Robotics - K. N. Toosi University of Technologysaba.kntu.ac.ir/eecd/ecourses/Robotics85/First lecture.pdf · Robotics: Evolution ... zRobot definition • Robot Classification

Advance Robotic & Automated Systems (ARAS)Department of Electrical Engineering – K.N.Toosi U. of Tech.

Robotics:Robotics:Evolution, Technology and ApplicationsEvolution, Technology and Applications

By: Prof. Hamid D. Taghirad

Associate ProfessorAdvanced Robotics and Automated Systems (ARAS)Dept. of Electrical EngineeringK.N. Toosi University of Technology

10/2/200610/2/2006 22Robotics 1 and Robotics 2Robotics 1 and Robotics 2

By: Prof. Hamid D. TaghiradBy: Prof. Hamid D. Taghirad

OutlineOutline• Introduction

Robotics: a human dreamRobotic evolutionRobot definition

• Robot ClassificationKinematicsArm configuration

End Effector

• Robotic ApplicationSpaceIndustrialMedicalParallel Manipulators

• Robotic 1 & 2 Contents

Course contentsTextbooksMarking Scheme



IntroductionIntroduction

• Human Dream: Build a human clownHuman Arm Robot manipulatorHuman Leg Mobile robot

Legged robotHuman Eye Machine visionHand-eye task Visual servoingListen and talk Sound recognitionThink and decide Artificial intelligence…




• Dream coming to true starting withRobots as workers: ManipulatorsManipulator Worker arm

• Robot Definition:A motorized computer-controlled machine that

can be programmed to do a variety of tasks especially repeatable and tiresome ones.




• Robot Evolution1921: Robota introduced in Karel Capek theatre, as a slave performing compulsory tasks1962: 1st Generation Robot, Unimation Inc. pneumatically driven1975-1997: 2nd Generation Robot, programmable robots in a well known environment (servo-controlled, PLC)1990- current: 3rd Generation Robot, Intelligent robot in an unstructured environment (Artificial intelligent)




• Why Robots

StrongTirelessAccurate and repeatableWell-immune

Labor saving, improvement of working condition, increasing Labor saving, improvement of working condition, increasing flexibility, productivity, quality, etcflexibility, productivity, quality, etc




• Manipulator componentsArm Links and jointsHand End effectorActuators and driveSensors and transducersComputer and ElectronicsEducation via software



IntroductionIntroduction• Robot Subsystems



Robot ClassificationRobot Classification

• Arm ConfigurationArticulated or serial joint-links



Robot ClassificationRobot Classification• Articulated




• Arm ConfigurationCylindrical Robot




• Cylindrical Robot




• Arm ConfigurationSpherical Robot




• Spherical Robot



Robot ClassificationRobot Classification• Arm Configuration

Cartesian Robot



Robot ClassificationRobot Classification• Cartesian Robot




SCARA Robot



Robot ClassificationRobot Classification• SCARA Robot




Parallel Robot




Parallel Robot




Parallel Robot



Robot ClassificationRobot Classification• End effector









Robotic ApplicationsRobotic Applications• Space Robotics:

International Space Station




International Space Station




Space Station Remote Manipulator System (SSRMS)



Robotic ApplicationsRobotic Applications

• Space Robotics:Special Purpose Dexterous Manipulator (SPDM)




• Industrial ApplicationsGeneral Purpose Manipulators




• Industrial ApplicationsWelding Robots



Robotic ApplicationsRobotic Applications• Industrial Applications

Painting Robots



Robotic ApplicationsRobotic Applications• Industrial

ApplicationsAssembly Robots




• Medical RobotOperating RoomTele-operated SurgeryMicro Surgery



Robotic ApplicationsRobotic Applications• Parallel Robots:

Machine Centers (Variax)

11 µm (volumetric) Accuracy:

630×630×630 mm±25° about A/B-axis

Workspace:

Standard Gough-Stewart platform

Architecture:

5-axis machiningApplication:Giddings & LewisManufacturer:




Milling Machines (Metrom)

15 µm (volumetric) Accuracy:

800×800×500 mm±25° about A axis

Workspace:

a pentapod with variable-length struts

Architecture:

5-side machining Application:METROM Manufacturer:




Flight Simulators (CAE)

950×900×900 mm±30° about A/B/Caxis

Workspace:

Standard Gough-Stewart platform

Architecture:

Flight SimulatorApplication:CAE ElectronicsManufacturer:




• Parallel Robots:6-DOF Statically-Balanced Hybrid Parallel Manipulator




The Agile Eye (a Spherical Parallel Mechanism)



Robotics 1: Course ContentRobotics 1: Course Content• Introduction:

Robot classificationDescription of position and orientation

•• Rotation matrixRotation matrix•• ScrewScrew--axis representationaxis representation•• Euler angle representations Kinematics:Euler angle representations Kinematics:

• Kinematics AnalysisDenavit-Hartenberg conventionForward KinematicsSuccessive screwsInverse Kinematics of 6R Manipulator



Robotics 1: Course ContentRobotics 1: Course Content• Jacobian Analysis

Angular velocityVelocity PropagationJacobianSingularity and RedundancyForce and torque relation

• Dynamic AnalysisAngular accelerationNewton-Euler iterative methodLagrange methodLagrange iterative method



Robotics 1: Course ContentRobotics 1: Course Content

• Path Generation Joint and Cartesian space methodsCubic trajectory generationParabolic trajectoriesLinear with parabolic blends

• Controller DesignLinear Controllers

•• Linear identificationLinear identification•• PD and PID controller designPD and PID controller design




• Controller DesignNonlinear Controllers

•• Feedback linearization methodsFeedback linearization methods•• LyapunovLyapunov based controllersbased controllers•• Robustness analysisRobustness analysis•• Adaptive controllersAdaptive controllers

Force controllers•• Stiffness ControllerStiffness Controller•• Direct force controllersDirect force controllers•• Impedance ControllersImpedance Controllers



Robotics 1: Course ContentRobotics 1: Course Content• Textbooks and References:

M. W. Spong, S. Hutchinson, M. Vidyasagar, “Robot Modeling and Control”, New York, Wiley, 2006.

John J. Craig, “Introduction to robotics: mechanics and control”, 3rd Edition Mass., Addison Wesley, 2005.

Lung-Wen Tsai, “Robot analysis: the mechanics of serial and parallel manipulators”, New York, Wiley, 1999.

Selected papers.




• Marking Scheme:Assignments: 15%

•• 6 assignments6 assignmentsTerm Project: 20%

•• Research on advanced topics ORResearch on advanced topics OR•• Robot design, analysis and controlRobot design, analysis and control

Mid-term Exam: 25%•• Tentative date 28/02/05Tentative date 28/02/05

Final Exam: 40%•• Tentative date 28/02/05Tentative date 28/02/05



Robotics 1: Course ContentRobotics 1: Course ContentHamid D. Taghirad• Office location:

Department of E.E. Room 309• Office hours:

Saturdays 16:00-17:00• Email:

[email protected]• URL:

http://saba.kntu.ac.ir/eecd/taghiradhttp://saba.kntu.ac.ir/eecd/Ecourses/robotics.htm



Robotics 2: Course ContentRobotics 2: Course ContentNext SemesterNext Semester

• Parallel ManipulatorsIntroductionKinematics of parallel manipulatorsJacobian analysis of P.M.DynamicsController Design



Research TopicsResearch Topics

• Serial Manipulators: 2DOF Flexible Joint Robot (FJR)

•• 1 Ph.D. Thesis1 Ph.D. Thesis•• 7 Masters Thesis7 Masters Thesis•• 4 Bachelor Thesis4 Bachelor Thesis•• 1 Current 1 Current M.ScM.Sc. Thesis. Thesis




• Parallel Manipulators: Hydraulic Shoulder

•• 4 Masters Thesis4 Masters Thesis•• 8 Bachelor Thesis8 Bachelor Thesis•• 1 current Ph.D. Thesis1 current Ph.D. Thesis




• Parallel Manipulators: Cable Driven Parallel Manipulator

•• Design and ImplementationDesign and Implementation3DOF Planar and 6DOF 3DOF Planar and 6DOF SpacialSpacial

•• KinematicKinematic Analysis and Singularity AvoidanceAnalysis and Singularity Avoidance•• Dynamic ModelingDynamic Modeling•• Optimal Redundancy ResolutionOptimal Redundancy Resolution•• Controller Controller ImplementaionImplementaion

•• Many B.Sc., Many B.Sc., M.ScM.Sc. And Ph.D. Theses . And Ph.D. Theses




• Mobile Robots: Simultaneous Localization and Mapping (SLAM)

•• Extended Extended KalmanKalman FilterFilter•• Particle FilterParticle Filter•• SLAM for guidance and controlSLAM for guidance and control

ResquakeResquake Robot (3 years)Robot (3 years)Currently 1 Currently 1 M.ScM.Sc. Theses . Theses More B.Sc., More B.Sc., M.ScM.Sc. And Ph.D. Thesis to come!. And Ph.D. Thesis to come!



Documents

Robotics - K. N. Toosi University of Technologysaba.kntu.ac.ir/eecd/ecourses/Robotics85/First lecture.pdf · Robotics: Evolution ... zRobot definition • Robot Classification