uncertainties

Actuators: DC motors, Servo, Hydraulic, Pneumatic, motor drive

Sensing and Perception: force, position, vision

Actual building expertise: mechanical design, electronics, mechatronics

Artificial Intelligence: high-level decision and learning

8

This Class:

Kinematics: How to describe possible motions of objects without considering mass and forces

Dynamics: How to compute motion of objects given forces on the objects

Planning & Control: how to move objects in a desired manner under uncertainties

Actuators: DC motors, Servo, Hydraulic, Pneumatic, motor drive

Sensing and Perception: force, position, vision

Actual building expertise: mechanical design, electronics, mechatronics

Artificial Intelligence: high-level decision and learning

9

Caveat:

This course is not about how to actually build a robot

To gain hands experience,

you should take classes like embedded systems, mechatronics, mechanical design, …

A lot of online/offline resources

https://www.robotshop.com/

Robot Builder's Bonanza, 4th Edition

My first time teaching a robotics class and our textbook is brand new.

This course is about the mathematical and algorithmic foundation for advanced robot design and research

A lot of math + some physics

Homework and project involves programming using python and Robotic Operating System (ROS)

Mostly useful for graduate students who plan to do research on robotics

10

Tentative Outline:

Introduction and Background

Configuration space

Rotational Motions

General Rigid Body Motions

Velocities of Rigid Body Motions

Forward Kinematics

Velocity Kinematics and Statics

Dynamics of open chains

Trajectory generation

Mobile robots

Advance topics

11

12