Introduction to Robotics 2012 http www youtube comwatc

Introduction to Robotics 2012 http: //www. youtube. com/watc h? v=R 8 Ue. T 9 r 4 cmg ROBOT VISION LABORATORY

The Origins of Robots 1738 1805 Jacques de Vaucanson builds a mechanical duck made of more that 4, 000 parts. The duck could quack, bathe, drink water, eat grain, digest it and void it. Whereabouts of the duck are unknown today. Doll, made by Maillardet, that wrote in either French or English and could draw landscapes.

1923 1940 Karel Capek coins the term robot in his play Rossum’s Universal Robots (R. U. R). Robot comes from the Czech word robota, which means “servitude, forced labor. ” Sparko, the Westinghouse dog, uses both mechanical and electrical components.

Modern Robots u Two famous robots: u Puma. (Programmable Universal Machine for Assembly). ‘ 78. u SCARA. (Selective Compliant Articulated Robot Assembly). ‘ 79. u In the ‘ 80 efforts to improve performance: feedback control + redesign. Research dedicated to basic topics. Arms got flexible. u ‘ 90: modifiable robots for assembly. Mobile autonomous robots. Vision controlled robots. Walking robots.

Combining these fields we can create a system that can Mechanical Engineering Electrical Engineering Computer Science

고정 로봇 u. A robot is a software-controllable mechanical device that uses sensors to guide one or more end-effectors through programmed motions in a workspace in order to manipulate physical objects.

고정 로봇 : Revolute Robot: 3 Degree of Freedom (DOF) **

고정 로봇 : Scalar Robot

고정 로봇 : Polar Robot

고정 로봇 : Cylidrical Robot

고정 로봇 : Cartesian Robot

고정 로봇의 중요 기술: ** Kinematics F(robot variables) = world coordinates x = x( 1, , n) y = y( 1, , n) z = z( 1, , n) u In a “cascade” robot, Kinematics is a singlevalued mapping. u “Easy” to compute.

Kinematics: Example r 1= , 2=r 1 r 4. 5 0 50 o x = r cos y = r sin workspace

고정 로봇의 중요 기술: Inverse Kinematics u G(world coordinates) = robot variables 1 = 1(x, y, z) u The inverse problem has a lot of geometrical difficulties u inversion may not be unique!

Inverse Kinematics: Example Make unique by constraining angles 2 1

Trajectory Planning u Get from (xo, yo, zo) to (xf, yf, zf) u In robot coordinates: o f u Planning in robot coordinates is easier, but we loose visualization. u Additional constraints may be desirable: u smoothness u dynamic u obstacles limitations

로봇팔의 종류: Serial and Parallel Manipulators

Serial and Parallel Manipulators PUMA 560 Hexapod

로봇팔의 용어: Links and Joints Links Joints: End Effector 2 DOF’s Robot Basis

Inverse Kinematics How do I put my hand here? IK: Choose these angles!

Existence of Solutions u. A solution to the IKP exists if the target belongs to the workspace u Workspace computation may be hard. In practice is made easy by special design of the robot u The IKP may have more than one solution. How to choose the appropriate one? 2 solutions!

An Example: V 3 L 2 L 1

Tasks for the robot: u Grasping: position gripper on object design a path to this position u Transferring: determine geometry path for arm avoide obstacles + clearance u Positioning