Trends in Robotics

What is the aim of the lecture?

• Share ideas about robotics and the Internet of Things.

• Start thinking about robotics to understand it and its effects.

• Share ideas how to take the first steps.

Robotic trends & curiositiesRobotics, Automation,

Industry 4.0, Internet of Things

Dr. Károly SZÉLL, PhD

szell.karoly@amk.uni-obuda.hu

Óbuda University

Alba Regia Technical Faculty

Székesfehérvár, Hungary

http://amk.uni-obuda.hu/index.php/hu/karunk/munkatarsak/534-szell-karoly-dr

Agenda

• Robotics in general

• Industrial robotics

• Fundamental topics in engineering of robots

• Simulation

• ABC iRob

• Industry 4.0

Robotics in General

• Industrial robotics

• Underwater robotics (UAV)

• Aerial robotics (AUV)

• Space robotics

• Robotics in agriculture and forestry

• Robotics in construction

• Robotics in hazardous applications

• Mining robotics

Robotics in General

• Search and rescue robotics (SAR)

• Autonomous vehicles (AGV)

• Medical robotics and computer-integrated surgery

• Rehabilitation and health care robotics

• Domestic robotics

• Robots for education

• Humanoids

• Biologically inspired robots

Robotics in General

• Swarm robotics

• Micro/Nanorobots

• Exoskeletons

• Military robotics

• Distributed robotic systems

• https://en.wikipedia.org/wiki/Robot

Definition of Robot

• A robot is a machine—especially one programmable by a computer—capable of carrying out a complex series of actions automatically.

• Asimov's Three Laws are as follows:1. A robot may not injure a human being or allow a human to come to harm.

2. A robot must obey orders, unless they conflict with law number one.

3. A robot must protect its own existence, as long as those actions do not conflict with either the first or second law.

Artificial Intelligence

• https://www.youtube.com/watch?v=ZBFwe1gF0FU

• https://www.youtube.com/watch?v=V05SuCSRAtg

• https://www.youtube.com/watch?v=Aut32pR5PQA

MTRAN3

• https://www.youtube.com/watch?v=4oSavAHf0dg&t=98s

• https://unit.aist.go.jp/is/frrg/dsysd/mtran3/what.htm

Swarm Robotics

• https://www.youtube.com/watch?v=G1t4M2XnIhI

Soft Robotics

• https://www.youtube.com/watch?v=_4BTGgJjHog

MorpHex

• https://www.youtube.com/watch?v=8yO-H22eNNg

Mech Robot

• https://www.youtube.com/watch?v=bqZWNn5qZ7U

Boston Dynamics

• https://www.youtube.com/watch?v=bRHG7YObDuU

• https://www.youtube.com/watch?v=vjSohj-Iclc

• https://www.youtube.com/watch?v=tf7IEVTDjng

• https://www.youtube.com/watch?v=kHBcVlqpvZ8

• https://www.youtube.com/watch?v=5iV_hB08Uns

• https://www.youtube.com/watch?time_continue=49&v=ejsegh9uRww

• https://www.bostondynamics.com/

Rehabilitation

• https://www.youtube.com/watch?v=qotp80vfteM

• https://www.youtube.com/watch?v=9EF1hmdt83c

a) 6DOF serial-link manipulator(articulated robot arm)

b) SCARA robot which has 4DOF

c) Gantry robot

d) A parallel-link manipulator(delta robot)

[source: Peter Corke; Robotics, Vision and Control]

IndustrialRobotics

6DOF serial-link manipulator(articulated robot arm)• https://www.youtube.com/watch?v=sjAZGUcjrP8

• https://www.youtube.com/watch?v=rbki4HR41-4

SCARA robot which has 4DOF

• https://www.youtube.com/watch?v=vKD20BTkXhk

Gantry robot

• https://www.youtube.com/watch?v=dbK3Yxw0Fgk

A parallel-link manipulator (delta robot)

• https://www.youtube.com/watch?v=vtAEIKJLHGw&feature=youtu.be

What other types do you know?

WorkspaceGeometry

[source: Bruno Sicilian et al.; Handbook of Robotics]

Cartesian Robot

[source: Kulcsár Béla; Robottechnika]

Cartesian Robot

Cylindrical Robot

[source: Kulcsár Béla; Robottechnika]

Cylindrical Robot

Articulated Robot

[source: Kulcsár Béla; Robottechnika]

Articulated Robot

[source: Kulcsár Béla; Robottechnika]

Articulated Robot

Workspace

[source: Kulcsár Béla; Robottechnika]

Workspace

[source: Kulcsár Béla; Robottechnika]

Workspace

[source: Kulcsár Béla; Robottechnika]

Workspace

[source: Kulcsár Béla; Robottechnika]

Transformation Between Frames

[source: Kulcsár Béla; Robottechnika]

Rotation around z-axis

[source: Kulcsár Béla; Robottechnika]

Roll, Pitch and Yaw

[source: http://howthingsfly.si.edu/flight-dynamics/roll-pitch-and-yaw]

Homogeneous Transformation

[source: Kulcsár Béla; Robottechnika]

Denavit-Hartenberg-transformation

[source: Kulcsár Béla; Robottechnika]

Denavit-Hartenberg-transformation

[source: Kulcsár Béla; Robottechnika]

Denavit-Hartenberg-transformation

[source: Kulcsár Béla; Robottechnika]

[source: Kulcsár Béla; Robottechnika]

[source: Kulcsár Béla; Robottechnika]

[source: Kulcsár Béla; Robottechnika]

[source: Kulcsár Béla; Robottechnika]

Jacobian Matrix

[source: Kulcsár Béla; Robottechnika]

Jacobian Matrix

[source: Kulcsár Béla; Robottechnika]

Jacobian Matrix

J(x)=

𝑑𝒙 = 𝐽(𝒙)−1𝑑𝒚[source: Kulcsár Béla; Robottechnika]

[source: Kulcsár Béla; Robottechnika]

Jacobian Matrix

Dynamics

Control Theory

• https://www.youtube.com/watch?v=XJLMW6l303g

Other fundamental topics

• Actuators

• Sensors

• Motion planning

• Wheeled robots

• Legged robots

• Grippers

V-REP

• http://www.coppeliarobotics.com/videos.html

How to start?

• http://www.coppeliarobotics.com/downloads.html

• http://www.coppeliarobotics.com/helpFiles/ (Tutorials)

• File/Open scene• /scenes

• /tutorials

Gazebo

• http://gazebosim.org/

Industry 4.0

[source: IBM]

Steps to Industry 4.0

OPC UA

OPC UA

Node-RED https://nodered.org/

• Browser-based flow editing

• Built on Node.js

• Social development

• Visual programming

• Dataflow programming

• Open source project

Bosch – Industry 4.0

• https://www.youtube.com/watch?v=-dkiFNGUde0

• https://www.youtube.com/watch?v=a9I4dZFazIQ

• https://www.robotics.org/content-detail.cfm/Industrial-Robotics-Videos/Rexroth-mMS4-0-Modular-Mechatronics-Training-System-for-Industry-4-0/content_id/6440

Alba Regia Technical Faculty

amk.uni-obuda.hu

Development of an Automated Forklift FleetTASKS OF OBUDA

UNIVERSITY

• Development of vision based navigational strategies.

• Support for positioning.

• Identification and avoidance of obstacles, security features.

• Optimal sensorfusion in positioning.

• Selection of parallel sensor systems.

• Development of an optimal filtering algorithm.

• Support for outdoor and indoor navigation capabilities.

• https://www.youtube.com/watch?v=sPkl99bgBQU

ROS SLAM

• https://www.youtube.com/watch?v=oj3Vawn-kRE

• https://www.youtube.com/watch?v=n-XK24o42Oo&feature=youtu.be

• https://hackaday.io/project/98624-autonomous-slam-with-a-roomba

• https://spectrum.ieee.org/automaton/robotics/home-robots/irobot-brings-visual-mapping-and-navigation-to-the-roomba-980

How to start?

• https://my.vmware.com/en/web/vmware/free#desktop_end_user_computing/vmware_workstation_player/14_0

• http://releases.ubuntu.com/16.04/

• http://wiki.ros.org/kinetic/Installation/Ubuntu

• http://www.coppeliarobotics.com/helpFiles/ (Tutorials/ROS Tutorial)

• http://wiki.ros.org/ROS/Tutorials

• https://github.com/gentaiscool/ros-vrep-slam

• https://hackaday.io/project/98624-autonomous-slam-with-a-roomba

• https://www.banggood.com/4WD-Robot-Smart-Car-Kit-Chassis-W-Mobile-Platform-4-Wheels-For-DIY-Gift-p-1150192.html?cur_warehouse=CN

• https://www.banggood.com/Mearm-DIY-Mini-Colorful-Industrial-Robot-Arm-Rotating-Mechanical-Acrylic-Pocket-Robotic-Arm-p-1308700.html?rmmds=buy&ID=229&cur_warehouse=CN

OpenRTM-aist

• https://openrtm.org/openrtm/

http://irob.uni-obuda.hu

ABC iRob

• https://www.youtube.com/watch?v=2Hw7eGmnpeE

Da Vinci Research Kit

MAXWHERE

• https://www.youtube.com/watch?v=w9zwJg2wUMw&feature=youtu.be

• https://www.youtube.com/watch?v=W9f4bO-2WFU&feature=youtu.be

Smart City

• https://www.youtube.com/watch?v=Br5aJa6MkBc

• https://www.youtube.com/watch?v=4pbAI40dK0A

• https://www.youtube.com/watch?v=4SmJP8TdWTU

Smart Home

• https://www.youtube.com/watch?v=wedwOQuMQbM

• https://www.youtube.com/watch?v=v2kV6pgJxuo

http://amk.uni-obuda.hu/index.php/hu/karunk/munkatarsak/534-szell-karoly-dr

Thank you for your attention!

[e-mail: szell.karoly@amk.uni-obuda.hu]