In the name of Allah Introduction to Robotics

Introduction to Robotics o Leila Sharif o l_sharif@sharif. edu http: //ce. sharif. edu/courses/84 -85/1/ce 516/ o Lecture #5: Kinematics Introduction to Robotics

Lecture Outline q A brief history of robotics q q Feedback control Cybernetics Artificial Intelligence (AI) Early robotics q Robotics today q Why is robotics hard? q Degrees of Freedom (DOF) q holonomicity, redundancy q Legged locomotion q stability (static and dynamic) q polygon of support q Wheeled locomotion q Trajectory/motion planning Introduction to Robotics

Robot Joints q. Linear q. Rotary q. Spherical (Sliding) q Difficult to control q Not Common in Robotic Introduction to Robotics

Robot Joints Most Robots have either a linear (prismatic) joint or a rotary (revolute) joint q. Linear - hydraulic or pneumatic cylinder q. Rotary - most are electrically driven, either by stepper motor or servomotos Introduction to Robotics

Cartesian/Rectangular/gantry (3 p) Introduction to Robotics

Cylindrical (R 2 P) Introduction to Robotics

Spherical / Polar (2 RP) Introduction to Robotics

Articulated/Revolute (3 R) Introduction to Robotics

Selective Compliance Assembly Robot Arm SCARA (2 RP) q 2 Revolute joint in parallel to allow robot move in horizontal plane q 1 linear joint to move vertically Introduction to Robotics

Robot Reference Frame q. World Reference Frame q. Joint Reference Frame q. Tool Reference Frame Introduction to Robotics

Programming Mode q. Physical Setup q. Lead through or teach mode q. Continuous walk-through mode q. Software mode Most industrial robots can be programmed in more than one mode Introduction to Robotics

Robot Characteristics q Payload q Reach q Precision (validity) q Repeatability (variability) Introduction to Robotics

Workspace Introduction to Robotics

Robot Languages q Microcomputer Machine Language Level (machine language) q Point-to-Point Level The coordinate of points entered sequentially q Primitive Motion Level Interpreter based q Structured Programming Level Compiler based q Task-Oriented Level No actual language Introduction to Robotics

3 P 3 R Robot 1, 2, 3 : prismatic joints 4, 5, 6 : revolute joints 7 : gripper MOVE(1, 10) DMOVE(1, 10) Write a program to pick and place an object from one place to another Introduction to Robotics

Sample of a Program in IBM’s AML (A Manufacturing Language) SUBR(PICK-PLACE); PT 1: NEW<4, -24, 2, 0, 0, -13>; PT 2: NEW<-2, 13, 2, 135, -90, -33. >; PT 3: NEW<-2, 13, 2, 150, -90, -33, 1>; SPEED(0. 2); MOVE(ARM, 0. 0); MOVE(<1, 2, 3, 4, 5, 6>, PT 1); MOVE(7, 3); DMOVE(3, -1) DMOVE(7, -1. 5) DMOVE(3, 1) MOVE(<JX, JY, JZ, JR, JP, JY>, PT 2); DMOVE(JZ, -3); MOVE(JG, 3); DMOVE(JZ, 11); MOVE(ARM, PT 3); END; Introduction to Robotics

Robot Application q Machine loading q Pick and place operation q Welding q Painting q Inspection q Sampling q Assembly operation q Manufacturing q Surveillance q Medical applications q Assisting disabled individuals q Hazardous environments q Underwater, space and remote locations Introduction to Robotics