1 / 56

Suggested insertion: large image of robot from Terminator movie

Suggested insertion: large image of robot from Terminator movie. Introduction to Robotics (Fag 3480). Vår 2016. Robert Wood (Harward Engineeering and Applied Sciences-Basis) Ole Jakob Elle, PhD (Modified for IFI/UIO) Førsteamanuensis II, Institutt for Informatikk Universitetet i Oslo

ingles
Download Presentation

Suggested insertion: large image of robot from Terminator movie

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Suggested insertion: large image of robot from Terminator movie

  2. Introduction to Robotics (Fag 3480) Vår 2016 Robert Wood (Harward Engineeering and Applied Sciences-Basis) Ole Jakob Elle, PhD (Modified for IFI/UIO) Førsteamanuensis II, Institutt for Informatikk Universitetet i Oslo Seksjonsleder Teknologi, Intervensjonssenteret, Oslo Universitetssykehus (Rikshospitalet)

  3. Personnel Foreleser: Ole Jakob Elle Assistent: Justinas Mišeikis (PhD students - ROBIN) Gruppelærer: ? side 3 Fag 3480 - Introduction to Robotics

  4. Litteratur • Lærebok (pensum): M. Spong, S. Hutchinson, and M. Vidyasagar, “Robot Modeling and Control”, Wiley • Notater på enkelte emner kan komme i tillegg • Støttelitteratur: John Craig, ”Introduction to Robotics”, Wesley side 4 Fag 3480 - Introduction to Robotics

  5. Teaching - time and place (INF3480 - spring 2012) Undervisning - tid og sted (INF3480 - vår 2013) Forelesninger Remember that the first lecture is mandatory. Torsdag kl. 12:15 -14:00, Sem.rom Logo, Ole-Johan Dahls hus Undervisningsplan ligger på nettet Ole Jakob Elle Øvelse Gruppe 1 Fredag kl. 10:15 -12:00, Sem.rom Logo, Ole-Johan Dahls hus side 5 Fag 3480 - Introduction to Robotics

  6. Three Compulsory exercises (Obliger): Exercise 1: Handed out ?, Deadline ? Exercise 2: Handed out ?, Deadline ? Exercise 3: Handed out ?, Deadline ? The last lecture will be on 2 June. side 6 Fag 3480 - Introduction to Robotics

  7. Fag 3480 – Introduction to Robotics To obligatoriske øvinger • 1. Kinematisk modellering : Sette opp kinematisk modell for en oppgitt robot og implementere dette i MatLab. (utleveres i feb/mars) 2. Implementering og styring av en minirobot : Benytte den implementerte kinematiske modellen som grunnlag til å lage bevegelsesstyring av en minirobot (utleveres mars/april) Tema for øvingene • • Forover og inverskinematikk • Hastighetskinematikk • Leddstyring • Banegenerering • Manipulering/bevegelsesstyring • Robot control - Regulering side 7 Fag 3480 - Introduction to Robotics

  8. Forelesningsplan Forelesningsplan (tentativ): 21.01.16 Forelesning 1: Introduction 28.01.16 Forelesning 2: Transformations 04.02.16 Forelesning 3: Forward Kinematics 11.02.16 Forelesning 4: Inverse Kinematics 18.02.16 Forelesning 5: Forward / Inverse Kinematics, examples 25.02.16 Forelesning 6: Jacobian 03.03.16 Forelesning 7: Jacobian / Dynamics 10.03.16 Forelesning 8: Dynamics 17.03.16 Forelesning 9: Control Theory 31.03.16 Forelesning 10: Control Theory – continued 07.04.16 Forelesning 11: Evolutionary Robotics 14.04.16 Forelesning 12: Tour at the Intervention Center 21.04.16 Forelesning 13: Mobile Robots (S. Goldberg) 28.04.16 Forelesning 14: Robot Operating System (ROS) 12.05.16 Forelesning 15: Tour at ROBIN 02.06.16 Forelesning 16: Revision side 8 Fag 3480 - Introduction to Robotics

  9. Introduction Historical perspective The acclaimed Czech playwright Karel Capek (1890-1938) made the first use of the word ‘robot’, from the Czech word for forced labor or serf. The use of the word Robot was introduced into his play R.U.R. (Rossum's Universal Robots) which opened in Prague in January 1921. In R.U.R., Capek poses a paradise, where the machines initially bring so many benefits but in the end bring an equal amount of blight in the form of unemployment and social unrest. Science fiction Suggested insertion: image of Metropolis robot Asimov, among others glorified the term ‘robotics’, particularly in I, Robot, and early films such as Metropolis (1927) paired robots with a dystopic society Formal definition (Robot Institute of America): "A reprogrammable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through various programmed motions for the performance of a variety of tasks". side 9 Fag 3480 - Introduction to Robotics

  10. Robots in everyday use and popular culture • Chances are, something you eat, wear, or was made by a robot • 100s of movies side 10 Fag 3480 - Introduction to Robotics

  11. Common applications Industrial Robotic assembly Commercial Household chores Military Medical Robot-assisted surgery side 11 Fag 3480 - Introduction to Robotics

  12. Industrial robot - grinding side 12 Fag 3480 - Introduction to Robotics

  13. MR-kompatibel Neuro-robot side 13 Fag 3480 - Introduction to Robotics

  14. Common applications Planetary Exploration Fast, Cheap, and Out of Control Mars rover Undersea exploration side 14 Fag 3480 - Introduction to Robotics

  15. Robots and Telemanipulators – rough categorization • Industrial robots (Automatic machines) • Sensor controlled adaptive robots (Autonomous) • Remote controlled manipulators (Telemanipulators) • Hybride systems (Semi-autonomous manipulators) • Micro/Nano-robots side 15 Fag 3480 - Introduction to Robotics

  16. Robots • Automatic task execution with pre-programmed trajectory • Accurate and fast • Sensor control (e.g. Vision and contact sensors) • Used for repetitive or heavy tasks in hostile environment side 16 Fag 3480 - Introduction to Robotics

  17. Telemanipulator • The first mechanical master-slave manipulator was developed in 1948 by a group at Argome National Laboratory, USA, led by Ray Goertz (1). • The same group was the first to develop a bilateral electrical system in 1954 (2). side 17 Fag 3480 - Introduction to Robotics

  18. Underwater Manipulators • Remote controlled from an operator control unit • Autonomous and semi-autonomous features • Flexible • Force feedback side 18 Fag 3480 - Introduction to Robotics

  19. Industrial robots High precision and repetitive tasks Pick and place, painting, etc Hazardous environments side 19 Fag 3480 - Introduction to Robotics

  20. Representations For the majority of this class, we will consider robotic manipulators as open or closed chains of links and joints Two types of joints: revolute (q) and prismatic (d) side 20 Fag 3480 - Introduction to Robotics

  21. Arm configurations The most frequent arm configurations are : Open kinematic chains : Jointed articulated or anthropomorphic (human-like arms) (RRR) Spherical (RRP) Scara (RRP) Cylindrical (RPP) Cartesian (PPP) Multi-joined (RRRRRR.....) , Redundant configurations Closed kinematic chains side 21 Fag 3480 - Introduction to Robotics

  22. Definitions End-effector/Tool Device that is in direct contact with the environment. Usually very task-specific Configuration Complete specification of every point on a manipulator set of all possible configurations is the configuration space  q  T For rigid links, it is sufficient to specify the configuration space by the joint angles, q q ... q  1 2 n State space Current configuration (joint positions q) and velocities q Work space The reachable space the tool can achieve Reachable workspace Dextrous workspace side 22 Fag 3480 - Introduction to Robotics

  23. Common configurations: wrists Many manipulators will be a sequential chain of links and joints forming the ‘arm’ with multiple DOFs concentrated at the ‘wrist’ side 23 Fag 3480 - Introduction to Robotics

  24. Common configurations: elbow manipulator Anthropomorphic arm: ABB IRB1400 or KUKA Very similar to the lab arm NACHI (RRR) side 24 Fag 3480 - Introduction to Robotics

  25. Workspace: elbow manipulator side 25 Fag 3480 - Introduction to Robotics

  26. Common configurations: SCARA (RRP) side 26 Fag 3480 - Introduction to Robotics

  27. Common configurations: cylindrical robot (RPP) workspace forms a cylinder Seiko RT3300 Robot side 27 Fag 3480 - Introduction to Robotics

  28. Common configurations: Cartesian robot (PPP) Increased structural rigidity, higher precision Pick and place operations Epson Chartesian robot (EZ-modules) side 28 Fag 3480 - Introduction to Robotics

  29. Workspace comparison (a) spherical (b) SCARA (c) cylindrical (d) Cartesian side 29 Fag 3480 - Introduction to Robotics

  30. Parallel manipulators some of the links will form a closed chain with ground Advantages: Motors can be proximal: less powerful, higher bandwidth, easier to control Disadvantages: Generally less motion, kinematics can be challenging ABB IRB940 Tricept 6DOF Stewart platform side 30 Fag 3480 - Introduction to Robotics

  31. Simple example: control of a 2DOF planar manipulator Move from ‘home’ position and follow the path AB with a constant contact force F all using visual feedback side 31 Fag 3480 - Introduction to Robotics

  32. Coordinate frames & forward kinematics 0 1 2 Three coordinate frames: Positions:     1 sin      1 sin    x  a cos   1 1 1    y x        a    0 a   1 1 2         cos a cos x        2 1 1 2 1 2           y a a sin y   2 1 0 2 1 2 t  1   ˆ x ˆ y ,           1 0 0 0 1 Orientation of the tool frame:      cos(  ) sin(  )    cos(   1 2 1 2 ˆ x ˆ y ,           2 2    sin( ) )   1 2 1 2     ˆ ˆ ˆ ˆ  cos( ) sin(  )  x  x y  x   cos(    1 2 1 2 2 0 2 0 0 2 R     x          ˆ ˆ ˆ ˆ sin( ) )  y y  y   1 2 1 2 2 0 2 0 side 32 Fag 3480 - Introduction to Robotics

  33. Inverse kinematics Find the joint angles for a desired tool position 2 t 2 t 2 1 2 2 x y a a    2   cos( ) D sin( ) 1 D       2 2 2 a D2 a 1 2   y a sin( a )     1    D 1  1  tan tan 2 2           1    tan       1 x a cos( ) 2      1 2 2 Two solutions!: elbow up and elbow down side 33 Fag 3480 - Introduction to Robotics

  34. Velocity kinematics: the Jacobian State space includes velocity          x  sin( )  sin( )( ) a a           2 1 cos( 1 ) 1 2 1 2 1 2                 y  cos( )( ) a a    2 1 1 1 2 sin( 1 2 1 2       sin( ) ) sin( ) a a a             1 cos( 1 ) 2 1 2 2 cos( 1 2 ) 1              cos( ) a  a a    1 1 2 1 2 2 1 2 2 J q  Inverse of Jacobian gives the joint velocities:   1 q J x       a cos(  )  a sin( )  x  1  cos(  sin(      2 1 2 2  1 2        )      a cos( ) a ) a sin( ) a a a 1 sin( ) y       1 1 2 1 2 1 1 1 1 2 2 2 This inverse does not exist when q2= 0 or p, called singular configuration or singularity side 34 Fag 3480 - Introduction to Robotics

  35. Path planning In general, move tool from position A to position B while avoiding singularities and collisions This generates a path in the work space which can be used to solve for joint angles as a function of time (usually polynomials) Many methods Can apply to mobile agents or a manipulator configuration side 35 Fag 3480 - Introduction to Robotics

  36. Joint control Once a path is generated, we can create a desired tool path/velocity Use inverse kinematics and Jacobian to create desired joint trajectories desired trajectory controller error system dynamics measured trajectory actual trajectory side 36 Fag 3480 - Introduction to Robotics

  37. Other control methods Force control or impedance control (or a hybrid of both) Requires force/torque sensor on the end-effector Visual servoing Using visual cues to attain local or global pose information Common controller architectures: PID Adaptive Challenges: nonlinearity side 37 Fag 3480 - Introduction to Robotics

  38. General multivariable control overview joint controllers motor dynamics manipulator dynamics desired joint torques state estimation sensors estimated configuration inverse kinematics, Jacobian desired trajectory side 38 Fag 3480 - Introduction to Robotics

  39. Industrial robot Kuka modofoed for medical use with x-ray (fluoroscopy) side 39 Fag 3480 - Introduction to Robotics

  40. Sensors and actuators sensors Motor encoders (internal) Inertial Measurement Units Vision (external) Basic quantities for both: Contact and force sensors • Bandwidth motors/actuators • Dynamic range Electromagnetic • sensitivity Pneumatic/hydraulic electroactive Electrostatic Piezoelectric side 40 Fag 3480 - Introduction to Robotics

  41. Computer Vision Simplest form: estimating the position and orientation of yourself or object in your environment using visual cues Usually a statistical process Ex: finding lines using the Hough space More complex: guessing what the object in your environment are Biomimetic computer vision: how do animals accomplish these tasks: Obstacle avoidance Optical flow? Object recognition Template matching? side 41 Fag 3480 - Introduction to Robotics

  42. MEMS and Microrobotics Difficult definition(s): Robotic systems with feature sizes < 1mm Robotic systems dominated by micro-scale physics MEMS: Micro ElectroMechanical Systems Modified IC processes to use ‘silicon as a mechanical material’ side 42 Fag 3480 - Introduction to Robotics

  43. Robotic surgery • At the present state of the art, robotic technology for surgical applications can broadly be divided into four main classes • Image-guided surgical robots (industrial robots) • Surgical telemanipulators (Remote controlled manipulators) • Assisting manipulators (Remote controlled manipulators) • Mikro-/nanorobots side 43 Fag 3480 - Introduction to Robotics

  44. Robotic surgery • Image guided with preprogrammed path Caspar • Robodoc • NeuroMate • PathFinder from Armstrong HealthCare • • Remoteoperated- or Teleoperated manipulators The Fraunhover Neuro robot • Da Vinci from Intuitive Surgical • Zeus Microsurgical system from ComputerMotion • Aesop from ComputerMotion • EndoAssist from Armstrong HealthCare • side 44 Fag 3480 - Introduction to Robotics

  45. Image-guided robots ROBODOC – Integrated Surgical Systems Inc. PathFinder – Armstrong HealthCare Lmt. CASPAR - Maquet side 45 Fag 3480 - Introduction to Robotics

  46. Robotic surgery - Advantages • High accuracy • Automatic task execution • Movement compensation • Guide for tool positioning in 3D-environment using optical navigation or image guidance • Automatic alignment of tool based on sensor information side 46 Fag 3480 - Introduction to Robotics

  47. A French comic drawing from 1914 showing how the artist envisioned the operating room of year 2000 side 47 Fag 3480 - Introduction to Robotics

  48. Surgical telemanipulators Zeus- ComputerMotion Inc. DaVinci- Intuitive Surgical Inc. side 48 Fag 3480 - Introduction to Robotics

  49. Control loop - Tele manipulation side 49 Fag 3480 - Introduction to Robotics

  50. • Higher accuracy - Scaling of operator movements • Elimination of tremor • Improved dexterity - Computer controlled dexterity of instruments inside the body • “Converts” keyhole surgery to open technique (instrument tip control) • Improved Ergonomics side 50 Fag 3480 - Introduction to Robotics

More Related