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Introduction1 2
Introduction1 2
Introduction1 2
Information Sheet
Instructor: Muhammad Aqeel Aslam
Office hours: Thursday 12:15-15:30 Email: maqeelaslam@gmail.com
TEXTBOOK
J. L. Fuller, Robotics: Introduction, Programming, and Projects, Second Edition, 1998, Prentice Hall, ISBN: 0130955434. REFERENCES John Craig, Introduction to robotics,3rd Ed. Prentice Hall, 2005 David Cook, Robot Building for Beginners, 2002, Apress, ISBN: 1893115445.
Course Objectives
At the end of this course, you should be able to: Describe and analyze rigid motion. Write down manipulator kinematics and operate with the resulting equations Solve simple inverse kinematics problems.
Syllabus
A brief history of robotics. Coordinates and Coordinates Inversion. Trajectory planning. Sensors. Actuators and control. Why robotics? Basic Kinematics. Introduction. Reference frames. Translation. Rotation. Rigid body motion. Velocity and acceleration for General Rigid Motion. Relative motion. Homogeneous coordinates. Robot Kinematics. Forward kinematics. Link description and connection. Manipulator kinematics. The workspace.
Syllabus (cont.)
Inverse Kinematics. Introduction. Solvability. Inverse Kinematics. Examples. Repeatability and accuracy. Basic Dynamics. Definitions and notation. Laws of Motion. Trajectory Planning Presenations
The Project
EXTRA 10% marks on overall performance! Can work alone or in teams of 2
Outline
Introduction What is a Robot? Why use Robots? Robot History Robot Applications
What is a robot?
Origin of the word robot
Czech word robota labor, robotnik workman 1923 play by Karel Capek Rossums Universal Robots
What is a robot?
By general agreement, a robot is:
A programmable machine that imitates the actions or appearance of an intelligent creatureusually a human.
Types of Robots
Robot Manipulators
Mobile Manipulators
Types of Robots
Locomotion
Aerial Robots
Legged robots
Humanoid
Underwater robots
http://www.laas.fr/~matthieu/robots/
4A tasks
Increase efficiency
Work continuously without fatigue Need no vacation
Increase safety
Operate in dangerous environment Need no environmental comfort air conditioning, noise protection, etc
Reduce Cost
Reduce scrap rate Lower in-process inventory Lower labor cost
Increase productivity
Value of output per person per hour increases
Robot History
1961
George C. Devol obtains the first U.S. robot patent, No. 2,998,237. Joe Engelberger formed Unimation and was the first to market robots First production version Unimate industrial robot is installed in a diecasting machine
1962
Unimation, Inc. was formed, (Unimation stood for "Universal Automation")
Robot History
1968
Unimation takes its first multi-robot order from General Motors.
1966-1972
"Shakey," the first intelligent mobile robot system was built at Stanford Research Institute, California.
Robot History
Shakey (Stanford Research Institute) the first mobile robot to be operated using AI techniques Simple tasks to solve: To recognize an object using vision Find its way to the object Perform some action on the object (for example, to push it over)
http://www.frc.ri.cmu.edu/~hpm/book98/fig.ch2/p027.html
Shakey
Robot History
1969
Robot vision, for mobile robot guidance, is demonstrated at the Stanford Research Institute. Unimate robots assemble Chevrolet Vega automobile bodies for General Motors.
1970
General Motors becomes the first company to use machine vision in an industrial application The Consight system is installed at a foundry in St. Catherines, Ontario, Canada.
1973-1979 Stanford Cart Equipped with stereo vision. Take pictures from several different angles The computer gauged the distance between the cart and obstacles http://www.frc.ri.cmu.edu/users/hpm/ in its path
Robot History
1978
The first PUMA (Programmable Universal Machine for Assembly) robot is developed by Unimation for General Motors.
1981
IBM enters the robotics field with its 7535 and 7565 Manufacturing Systems.
1983
Westinghouse Electric Corporation bought Unimation, Inc., which became part of its factory automation enterprise. Westinghouse later sold Unimation to Staubli of Switzerland.
Research focus on
Manipulator control End-effector design
Compliance device Dexterity robot hand
Field robots
Military applications Space exploration
Service robots
Cleaning robots Medical robots
Entertainment robots
Field Robots
Service robots
Entertainment Robots
Kinematics: Example
1= , 2=r 1 r 4.5 0 50o
x = r cos
y = r sin
workspace
Inverse Kinematics
G(world coordinates) = robot variables 1 = 1(x,y,z)
1 = 1(x,y,z)
The inverse problem has a lot of geometrical difficulties inversion may not be unique!
Thank you!