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Introduction to Robotics and ASU Robots

Introduction to Robotics and ASU Robots

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Introduction to Robotics and ASU Robots

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  1. Introduction to Robotics and ASU Robots Yinong Chen (Ph.D.) School of Computing, Informatics, and Decision Systems Engineering

  2. Outline What is a Robot 1 Components of a Robot 2 Examples of Robots and Robot Design 3 ASU-Carl Hayden-Intel Robots 4

  3. Computer Systems Multi-user computer Workstation General- purpose computer Mainframe Personal computer Laptop Desktop Computer systems Cell phone PDA TV Airplane Embedded system Special- purpose computer Car Robot Game machine MP3 Player GPS

  4. What is a Robot? • A robot is a mechanical device, it is programmable, and controllable by a computer or by a human. • It is usually a system, which, by its appearance or movements, conveys a sense that it has intent of its own. Kuka Coroware Robosoft Robotics Connection iRobot Mindstorm NXT

  5. Robot Body • The component that holds or connect other components through links and joints:

  6. Types of Joints • A ball joint allows rotation around x, y, and z axes, • A hinge joint allows rotation around one axis, • A slider joint, which allows movement along one axis. • A Spring joint, which allows free movement along all axes. • Combined Source: www.impulse-based.de/manual.html

  7. Robot Effectors • Component to accomplish some desired physical functions • Examples: • Hands/Claws • Legs • Wheels • Cage • Tools

  8. Robot Actuators (Muscle) • Actuators are the “muscles” of the robot. • These can be electric motors, hydraulic systems, pneumatic systems, or any other system that can apply forces to the system. Hydraulic systems Electric Pneumatic

  9. Sensor Classes: Ranging sensors Sensors derive information from environment. • Ranging sensors, such as • sonar, • ultrasonic, • IR, and • laser sensors: • These sensors return the distance to the object. • They typically have two lens (eyes). One sends out a light beam and the other receives the reflected beam. • By measuring the time and angle of reflected beam, the sensors can measure the distance to the object Distance = speed x time

  10. Sensor Classes: Other Sensors There are many types of sensors • Contact (touch) sensor: A signal is generated when touched • Compass (magnetic) sensor / Gyro senor (rotation) • GPS (Global Positioning System) • Color sensor: return different value for different colors • Temperature sensor Return the temperature • Cameras and microphones • Vehicle accelerometer sensor • Vehicle tire pressure sensor • …

  11. Example: NXT Robot Body, Sensors and Effectors

  12. Example: NXT Robot Body, Sensors and Effector Sonar Sensor While (true) { if touch sensor pressed Trigger the motor; else if sonar distance < 3 feet { while sonar distance < 5 { } Trigger the motor; } } Touch Sensor Actuator: Motor Effector Image from: http://www.gadgetsireland.tv/2007/09/

  13. http://www.public.asu.edu/~ychen10/ • Seven years of efforts • Evolving designs and implementations • Industry – university cooperation • International cooperation • University – high school cooperation • We have a working RaaS ASU-Carl Hayden-Intel-Robotics Sensor service Motor service