EEE 428 Introduction to Robotics

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EEE 428Introduction to Robotics
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Information Sheet

• Instructor Mustafa Kemal Uyguroglu
• Office hours
• Thursday 1030-1230
•  
• E-mailmustafa.uyguroglu_at_emu.edu.tr

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• TEXTBOOK
• Saeed B. Niku, Introduction to robotics,
  Prentice Hall, 2001
• REFERENCES
• John Craig, Introduction to robotics,3rd Ed.
  Prentice Hall, 2005
• Mark W. Spong, M. Vidyasagar, Robot Dynamics
  and Control, John Wiley.
• Richard P. Paul, Robot Manipulators
  Mathematics, Programming and Control, MIT Press

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Course Objectives

• At the end of this course, you should be able to
• Describe and analyze rigid motion.
• Write down manipulator kinematics and operate
  with the resulting equations
• Solve simple inverse kinematics problems.

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Syllabus

• A brief history of robotics. Coordinates and
  Coordinates Inversion. Trajectory planning.
  Sensors. Actuators and control. Why robotics?
• Basic Kinematics. Introduction. Reference frames.
  Translation. Rotation. Rigid body motion.
  Velocity and acceleration for General Rigid
  Motion. Relative motion. Homogeneous coordinates.
• Robot Kinematics. Forward kinematics. Link
  description and connection. Manipulator
  kinematics. The workspace.

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Syllabus (cont.)

• Inverse Kinematics. Introduction. Solvability.
  Inverse Kinematics. Examples. Repeatability and
  accuracy.
• Basic Dynamics. Definitions and notation. Laws of
  Motion.
• Trajectory Planning
• Presenations

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Policies and Grades

• There will be two homework assignments, one
  mid-term and one final examinations.
• The test will be close book. The homeworks will
  count 7.5 each towards the final grade, the
  midterm exam 30, final exam 40 and lab 15.

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Policies and Grades (cont.)

• Collaboration in the sense of discussions is
  allowed. You should write final solutions and
  understand them fully. Violation of this norm
  will be considered cheating, and will be taken
  into account accordingly.
• Can work alone or in teams of 2
• You can also consult additional books and
  references but not copy from them.

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The Project

• EXTRA 10 marks on overall performance!
• Can work alone or in teams of 2

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Outline

• Introduction
• What is a Robot?
• Why use Robots?
• Robot History
• Robot Applications

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What is a robot?

• Origin of the word robot
• Czech word robota labor, robotnik workman
• 1923 play by Karel Capek Rossums Universal
  Robots
• Definition (no precise definition yet)
• Websters Dictionary
• An automatic device that performs functions
  ordinarily ascribed to human beings ?washing
  machine robot?
• Robotics Institute of American
• A robot (industrial robot) is a reprogrammable,
  multifunctional manipulator designed to move
  materials, parts, tools, or specialized devices,
  through variable programmed motions for the
  performance of a variety of tasks.

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What is a robot?

• By general agreement, a robot is
• A programmable machine that imitates the actions
  or appearance of an intelligent creatureusually
  a human.
• To qualify as a robot, a machine must be able to
  
• 1) Sensing and perception get information from
  its surroundings
• 2) Carry out different tasks Locomotion or
  manipulation, do something physicalsuch as move
  or manipulate objects
• 3) Re-programmable can do different things
• 4) Function autonomously and/or interact with
  human beings

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Types of Robots

• Robot Manipulators

• Mobile Manipulators

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Types of Robots

• Locomotion

Wheeled mobile robots
Aerial Robots
Legged robots
Underwater robots
Humanoid
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Mobile Robot Examples
Hilare II
Sojourner Rover
http//www.laas.fr/matthieu/robots/
NASA and JPL, Mars exploration
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Autonomous Robot Examples
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Why Use Robots?

• Application in 4D environments
• Dangerous
• Dirty
• Dull
• Difficult
• 4A tasks
• Automation
• Augmentation
• Assistance
• Autonomous

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Why Use Robots?

• Increase product quality
• Superior Accuracies (thousands of an inch,
  wafer-handling microinch)
• Repeatable precision ? Consistency of products
• Increase efficiency
• Work continuously without fatigue
• Need no vacation
• Increase safety
• Operate in dangerous environment
• Need no environmental comfort air conditioning,
  noise protection, etc
• Reduce Cost
• Reduce scrap rate
• Lower in-process inventory
• Lower labor cost
• Reduce manufacturing lead time
• Rapid response to changes in design
• Increase productivity
• Value of output per person per hour increases

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Robot History

• 1961
• George C. Devol obtains the first U.S. robot
  patent, No. 2,998,237.
• Joe Engelberger formed Unimation and was the
  first to market robots
• First production version Unimate industrial robot
  is installed in a die-casting machine
• 1962
• Unimation, Inc. was formed, (Unimation stood for
  "Universal Automation")

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Robot History

• 1968
• Unimation takes its first multi-robot order from
  General Motors.
• 1966-1972
• "Shakey," the first intelligent mobile robot
  system was built at Stanford Research Institute,
  California.

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Robot History

• Shakey (Stanford Research Institute)
• the first mobile robot to be operated using AI
  techniques
• Simple tasks to solve
• To recognize an object using vision
• Find its way to the object
• Perform some action on the object (for example,
  to push it over)

http//www.frc.ri.cmu.edu/hpm/book98/fig.ch2/p027
.html
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Shakey
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Robot History

• 1969
• Robot vision, for mobile robot guidance, is
  demonstrated at the Stanford Research Institute.
• Unimate robots assemble Chevrolet Vega automobile
  bodies for General Motors.
• 1970
• General Motors becomes the first company to use
  machine vision in an industrial application The
  Consight system is installed at a foundry in St.
  Catherines, Ontario, Canada.

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The Stanford Cart
Hans Moravec

• 1973-1979
• Stanford Cart
• Equipped with stereo vision.
• Take pictures from several different angles
• The computer gauged the distance between the cart
  and obstacles in its path

http//www.frc.ri.cmu.edu/users/hpm/
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Robot History

• 1978
• The first PUMA (Programmable Universal Machine
  for Assembly) robot is developed by Unimation for
  General Motors.
• 1981
• IBM enters the robotics field with its 7535 and
  7565 Manufacturing Systems.
• 1983
• Westinghouse Electric Corporation bought
  Unimation, Inc., which became part of its factory
  automation enterprise. Westinghouse later sold
  Unimation to Staubli of Switzerland.

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Industrial Robot --- PUMA
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Installed Industrial Robots
Japan take the lead, why?
? Shortage of labor, high labor cost
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How are they used?

• Industrial robots
• 70 welding and painting
• 20 pick and place
• 10 others
• Research focus on
• Manipulator control
• End-effector design
• Compliance device
• Dexterity robot hand
• Visual and force feedback
• Flexible automation

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Robotics a much bigger industry

• Robot Manipulators
• Assembly, automation
• Field robots
• Military applications
• Space exploration
• Service robots
• Cleaning robots
• Medical robots
• Entertainment robots

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Field Robots
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Service robots
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Entertainment Robots
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The Course at a Glimpse Kinematics

• F(robot variables) world coordinates
• x x(?1,?, ?n)
• y y(?1,?, ?n)
• z z(?1,?, ?n)
• In a cascade robot, Kinematics is a
  single-valued mapping.
• Easy to compute.

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Kinematics Example

• ?1 ?, ?2r
• 1? r ? 4.5
• 0 ? ?? 50o

x r cos ? y r sin ?
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Inverse Kinematics

• G(world coordinates) robot variables
• ?1 ?1(x,y,z)
• ?
• ?1 ?1(x,y,z)
• The inverse problem has a lot of geometrical
  difficulties
• inversion may not be unique!

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Inverse Kinematics Example
Make unique by constraining angles
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Thank you!