Introduction to Robotics

1. Introduction to Robotics Dr. Hesheng Wang Associate Professor Department of Automation Email: wanghesheng@sjtu.edu.cn Phone number: 34207252

2. Course Information – Textbook • Textbook: • Modelling and Control of Robot Manipulators (Second Edition), L. Sciavicco and B. Siciliano, Springer-Verlag, London, 2000. • Robotics: Modelling Planning and Control, B. Siciliano,L. Sciavicco,L. Villani,G. Oriolo, Springer-Verlag, London, 2008.

3. Course Information – Literature • 中文参考书 • 机器人学导论 (原书第3版) (美) John J. Craig著, 贠超 等译, 机械工业出版社, 2006.

4. Course Information – Contents • Control • Trajectory planning • Motion control • Hardware/software architecture • Modeling • Kinematics • Differential kinematics • Direct / Inverse kinematics • Dynamics

5. Course Information – Software tools • Robotics Toolbox for MATLABby Peter I. Corke • http://petercorke.com/Robotics_Toolbox.html

6. Course Information – Examination • Course attendance (10%) • Quiz (10%) • Lab experiments (30%) • Course projects (50%) • Presentation and report

7. Lecture 1: Introduction • Robotics • Industrial Robot • Manipulator Structures • Modeling and Control of Robot Manipulators

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

10. （ Robot）

11. History of Robotics

12. History of Robotics

13. History of Robotics The word robot was introduced to the public by Czech writer Karel Čapek in his play R.U.R. (Rossum’s Universal Robots), which premiered in 1921. The word robotics was first used in print by Isaac Asimov, in his science fiction short story “Liar!“, published in May 1941 in Astounding Science Fiction. Asimov was unaware that he was coining the term; since the science and technology of electrical devices is electronics, he assumed robotics already referred to the science and technology of robots.

14. History of Robotics Three Laws of Robotics: * Law One: A robot may not injure a human being, or, through inaction, allow a human being to come to harm. * Law Two: A robot must obey orders given it by human beings, except when such orders would conflict with the first law. * Law Three: A robot must protect its own existence, as long as such protection does not conflict with the first or second law.

15. 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. 

16. 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."

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

18. 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

19. 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 repetative work that is absolutely boring to people and they will not stop, slow down, or fall to sleep like a human.

20. 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.

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

22. 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.

23. 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.

27. Robot Videos • Bigdog • SONY Humanoid robot • HRP-4C Humanoid robot

28. 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.

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

30. 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:Japanise Industrial Robot Association RIA: The Robotics Instute of America

31. 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

32. Industrial Robot • Automation & Robot • Application of Industrial Robot • Components of Industrial Robot

33. 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

34. 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

35. 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

36. Automation Application

37. Hierarchical Structure of Automation

38. 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)

39. Industrial Robot Manufacturers • ABB Robotics, Swiss/Swedish company • KUKA Robotics, German company. • Adept Technology, SCARA robots and more. • Motoman, a Yaskawa company (Japanese) • Fanuc, a Japanese company

40. Industrial Robot Examples Vertical articulated type Gantry type SCARA type Parallel type Double arm type

41. World Supply of Robots • World total: 114,365 units, up 3% on 2006 • World total stock of operational industrial robots: 995,000 units, 5% greater than 2006 • Robot investment is still booming in China, the third largest Asian robot market, with 6,600 unitssupplied in 2007, an increase of 14% on the previous year. • Total worldwide stock of operational industrial robotsat the end of 2007 between a minimum of 994,000 unitsand a possible maximum of 1,200,000 units World Robotics 2008

42. World Supply of Robots World Robotics 2008

43. World Supply of Robots • Service robots: • professional service robots (things like bomb-disposal bots, surgical systems, milking robots) • personal service robots (vacuum cleaners, lawn mowers, all sorts of robot hobby kits and toys). World Robotics 2008

44. Typical Applications • Material handling • Manipulation • Measurement

45. Palletizing Packaging Cutting Arc welding Measurement

46. 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

47. 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!

48. Components of Industrial Robot • Mechanical structure or manipulator • Actuator • Sensors • Control system

49. Manipulator Structures • Mechanical components • Mechanical configurations

50. Mechanical Components • Robots are serial “chain” mechanisms made up of • “links” (generally considered to be rigid), and • “joints” (where relative motion takes place) • Joints connect two links • Link 0 - Joint 1 - Link 1 - Joint 2 - Link 2-