Transcript Introduction - Mechanical & Aerospace Engineering

ME 486 Robotics
ME 486
Robotics
Ou Ma
Office: JH 515, Email: [email protected], Tel.: (505)646-6534
Dept. of Mechanical Engineering
New Mexico State University
Spring 2004, Lecture 1
ME 486 Robotics
Fundamental Areas of Robotics
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Kinematics
Dynamics
Sensing and Control
Operations – applications of robots
Spring 2004, Lecture 1
ME 486 Robotics
Course Syllabus
Course Title
ME 486 Robotics
INSTRUCTOR:
Dr. Ou Ma
ASSISTANTS:
Toby Holden
OFFICE HOURS:
9:30-11:30 Tue & Thu or by appointment
CATALOG
DESCRIPTION:
The course introduces the fundamentals of robotics with emphasis on solutions to the
basic problems in kinematics, dynamics, and control of robot manipulators of serial
type. It covers modeling of rigid body motion, kinematics of articulated multibody
systems, robot dynamics and simulation, sensing and actuation, robot controls, task
planning, and robotic operations.
PREREQUISITES:
ME 237, 329 and EE 201 or consent of instructor
CLASS SCHEDULE:
11:45-13:00 Tue & Thu, JH 203
GRADING:
Homework assignments:
Project:
Midterm exam:
Final exam:
TOPICS COVERED:
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Spring 2004, Lecture 1
Spring/2004
Office: JH 515 Phone: 646-6534
20%
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Representation of 3D rigid body motion
Kinematics of articulated multibody systems
Inverse kinematics, Jacobian, singularities, and branches
Task planning and trajectory generation
Dynamics modeling and inverse dynamics
Forward dynamics and simulation
Sensing, actuation, and joint servos
Arm control strategies
Robot operations
Email: [email protected]
ME 486 Robotics
Textbook and References
• Textbook:
– S.B. Niku, Introduction to Robotics: Analysis, Systems,
Applications, Prentice Hall, 2001
• Recent Robotics Books (not required for the course):
– John J. Craig, Introduction to Robotics: Mechanics and Control
(2nd Edition 1989), Addison Wesley, ISBN: 0-201-09528-9.
– Jorge Angeles, Fundamentals of Robotic Mechanical Systems,
Springer, 1997.
– Lung-Wen Tsai, Robot Analysis, John Wiley & Sons, 1999.
– F.L. Lewis et al, Control of Robot Manipulators, Macmillan 1993.
– R. Murray, Z. Li, and S.S. Sastry, A Mathematical Introduction to
Robotic Manipulation, CRC Press, 1994.
– J.Keramas, Robot Technology Fundamentals. Delmar Publishers,
1999.
Spring 2004, Lecture 1
ME 486 Robotics
Introduction
Definition:
• Robot – 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. (by the Robot Institute of America)
• Robotics – the science studying robots
History:
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1923:
1950s:
1960/70s:
1980/90s:
– 2000s:
Spring 2004, Lecture 1
“Robot” entered into English Vocabulary
Computer-based control appeared
Academic research started
Research and education advanced
Applications in manufacturing, space, undersea, military, etc.
Medical, personal assistance, entertainment, Mars, …
ME 486 Robotics
Introduction
• Example of Industrial Robots
Industrial robots performing spot welding in an automobile assembly line.
Spring 2004, Lecture 1
ME 486 Robotics
Introduction
• Example of Space Manipulators
Spring 2004, Lecture 1
Shuttle arm example
ME 486 Robotics
Introduction
• Example of Space Servicing Robots
– SPDM developed by MDR
http://www.mdrobotics.ca
Major specifications:
Height: 3.5m; Arm length: 3m; Weight: 1660kg;
DOF: 7/arm, 1/body; Max load: 600kg per arm; Max arm speed: 7 cm/s (unloaded)
Spring 2004, Lecture 1
ME 486 Robotics
Introduction
• Example of Space Exploration Robots
– Spirit robot for JPL’s Mars exploration mission.
http://fido.jpl.nasa.gov/fidomerftest.html
Two arms; each has 4 DOFs. One arm is 1.5m long with 1kg load
capacity and the other is 0.5 long with 2 kg load capacity.
Spring 2004, Lecture 1
ME 486 Robotics
Introduction
• Example of Space/Military Robots
– Orbital Express Program.
Spring 2004, Lecture 1
Docking example
ME 486 Robotics
Introduction
• Example of Medical Robots
– Zeus Robotic system
http://www.computermotion.com/zeus.html
Spring 2004, Lecture 1
ME 486 Robotics
Introduction
• Example of Servicing Robots
– Humanoid Robot built by Honda
http://world.honda.com/robot/
Play
Play
Play
Play
Height: 1.82m; Weight: 210kg; DOF: 7/arm, 6/leg, 2/hand;
Max load: 5kg per hand; Operation time: 15min; Max speed: 0.5 m/s
Spring 2004, Lecture 1
ME 486 Robotics
Introduction
• Example of Robot Hands
– Hand developed by DLR
http://www.robotic.dlr.de
Major specifications:
Size: human hand; Weight: 1.8kg; DOF: 3/finger; Max load: 11N per finger;
Each finger has 4 joints, 3 motors, and 25 sensors.
Spring 2004, Lecture 1
ME 486 Robotics
Introduction
• Examples of Entertainment Robots
Play
Robotic dinosaur made by MDR for Universal Studio
DOFs: head 26, body 36, others 14
Length 8m, height 4m, weight 13,600kg, speed 0.6m/s
Robotic fish made by Mitsubishi Heavy Industries.
DOFs: ???
Length 0.5m, weight 0.5kg, speed 0.25m/s
Battery-power: swimming for 30 minutes.
Spring 2004, Lecture 1
ME 486 Robotics
Introduction
• Robotic Animals
Roborat:
A research project conducted by
New York State University.
Roboroach:
Capable of carrying micro camera and microphone and
being remotely controlled to turn left/right and walk
forward/backward, a $5M research carried out by
Tokyo University in Japan.
Spring 2004, Lecture 1
ME 486 Robotics
Introduction
Classification of Robotic Systems
• Based on Applications
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Industrial robots
Space robots
Military robots
Underwater robots
Medical robots
Personal assistant robots
Entertainment robots
… (the list can endlessly grow)
Easy to understand and thus
used by general people
Spring 2004, Lecture 1
• Based on Architecture
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Serial manipulators
Parallel manipulators
Tree-type manipulators
Walking Machines
Rovers
Easy for scientific study and
thus used by researchers
ME 486 Robotics
Introduction
(i)
(j)
Serial manipulators – a, b, e
Parallel manipulators – g, h, j
Tree manipulators – c, d
Walk machines – f, I
Spring 2004, Lecture 1
ME 486 Robotics
Introduction
Basic Robot Components
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Links – rigid or flexible
Joints – different kinematic types
Actuators – rotational or translational
Sensors – motion, force, vision, etc.
End-Effector
Software
Human-machine interfaces
Spring 2004, Lecture 1
ME 486 Robotics
Introduction
• Robot Kinematics
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Joint motion
trajectory
FEE
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FEE
End-effector
motion trajectory
Forward kinematics
Fbase
Inverse kinematics
Fbase
Forward kinematics – compute end-effector motion in terms of given joint motion
Inverse kinematics – compute joint motion in terms of given end-effector motion.
Spring 2004, Lecture 1
ME 486 Robotics
Introduction
• Robot Dynamics
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Joint torques
FEE
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Fbase
FEE
End-effector
motion trajectory
Forward dynamics
Inverse dynamics
Fbase
Forward dynamics (simulation) –
compute end-effector motion in terms of given joint control torques
Inverse dynamics –
compute joint control forces in terms of given end-effector motion
Spring 2004, Lecture 1
ME 486 Robotics
Introduction
• Robot Controls
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Desired
end-effector task
Task
Command
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Controller
Joint
command
Feedback
Robot
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End-effector
task trajectory
Fbas
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Feedback
Spring 2004, Lecture 1
Sensors
FEE
ME 486 Robotics
Introduction
• Robot Operations
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Human-machine interface
Task planning
Collision avoidance
Supervision
Spring 2004, Lecture 1
ME 486 Robotics
Introduction
• Robot Operations
Spring 2004, Lecture 1