Transcript Recent Developments in Feeding, Fixturing, and Holding

Introduction to
Robots
The term “Robot”
Coined by Czech playright
Karel Capek (1921)
Robotics & Automation Society
Robotics and
Automation
involves designing
and implementing
intelligent
machines to do
work too dirty, too
dangerous, too
precise, or too
tedious for
humans.
http://ieee-ras.org
Two Classes of Robots
Anthropomorphic
Unstructured
Flexible
Non-Anthropomorphic
Structured
Efficient
Some Predictions
• “Household robots will do all
chores.” (1930)
• “Atomic Batteries will be
commonplace.” (1955)
• “2% of population will manufacture
all goods.” (1963)
• (none of these were accurate ;)
“Industrial robot”:
• Reprogrammable,
• multi-function
• manipulator with
• 3 or more axes.
(Robot Institute of America)
Robot Industry
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Fanuc, ABB, Adept
Welding
Spray Painting
Assembly
Automotive, Food, Aerospace, Electronics
Size of Industry (2007): $1 Billion
Robotics Research
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MechE, CS, EE, IE
NSF, Arpa, NASA
Japan, Europe
Universities, Nat
Labs
• IEEE Society of
Robotics and
Automation
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Kinematics
Dynamics
Motion Planning
Grasping
Locomotion
Actuator Design
Sensor Design
Frontiers of Robotics
• Nonlinear Control
• Lie Algebra
• Computational
Geom.
• Computational
Algebra
• Randomization
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Medical Robots
Micro-scale Robots
Networked Robots
Modular Robots
Hazardous Cleanup
Personal Robots
Robot Ethics
Lego Mindstorms (1998)
NASA Lunar Rover/Mars Sojourner
Honda Asimo Humanoid
Robotics vs Automation
• Both involve: computers, physical world, geometry
• Both engage many disciplines
• “robota”
coined in 1920 (Capek)
– Emphasizes unpredictable environments like homes, undersea
• “automation” coined in 1948 (Ford Motors)
– Emphasizes predictable environments like factories, labs
robotics
automation
• Emphasis on efficiency, quality, productivity, and
reliability
• New Applications and Methods
• Central to the IEEE RA Society
• Flagship journal (T-ASE), Flagship conference (CASE)
• Attracting leading researchers from Automation
www.ieee.org/t-ase
Introduction to
Robotics
Sookram Sobhan, Polytechnic University
[email protected]
Outline
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What is it?
What can it do?
History
Key components
Applications
Future
Robotics @ MPCRL
What is a Robot:
I
Manipulato
r
Overview of Robots and Automation
ken goldberg, uc berkeley
What is a Robot:
I
Manipulator
What is a Robot:
II
Legged Robot
Wheeled Robot
What is a Robot:
III
Underwater Vehicle
Unmanned Aerial Vehicle
What Can Robots Do: I
Jobs that are too
dangerous for
humans
Decontaminating Robot
Cleaning the main circulating
pump housing in the nuclear
power plant
What Can Robots Do: II
Repetitive jobs that are
boring, stressful, or
labor-intensive for
humans
Welding Robot
What Can Robots Do: III
Menial tasks that human
don’t want to do
The SCRUBMATE
Robot
Robot Defined
• Word robot was coined by a
Czech novelist Karel Capek in a
1920 play titled Rossum’s
Universal Robots (RUR)
• Robota in Czech is a word for
worker or servant
Definition
of robot:
Karel
Capek
–Any machine made by by one our members:
Robot Institute of America 
Laws of Robotics
• Asimov
proposed
“Laws of Robotics”
• Law 1: A robot
injure a human
through inaction,
human being to
harm
three
may not
being or
allow a
come to
• Law 2: A robot must obey
orders given to it by human
beings, except where such
orders would conflict with a
higher order law
• Law 3: A robot must protect
its own existence as long as
such protection does not
conflict with a higher order
law
History of Robotics: I
• The first industrial
robot: UNIMATE
• 1954: The first programmable
robot is designed by George
Devol, who coins the term
Universal Automation. He later
shortens this to Unimation,
which becomes the name of
the first robot company (1962).
UNIMATE originally automated the
manufacture of TV picture tubes
History of Robotics: II
1978:
The
Puma
(Programmable Universal
Machine for Assembly)
robot is developed by
Unimation with a General
Motors design support
PUMA 560
Manipulator
History of Robotics: III
1980s: The robot industry enters a phase of rapid growth.
Many institutions introduce programs and courses in robotics.
Robotics courses are spread across mechanical engineering,
electrical engineering, and computer science departments.
Adept's SCARA
Cognex In-Sight
Barrett Technology
History of Robotics: IV
1995-present:
Emerging applications
in small robotics and
mobile robots drive a
second growth of startup
companies
and
research
Knowledgebase for Robotics
•Typical knowledgebase for the design and operation
of robotics systems
–Dynamic system modeling and analysis
–Feedback control
–Sensors and signal conditioning
–Actuators and power electronics
–Hardware/computer interfacing
Disciplines:
mathematics, physics,
–Computer
programming
biology,
mechanical
engineering,
electrical
engineering,
computer
Key Components
Power conversion
unit
Sensor
s
User
interface
Actuators
Controlle
r
Manipulat
or linkage
Bas
Robot Base: Fixed v/s Mobile
Robotic manipulators used in
manufacturing are examples of
fixed robots. They can not
move their base away from the
work being done.
Mobile bases are typically
platforms with wheels or tracks
attached. Instead of wheels or
tracks, some robots employ
legs in order to move about.
Robot Mechanism: Mechanical Elements
Gear, rack, pinion, etc.
Inclined plane wedge
Cam and Follower
Chain and sprocket
Lever
Slider-Crank
Linkage
Sensors: I
•Human senses: sight, sound, touch, taste, and
smell provide us vital information to function and
survive
•Robot
sensors:
configuration/condition and
send such information to
electronic signals (e.g., arm
toxic gas)
measure
robot
its environment and
robot controller as
position, presence of
Accelerometer
Using Piezoelectric Effect
•Robots often need information that is beyond 5
human senses (e.g., ability to: see in the dark,
detect tiny amounts of invisible radiation, measure
movement that is too small or fast for the human
eye to see)
Flexiforce
Sensors: II
Vision Sensor: e.g., to pick
bins, perform inspection, etc.
Part-Picking: Robot can
handle work pieces that are
randomly piled by using 3D vision sensor. Since
alignment
operation,
a
special parts feeder, and an
alignment pallete are not
In-Sight Vision
Sensors
Sensors: III
Force Sensor: e.g.,
parts
fitting
and
insertion,
force
feedback in robotic
surgery
Parts fitting and insertion:
Robots can do precise fitting
and insertion of machine
parts by using force sensor.
A robot can insert parts that
have the phases after
matching their phases in
Sensors: IV
Infrared Ranging Sensor
Example
KOALA
ROBOT
•6 ultrasonic sonar transducers
to explore wide, open areas
•Obstacle detection over a wide range from 15cm to 3m
•16 built-in infrared proximity sensors (range 5-20cm)
•Infrared sensors act as a “virtual bumper” and allow for
negotiating tight spaces
Sensors: V
Tilt sensors: e.g., to balance a
robot
Example
Tilt Sensor
Planar Bipedal Robot
Actuators: I
• Common robotic actuators utilize combinations
of different electro-mechanical devices
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Synchronous motor
Stepper motor
AC servo motor
Brushless DC servo motor
Brushed DC servo motor
http://www.ab.com/motion/servo/fseries.html
Actuators: II
Hydraulic Motor
Pneumatic Motor
Pneumatic
Cylinder
DC Motor
Stepper Motor
Servo Motor
Controller
Provide necessary intelligence to control the
manipulator/mobile robot
 Process the sensory information and compute
the control commands for the actuators to
carry out specified tasks
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Controller Hardware:
I
Storage devices: e.g., memory to store the
control program and the state of the robot
system obtained from the sensors
Controller Hardware:
II
Computational engine that computes the
control commands
RoboBoard Robotics Controller
BASIC Stamp 2
Module
Controller Hardware:
III
Interface units: Hardware to interface
digital controller with the external world
(sensors and actuators)
Operational Amplifiers
Analog to Digital
Converter
LM358
LM358
LM1458 dual operational amplifier
Industries Using
Robots
•Agriculture
•Automobile
•Construction
•Entertainment
•Health care: hospitals, patient-care, surgery ,
research, etc.
•Laboratories: science, engineering , etc.
•Law enforcement: surveillance, patrol, etc.
•Manufacturing
•Military: demining, surveillance, attack, etc.
•Mining, excavation, and exploration
•Transportation: air, ground, rail, space, etc.
•Utilities: gas, water, and electric
What Can Robots Do?
Industrial Robots
•Material handling
•Material transfer
•Machine loading and/or
unloading
•Spot welding
•Continuous arc welding
•Spray coating
•Assembly
•Inspection
Material Handling
Manipulator
Assembly
Manipulator
Spot Welding
Robots in Space
NASA Space Station
Robots in Hazardous Environments
TROV in
operating
water
Antarctica
under
HAZBOT
operating
in
atmospheres
containing
combustible gases
Medical Robots
Robotic assistant for
micro surgery
Robots at Home
Sony SDR-3X Entertainment Robot
Sony Aido
Future of Robots: I
Artificial
Intelligence
Cog
Kismet
Future of Robots: II
Autonom
y
Robot Work Crews
Garbage Collection
Cart
Future of Robots: III
Humanoi
ds
HONDA Humanoid Robot
Introduction to Robotics
“Robot”s – A historical perspective
What is in a name?
How does one define ROBOT?
Oxford American Dictionary:
A machine capable of carrying
out a complex series of actions
automatically, especially one
Merriam-Webster
Dictionary: 1. A machine
programmed by a computer
that looks and acts like a human being. 2. An
efficient but insensitive person. 3. A device that
automatically performs repetitive tasks. 4.
Something guided by automatic controls.
What is in a name?
The robot rage currently is BIOMIMICRY. Biomimicry is
the study of nature’s designs and processes in search of
inspiration for creating machines and process that solves
human problems.
So does copying
nature DEFINE
what robots are?
Robot Institute of America
RIA presents its definition of a robot as: A
reprogrammable, multifunctional manipulator
designed to move material, parts, tools, or
specialized devices through various
programmed functions for the performance ofa
variety of tasks.
Japanese Industrial Robot Association
(JIRA)
JIRA’s chiefly concerned with industrial robots but has
created a robot classification system.
• Manipulators (Manual, Sequential,
Programmable)
• Numerically Controlled
• Sensate
• Adaptive
• Smart
• Intelligent mechantronic
Manipulators
• Manual – Machines slaved to a
human operator
• Sequential – Device that
perform a series of tasks in the
same sequence every time they
are activated. (Phone switching
system)
• Programmable – An assembly
line robotic arm
Numerically Controlled
• These are also known as
Playback robots.
– Robots that are instructed to
perform tasks through the receipts
of information on sequences and
positions in the form of numerical
data.
– These types of robots are often
used to make precision machinery.
Sensate Robots
• Robots that incorporate senor
feedback into their circuitry –
touch sensors, proximity
sensors, vision systems, and
so forth.
The HelpMate trackless robotic hospital courier
uses sensors to deliver materials within a
hospital or medical facility so that the staff can
focus on patient care instead of running around
taking care of errands. It includes laser scanners
Adaptive Robots
• Robots that can change the
way they function in response
to their environment.
KASPAR (Kinesics and
Synchronization in
Personal Assistant
Robotics) is a child-sized
humanoid robot . This
robot has been used to
investigate the possible
use of robotic systems as
This program works with children
who are prevented from playing,
either due to cognitive,
developmental or physical
impairments which affect their
playing skills, and is investigating
how robotic toys can empower
children with disabilities to discover
the range of play styles from solitary
to social and cooperative play.
Smart Robots
•
Robots that are considered to
possess Artificial Intelligence
(AI). Whether or not AI exists is
still debated.
Frontline and White Box Robotics has created a
robots called PC-BOT. The idea is based on
collaboration. Teams of these small robots
can be used at factories, plants, & shopping
malls. The software is designed in layers where
the first controls the movement of the robot
and its own sensor function which looks for
Intelligent-Mechatronic Systems
• “Mechatronics” a fancy word
coined by the Japanese
refers to the intersection of
Mechanical/Electrical and
computer control systems. It
refers to “smart devices”
that are embedded into
systems already in place. iLane™
An intelligent, portable device that lets you
control your smartphone using simple voice
commands when you're inside your vehicle.
Now you can open, listen to, and respond to
email entirely hands-free simply by speaking
aloud.
So how would you respond if you were
asked what is a robot?
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Carlo Bertocchini (Battlebots Champion) –”Deciding if a machine
•
Fred G. Martin ( professor of computer science a UMASS) –
is or is not a robot is like trying to decide if a certain shade of greenish
blue is truly blue or not blue”.
• Roger Gilbertson (owner of THE ROBOT STORE) – “I define a
robot as any autonomous sensor-processor-actuator system that
functions in a specific world.”
“The term ‘robot’, while accurate, is too mentally confining.”
• Rodney Brooks (Director of MIT’s AI lab) – “A robot is a machine
which senses the world, computes, and then decides on some action in
the world which has a physical reach beyond itself.”
• Gordon McComb (amateur robotics guru) –” I can’t really define
robot. I just know one when I see it.”
So why the confusion?
Part of what constitutes a robot has to do with the many
types of popular media which has led robots to infamy.
The term ROBOT comes to us from the Czech
word , robota, which means forced labor or
servitude.
The term was first introduced in Karel Capek’s
play R.U.R (Rossum’s Universal Robots).
Written in 1920, it centers around a madscientist type who tries to usurp the powers of
R.U.R
In the play, Rossum’s industrialist
nephew sees the artificial humans as
the perfect worker, a tireless laborer
who doesn’t complain, doesn’t need
health insurance, and doesn’t
demand a paycheck
Karel himself didn’t coin
the term robot but rather
his brother, Josef. Prior to
1920, the term
automaton was used.
Issac Asimov
• Throughout the 1940’s , Issac,
wrote many short stories
depicting robots for various
popular sci-fi magazines.
• In 1950, I-Robot was published.
• In 1942, he used the word
Robotics in a short story called
Runaround and is therefore
credited as the author of the
word.
Engleberger meets Devol
In 1956, Joseph Engleberger, an
aerospace engineer met George Devol,
an inventor and entrepreneur, for
cocktails. They discovered they both
loved the stories of Asimov and sci-fi.
Devol told Engleberger about a patent
he was trying to get involving a
programmable manipulator.
Engleberger immediately saw the
potential and founded UNIMATION
with Devol, the worlds first robot
maker.
UNIMATION
Universal Automation was born
ad General Motors became the
first company to install a
UNIMATE in 1962. The
Unimate was a robotic arm
used to extract hot parts from
a die-casting machine, a
dangerous job for a human
Significant
worker.
moment in robot
history #1
Dr. W. Grey Walter
• In 1948, Grey conducted
some experiments on a
mobile, autonomous robot.
He was interested if they
could model brain
functions. He built 2 small
robots he called tortoises
and named them Elmer
and Elsie. They were crude
by today’s standards but a
marvel of the day.
Elmer and Elsie
• The most revolutionary thing
about Elmer and Elsie is that
they didn’t have any brains
or pre-programming. They
had basic analog circuits, 2
vacuum tubes, a touch
sensor, a light sensor, and
Significant
they could even recharge
their own batteries.
moment in robot
history #2
SRI’s Intelligent Robot
• In the late 1960’s, researchers at the
Stanford Research Institute (SRI)
began work on the first “intelligent
robot”. The robot, named SHAKEY,
was designed to be mobile and
reason on it’s own. It was built on a
4 wheel base with 2 wheel drive. It
had a tall camera, laser range
finders, and a radio mast where it
received information over a radio link
from computers.
SHAKEY
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1.
2.
3.
Shakey was the world first mobile,
autonomous, & programmable robot in
that its programming used 3 layers.
Basic moving, turning, and navigating.
Information it strung together to build
routines
Receive instructions and plan the best
course of action to execute the plan.
Problem: SHAKEY took TOO much time to
contemplate the action needed (hours).
When it finally moved it swayed and
shaked to do its task.
Significant
moment in
robot history
#3