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Modeling and Control of Robot Manipulators

Modeling and Control of Robot Manipulators. Jianbo Su Department of Automation Email: jbsu@sjtu.edu.cn Tel: 34204276 . Lecture 1: Introduction. Robotics （机器人学） Industrial Robot （工业机器人） Modeling and Control of Robot Manipulators （机器人操作手的建模与控制）. Robotics.

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Modeling and Control of Robot Manipulators

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  1. Modeling and Control of Robot Manipulators Jianbo Su Department of Automation Email: jbsu@sjtu.edu.cn Tel: 34204276

  2. Lecture 1: Introduction • Robotics （机器人学） • Industrial Robot （工业机器人） • Modeling and Control of Robot Manipulators （机器人操作手的建模与控制）

  3. Robotics • History of Robotics • General Framework of Robotics • Classification of Robot

  4. History of Robotics The word "Robot" comes from the 1921 play "R.U.R." by the Czech writer Karel Capek (pronounced "chop'ek").  "Robot" comes from the Czech word "robota", meaning "forced labor."  The word "robotics" also comes from science fiction - "Runaround" (1942) by Isaac Asimov. 

  5. History of Robotics Three Laws of Robotics: * Law Zero: A robot may not injure humanity, or, through inaction, allow humanity to come to harm. * Law One: A robot may not injure a human being, or, through inaction, allow a human being to come to harm, unless this would violate a higher order law. * Law Two: A robot must obey orders given it by human beings, except where such orders would conflict with a higher order law. * Law Three: A robot must protect its own existence as long as such protection does not conflict with a higher order law.

  6. History of Robotics early robots (1940's - 50's) Grey Walter's "Elsie the tortoise" "Shakey" Stanford Research Institute in the 1960s.  The General Electric Walking Truck the first legged vehicle with a computer-brain, by Ralph Moser at General Electric Corp. in the 1960s. 

  7. History of Robotics The first modern industrial robots were probably the "Unimates", created by George Devol and Joe Engleberger in the 1950's and 60's.  Engleberger started the first robotics company, called "Unimation", and has been called the "father of robotics."

  8. History of Robotics Isaac Asimov and Joe Engleberger(image from Robotics Society of America web site)

  9. History of Robotics EXPLORATION  People are interested in places that are sometimes full of danger, like outer space, or the deep ocean.  But when they can not go there themselves, they make robots that can go there.  The robots are able to carry cameras and other instruments so that they can collect information and send it back to their human operators

  10. History of Robotics INDUSTRY When doing a job, robots can do many things faster than humans.  Robots do not need to be paid, eat, drink, or go to the bathroom like people.  They can do repeatative work that is absolutely boring to people and they will not stop, slow down, or fall to sleep like a human.

  11. History of Robotics MEDICINE Sometimes when operating, doctors have to use a robot instead.  A human would not be able to make a hole exactly one 100th of a inch wide and long.  When making medicines, robots can do the job much faster and more accurately than a human can.  Also, a robot can be more delicate than a human.

  12. History of Robotics MEDICINE Some doctors and engineers are also developing prosthetic (bionic) limbs that use robotic mechanisms. 

  13. History of Robotics MILITARY and POLICE Police need certain types of robots for bomb-disposal and for bringing video cameras and microphones into dangerous areas, where a human policeman might get hurt or killed.  The military also uses robots for (1) locating and destroying mines on land and in water, (2) entering enemy bases to gather information, and (3) spying on enemy troops.

  14. History of Robotics TOYS The new robot technology is making interesting types of toys that children will like to play with.  One is the "LEGO MINDSTORMS" robot construction kit.  These kits, which were developed by the LEGO company with M.I.T. scientists, let kids create and program their own robots.  Another is "Aibo" - Sony Corporation's robotic dog.

  15. General Framework of Robotics • Roboticsis the science studying the intelligent connection of perception to action • Action: mechanical system (locomotion & manipulation) • Perception: sensory system (proprioceptive & heteroceptive) • Connection: control system • Robotics is an interdisciplinary subject concerning mechanics, electronics, information theory, automation theory.

  16. Classification of Robotics • Advanced Robots autonomous execution of missions in unstructured or scarcely unstructured environment • Industrial Robot

  17. Classification of Robotics • Class 1: Manual Handling Device • Class2: Fixed-Sequence Robot • *Class3: Variable Sequence Robot • Class4: Playback Robot • Class5: Numerical Control Robot • *Class6: Intelligent Robot JIRA:Japanese Industrial Robot Association RIA: The Robotics Institute of America

  18. Classification of Robotics • Type A: Handling Devices with manual control • Type B: Automatic Handling Devices with predetermined cycles • Type C: Programmable, servo controlled robots • Type D: Type C with interactive with the environment AFR: The Association Francaise de Robotique

  19. Industrial Robot • Automation & Robot • Definition of Industrial Robot • Application of Industrial Robot • Components of Industrial Robot

  20. Types of Automated Manufacturing Systems Rigid ( or Fixed ) Automation • High initial investment for custom-engineered equipment • High production rates • Relatively inflexible in accommodating product variety

  21. Types of Automated Manufacturing Systems Programmable Automation • High investment in general purpose equipment • Lower production rates than fixed automation • Flexibility to deal with variations and changes in product configuration • Most suitable for batch production

  22. Types of Automated Manufacturing Systems Flexible Automation • High investment for a custom-engineered system • Continuous production of variable mixtures of products • Medium Production Rates • Flexibility to deal with product design variations

  23. Automation Application

  24. Hierarchical Structure of Automation

  25. Definition of an Industrial Robot A robot is a re-programmable multifunctional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks. Robot Institute of America (Group within Society of Manufacturing Engineers)

  26. Industrial Robot Examples

  27. World Supply of Robots

  28. World Supply of Robots

  29. Typical Applications • Material handling • Manipulation • Measurement

  30. Advantages of Robots • Robotics and automation can, in many situation, increase productivity, safety, efficiency, quality, and consistency of products • Robots can work in hazardous environments • Robots need no environmental comfort • Robots work continuously without any humanity needs and illnesses • Robots have repeatable precision at all times • Robots can be much more accurate than humans, they may have mili or micro inch accuracy. • Robots and their sensors can have capabilities beyond that of humans • Robots can process multiple stimuli or tasks simultaneously, humans can only one. • Robots replace human workers who can create economic problems

  31. Current Industrial Robots • are not creative or innovative, • no capability to think independently, • cannot make complicated decisions, • do not learn from mistakes • cannot adapt quickly to changes in their surroundings We must depend on real people for these abilities!

  32. Components of Industrial Robot • Mechanical structure or manipulator （机构---骨骼，关节） • Actuator （驱动器---肌肉） • Sensors （传感器---眼睛，皮肤……） • Control system（控制系统---大脑）

  33. Manipulator Structures • Mechanical components • Mechanical configurations

  34. Mechanical Components • Robots are serial “chain” mechanisms made up of • “links”（连杆）(generally considered to be rigid) • “joints” （关节）(where relative motion takes place) • Joints connect two links

  35. “Degrees of Freedom”（自由度） • Degrees of freedom (DoF) is the number of independent movements the robot is capable of • Ideally, each joint has exactly one degree of freedom • degrees of freedom = number of joints • Industrial robots typically have 6 DoF, but 3, 4, 5, and 7 are also common

  36. Types of Joints • Although there are a few other types, most current industrial robots use one of two types of joints: • Prismatic or Translational (also called Linear)（平动关节） • Revolute or Rotational（旋转关节）

  37. Prismatic Joints • Prismatic (Translational, Linear, Rectilinear) joints allow motion along a straight line between two links Link 2 Link 1

  38. Revolute Joints • Revolute (Rotational) joints allow motion along a circular arc between two links Link 1 Link 2 Relative Motion provided by Revolute Joint

  39. Mechanical Configurations • Industrial robots are categorized by the first three joint types • Five different robot configurations: • Cartesian (or Rectangular)（直角坐标） • Cylindrical, （圆柱坐标） • Spherical (or Polar),（球坐标) • Jointed (or Revolute), and • SCARA

  40. Cartesian Configuration • All three joints are prismatic (PPP) Commonly used for positioning tools, such as dispensers, cutters, drivers, and routers

  41. Cartesian Configuration • Often highly customizable, with options for X, Y, Z lengths • Payloads and speeds vary based on axis length and support structures • Simple kinematic equations

  42. Robot Workspace（工作空间） • Workspace is the volume of space reachable by the end-effector（末端执行器） • Everywhere a robot reaches must be within this space • Tool orientation and size also important!

  43. Cartesian Workspace • Easiest workspace to compute and visualize • Generally a simple “box” with width (X travel), depth (Y travel), and height (Z travel)

  44. Y X Z Gantry Robot • A gantry robot is a special type of Cartesian robot

  45. Gantry Robot • Vary widely in size, workspaces from “breadloaf” size to several cubic meters

  46. Characteristics of Cartesian Robots • Advantages: • easy to visualize • have better inherent accuracy than most other types • easy to program off-line • highly configurable - get the size needed • Disadvantages: • not space efficient • external frame can be massive • Z axis “post” frequently in the way • Axes hard to seal • Can only reach in front of itself

  47. Cylindrical Configuration • First joint is revolute (rotation) Next two joints are prismatic (RPP)

  48. Cylindrical Configuration • Vertical Z axis is located inside the base • Compact end-of-arm design that allows the robot to "reach" into tight work envelopes without sacrificing speed or repeatability

  49. Cylindrical Design Robot

  50. Cylindrical Workspace • Another “easy” workspace to compute and visualize

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