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ECE 450 Introduction to Robotics

ECE 450 Introduction to Robotics. Section: 50883 Instructor: Linda A. Gee 8/31/99. Contact Information. Linda A. Gee Staff Engineer, Lockheed Martin Phone: (703)293-4103 Email: lgee@gmu.edu OR linda.a.gee@lmco.com. General Policies. Identify schedule conflicts early

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ECE 450 Introduction to Robotics

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  1. ECE 450 Introduction to Robotics Section: 50883 Instructor: Linda A. Gee 8/31/99

  2. Contact Information Linda A. Gee Staff Engineer, Lockheed Martin Phone: (703)293-4103 Email: lgee@gmu.edu OR linda.a.gee@lmco.com

  3. General Policies • Identify schedule conflicts early • Express any difficulties with the lab, equipment, or experiments • Contact instructor: during office hours, appointment, phone, or email

  4. General Information • George Mason University, ECE Alumni December 1988 • M.S.E.E. 1992, Virginia Tech • Employed full-time: Lockheed Martin, Management & Data Systems - Reston, VA • Ph.D. candidate at University of Tennessee

  5. What is a robot? • Reprogrammable general-purpose entity with external sensors • Possesses intelligence and uses algorithms for control and sensing • Autonomous robots require more sensors than tele-operated robots • Pre-recorded, preprogrammed motion sequences lead to greater autonomy

  6. Definition of Robotics • According to Webster’s Dictionary • 1980s definition A field of interest concerned with the construction, maintenance, and behavior of robots < ~ is a major science-fiction theme > • 1990s definition Technology dealing with the design, construction, and operation of robots in automation

  7. Robots: Historical Development VERSATRAN commercial robot Mechanical coupling replaced by hydraulic and electric power 1st industrial robot Unimation, Inc. Visual force feedback computer control Surveillance and mapping 1940 1960 1980 present Inspection systems Use of sensory feedback mechanical hand Mechanical manipulators materials handling Japan adopts use of industrial robots

  8. General Robot Components • Kinematics: geometry of motion • Dynamics: equations for robot arm motion • Planning systems: path of robot • Control: gross, fine motion control • Sensing: internal, external states • Programming languages: high-level • Machine intelligence: use to plan, control

  9. Technology Challenges • Computational resources From: PDP10 To: Pentium technology • Communications From: RF To: High-speed datalink • Sensors From: Overheating To: on-board proc

  10. General Design Considerations • Field of view • Range capability • Accuracy and resolution • Ability to detect objects in the environment • Real-time operation

  11. Design Considerations cont’d • Easy data interpretation • Redundancy • Simplicity • Power consumption • Size considerations

  12. Robotic System Components • Locomotion actuators • Manipulators • Control systems • Sensor suites • Power supplies • Software

  13. Key Translation Perception Action

  14. Addressing the Robotic Problem • Globally consider the problem • Migrate ideas to a hardware implementation • Understand the intelligence through control of machines

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