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Robotics in EducationRobotics in Education Challenges Developing an Adequate Challenges Developing an Adequate
CurriculumCurriculum
Dr. Antonio SoaresFlorida A&M University
Electronic Engineering [email protected]
Overview Overview
Education PackagesEducation PackagesSaturated MarketSaturated MarketTechnology CrossoverTechnology CrossoverLego and BoebotLego and Boebot
MechatronicsMechatronicsWhat’s New!!!What’s New!!!
Intro to RoboticsIntro to Robotics DefinitionsDefinitions Types of RobotsTypes of Robots ApplicationsApplications
Industrial RobotsIndustrial Robots Degree of FreedomDegree of Freedom JointsJoints CoordinatesCoordinates
ComplexityComplexity
Industrial RobotsIndustrial Robots A machine that resembles a human being and A machine that resembles a human being and
does mechanical routine tasks on command.does mechanical routine tasks on command.
An industrial robot is a re-programmable, An industrial robot is a re-programmable, multifunctional manipulator designed to move multifunctional manipulator designed to move materials, parts, tools, or specialized devices materials, parts, tools, or specialized devices through variable programmed motions for the through variable programmed motions for the performance of a variety of tasks.performance of a variety of tasks.
What is Robotics?What is Robotics?
Robotics is the art, knowledge base, and Robotics is the art, knowledge base, and the know-how of designing, applying, and the know-how of designing, applying, and using robots in human endeavors.using robots in human endeavors.
Types of RobotsTypes of Robots
Mobile RobotsMobile Robots
Mars Explore
Crawling RobotsCrawling Robots
Parallax
Types of RobotsTypes of Robots
Stationary RobotsStationary Robots
Industrial Robot
Autonomous RobotsAutonomous Robots
EET Robot (Mechatronics)
Humanoids RobotsHumanoids Robots
HONDA (ASIMO) – Biped Robot Fujitsu – Biped Robot
Pet RobotsPet Robots
Sony (AIBO) – Toy robot
Machine loadingPick and place operationsWeldingPaintingSamplingAssembly operationManufacturingSurveillanceMedical applications Assisting disabled individuals Hazardous environmentsUnderwater, space, and remote locations
Robot ApplicationsRobot Applications
Industrial RobotsIndustrial Robots
A manipulator (or an industrial robot) is A manipulator (or an industrial robot) is composed of a series of links connected to each composed of a series of links connected to each other via joints. Each joint usually has an other via joints. Each joint usually has an actuator (a motor for eg.) connected to it.actuator (a motor for eg.) connected to it.
These actuators are used to cause relative These actuators are used to cause relative motion between successive links. One end of motion between successive links. One end of the manipulator is usually connected to a stable the manipulator is usually connected to a stable base and the other end is used to deploy a tool.base and the other end is used to deploy a tool.
Industrial RobotsIndustrial Robots
Painting Robot
•Manipulator
•Pedestal
•Controller
•End Effectors
•Power Source
Industrial Robot ArmsIndustrial Robot Arms
• Base
• Appendages-Shoulder-Arm-Grippers
ManipulatorManipulator
(Human waist)
• Supports the manipulator.
• Acts as a counterbalance.
PedestalPedestal
(The brain)
• Issues instructions to the robot.
• Controls peripheral devices.
• Interfaces with robot.
• Interfaces with humans.
ControllerController
(The hand)
• Spray paint attachments
• Welding attachments
• Vacuum heads
• Hands
• Grippers
End EffectorsEnd Effectors
(The food)
• Electric
• Pneumatic
• Hydraulic
Power SourcePower Source
Typically defined as a graph of links and Typically defined as a graph of links and jointsjoints
A link is a part, a shape with physical properties.
A joint is a constraint on the spatial relations of two or more links.
Manipulator BodyManipulator Body
Robots degrees of freedomRobots degrees of freedom
Degrees of Freedom: Number of Degrees of Freedom: Number of independent position variables which independent position variables which would has to be specified to locate all would has to be specified to locate all parts of a mechanism.parts of a mechanism.
In most manipulators this is usually the In most manipulators this is usually the number of joints.number of joints.
A Fanuc P-15 robot. Reprinted with permission from Fanuc Robotics, North America, Inc.
what is the degree
1 D.O.F. 2 D.O.F. 3 D.O.F.
Robots degrees of freedomRobots degrees of freedom
Robot JointsRobot Joints
Prismatic Joint: Linear, No rotation involved. (Hydraulic or pneumatic cylinder)
Revolute Joint: Rotary, (electrically driven with stepper motor, servo motor)
Robot CoordinatesRobot Coordinates
Cartesian/rectangular/gantry (3P) : 3 cylinders joint Cylindrical (R2P) : 2 Prismatic joint and 1 revolute joint
Spherical (2RP) : 1 Prismatic joint and 2 revolute joint Articulated/anthropomorphic (3R) : All revolute(Human arm) Selective Compliance Assembly Robot Arm (SCARA): 2 paralleled revolute joint and 1 additional prismatic joint
Math ComplexityMath Complexity
In Order to Model the Motion of a Manipulator:In Order to Model the Motion of a Manipulator:
Odometry - Position Updates Using Wheals
KinematicsKinematics
Inverse KinematicsInverse Kinematics
Complex PID ControllersComplex PID Controllers
Math ComplexityMath Complexity
KinematicsKinematics Kinematics is the study of motion without regard for
the forces that cause it.
It refers to all time-based and geometrical properties of motion.
It ignores concepts such as torque, force, mass, energy, and inertia.
Given the starting configuration of the Given the starting configuration of the mechanism and joint angles, compute the mechanism and joint angles, compute the new configuration.new configuration.
Forward KinematicsForward Kinematics
Advantages And Disadvantages Advantages And Disadvantages
Robots increase productivity, safety, efficiency, quality, and consistency of products.
Robots can work in hazardous environments without the need.
Robots need no environmental comfort. Robots work continuously without experiencing fatigue of
problem. Robots have repeatable precision at all times. Robots can be much more accurate than human. Robots replace human workers creating economic
problems. Robots can process multiple stimuli or tasks
simultaneously.
Robots lack capability to respond in emergencies. Robots, although superior in certain senses, have limited
capabilities in Degree of freedom, Dexterity, Sensors, Vision system, real time response.
Robots are costly, due to Initial cost of equipment, Installation costs, Need for Peripherals, Need for training, Need for programming.
Robots Taking Over?Robots Taking Over?
•Design Limitations
•we design them, we code the tasks to be performed
•Emotionless Machines
•Cannot logically reason, and/or plan activities, unless the designer program it to do so.
•Ethical Issues
Educational PlatformsEducational PlatformsVEX Robotics Lego Robotics
Boebot From Parallax
Robotics is an interdisciplinary subject that benefits from mechanical engineering, electrical and electronic engineering, computer science, biology, and many other disciplines.
Mechatronics – The Solution Mechatronics – The Solution
ConclusionsConclusions• For K-12 Robot Kits are Appropriate•Plan in Advance
• Most of these kits are not easy to follow because they share applications
•For Higher Education •Mechatronics with some Industrial robots is Advised
FALL 2012 Technical Elective (All Majors)
EET 4931 - SPEC TOP ELECTRO ENG
Introduction to Robotics and Automation
Instructor: Antonio [email protected]
Let’s Talk!!!Let’s Talk!!!