Presentation is loading. Please wait.

Presentation is loading. Please wait.

1 Advanced Robotics for Autonomous Manipulation Department of Mechanical EngineeringME 696 – Advanced Topics in Mechanical Engineering.

Similar presentations


Presentation on theme: "1 Advanced Robotics for Autonomous Manipulation Department of Mechanical EngineeringME 696 – Advanced Topics in Mechanical Engineering."— Presentation transcript:

1 1 Advanced Robotics for Autonomous Manipulation Department of Mechanical EngineeringME 696 – Advanced Topics in Mechanical Engineering

2 Course Objectives Autonomous Robotics, a challenging technology milestone, refers to the capability of a robot system that performs intervention tasks requiring physical contacts with unstructured environments without continuous human supervision. Such a robot system underlies several emerging markets and applications, including security and rescue operations, space and underwater applications, military applications, and the health-care industry.

3 Course Objectives This course intends to provide graduate students with advanced methods in robotics suitable for autonomous operation, such as task prioritization, auto-calibration and target interaction. Advanced Robotics for Autonomous Manipulation will offers to the students the unique possibility of interacting with a sophisticated autonomous robotic system (the SAUVIM Autonomous Underwater Vehicle-Manipulator system), to perform individual and group experimental activities as part of the course.

4 Introduction Autonomous Underwater Intervention 4 The SAUVIM Project SAUVIM has been jointly developed by the Autonomous Systems Laboratory (ASL) of the University of Hawaii, Marine Autonomous Systems Engineering (MASE), Inc. in Hawaii, and Naval Undersea Warfare Center Division Newport (NUWC) in Rhode Island. SAUVIMs main goal is to perform autonomous underwater intervention tasks. Research key points: Autonomous Navigation Vehicle localization Autonomous Manipulation Target localization C ontents Introduction 1. SAUVIM Design 2. Aut. Manipulation 3. Maris 7080 Robot 4. Target Localization 5. Course Topics 6. RDS 7. Course Organiz. Examples

5 SAUVIM Semi-Autonomous Underwater Vehicle for Intervention Missions 5

6 SAUVIM Semi-Autonomous Underwater Vehicle for Intervention Missions 6

7 7 Autonomous Underwater Intervention Introduction

8 Semi-Autonomous Concept Autonomy Level: The level of autonomy is related to the level of information needed by the system in performing the particular intervention. The user provides only few high level decisional commands The management of lower level functions (i.e. driving the motors to achieve a particular task) is left to the onboard system. This concept requires the system being capable of acting and reacting to the environment with the extensive use of sensor data processing.

9 SAUVIM Manipulation Subsystem Sauvim Explorer User interface: Sensor Data monitoring system VR underwater scene reconstruction Actuators power control Arm Programming Language console Teleoperation or autonomous mode Simulation mode Maris 7080 Underwater Manipulator Manufacturer: Ansaldo DNU, Italy 7+1 degrees of freedom Designed for underwater applications at high depths (oil filled with compensating system) Brushless motor with reduction unit Two resolvers for each joint (motor and joint) JR3 Force/Torque sensor High positioning accuracy and repeatability Actuators power control xBus Communication Subsystem (Client/Server architecture)

10 MARIS 7080 Robotic Manipulator MARIS 7080 specifications 10 Specifications Manufacturer: Ansaldo DNU, Italy 7+1 degrees of freedom Designed for underwater applications at high depths 1 (oil filled with compensating system) Brushless motor with reduction unit (harmonic drive) Two resolvers for each joint (motor and joint) JR3 Force/Torque sensor High positioning accuracy and repeatability 1 The manipulator theoretical working depth is 4000m, calculated on the basis of characteristics of sealing components. C ontents Introduction 1. SAUVIM Design 2. Aut. Manipulation 3. Maris 7080 Robot 4. Target Localization 5. Course Topics 6. RDS 7. Course Organiz. Examples

11 MARIS 7080 Robotic Manipulator MARIS 7080 kinematics 11 MARIS 7080 kinematics C ontents Introduction 1. SAUVIM Design 2. Aut. Manipulation 3. Maris 7080 Robot 4. Target Localization 5. Course Topics 6. RDS 7. Course Organiz. Examples

12 Writing `Welcome` SD010

13 Sensor fusion Locating the target: Long range: sidescan sonar, imaging sonar Medium/short range: DIDSON Short range: motion trackers, camera, JR3 force sensor Extensive use of the sensor data within the arm programming language environment xBus Communication Subsystem

14 Target localization Motion Trackers 14 Target localization with Motion trackers High Accuracy and short distance Ultrasonic 6 DOF tracker C ontents Introduction 1. SAUVIM Design 2. Aut. Manipulation 3. Maris 7080 Robot 4. Target Localization 5. Course Topics 6. RDS 7. Course Organiz. Examples

15 Test Tube with Ultrasonic Tracker SD012

16 Underwater Demo #2 Deploying an object Localizing a chessboard The arm picks the object to deploy from the vehicle The arm the arm scans around in order to look for the chessboard Once the chessboard is detected, the arm deploys the object over it.

17 Chessboard Tracker (Demo 02, ) SD020

18 Underwater Demo #3 Cutting the cable Localizing and cutting a cable The arm scans around in order to look for the ball Once the ball is detected, the arm attempts to position the gripper about 5 inches over the ball. When no movement is detected from the camera-arm system, the arm proceeds cutting the cable (open gripper, move forward of 2 inches, close gripper).

19 Cable Cutting (Demo 03, ) SD021

20 The arm scans around in order to look for the target Once the target is detected, the arm attempts to clamp the hook (tied to a cable) in between the 2 spheres. Demo SD023: Target Recovery [October 2006]

21 Cable Hooking, Hi-Res (Demo 05, ) SD023

22 The vehicle deploys the arm and scans the area in search for the target Once the target is detected, the whole vehicle-manipulation system attempts to lock the target and point the end- effector to it Demo SD025: Target Tracking [July 2008]

23 In search for the the target SD025

24 ME696- Advanced Robotics Topics 24 Course Topics 1.Geometry and kinematics of robotics structures: a generalized approach for multi-body systems. 2.Task space controller: Task Projection method and prioritization in autonomous systems. 3.Robotics advanced dynamics: Lagrange equation for quasi- coordinates. 4.Identification of system dynamics. 5.Dynamic control of manipulators. 6.Methods for target identification and tracking. 7.Target interaction and force control. 8.Autonomous Calibration of robotic systems. 9.Experimental activities with the RDS simulation tool and with the SAUVIM robotic manipulator. C ontents Introduction 1. SAUVIM Design 2. Aut. Manipulation 3. Maris 7080 Robot 4. Target Localization 5. Course Topics 6. RDS 7. Course Organiz. Examples

25 Simulation Environment Simulink and RDS 25 The Simulation Environment: Combined use of Simulink ® and Robotics Developer Studio 1 High-level language, with a minimum amount of manual coding. Automatic use of a symbolic processor for evaluating any relation referring any kinematical and/or dynamical quantity (transformation matrixes, jacobians…). Automatic code optimization for real-time operation.. 1 G. Marani: ROBOSIM: Un programma per la Simulazione di Strutture Meccaniche Robotizzate, Master thesis (in Italian), University of Pisa, Italy, February 1997 C ontents Introduction 1. SAUVIM Design 2. Aut. Manipulation 3. Maris 7080 Robot 4. Target Localization 5. Course Topics 6. RDS 7. Course Organiz. Examples

26 Simulation Environment Robotics Developer Studio 26 C ontents Introduction 1. SAUVIM Design 2. Aut. Manipulation 3. Maris 7080 Robot 4. Target Localization 5. Course Topics 6. RDS 7. Course Organiz. Examples

27 Simulation Environment Robotics Developer Studio 27 RDS: main features Kinematic and dynamic modeling of any generic mechanical systems (open and branched chains). Fully integrated in the Matlab/Simulink environment. Automatic C code generation, highly optimized and ready to download on a external hardware device. Easy-to-use graphical interface, developed for Windows NT-2000-XP operating systems. Holonomic joints up to 6 degrees of freedom. Run-time specification of physical parameters (mass, lengths …), useful for systems identification. High-level expression editor for creating user defined Simulink blocks. C ontents Introduction 1. SAUVIM Design 2. Aut. Manipulation 3. Maris 7080 Robot 4. Target Localization 5. Course Topics 6. RDS 7. Course Organiz. Examples

28 Simulation Environment Robotics Developer Studio 28 RDS: Simple application example 5 Degrees of freedom linear chain. Link 1 Link 2 Link 3 Joint 1 Joint 2 Joint 3 Link 5 Joint 5 C ontents Introduction 1. SAUVIM Design 2. Aut. Manipulation 3. Maris 7080 Robot 4. Target Localization 5. Course Topics 6. RDS 7. Course Organiz. Examples

29 Simulation Environment Robotics Developer Studio 29 RDS: Expression Editor High-level interface useful to create blocks which input-output relation is definable by the user. The relation may involve any kinematical or dynamical matrix of the system, such as transformation matrixes, jacobians etc. Example: a block that computes the generalized velocity of the end-effector of a 4- links structure: C ontents Introduction 1. SAUVIM Design 2. Aut. Manipulation 3. Maris 7080 Robot 4. Target Localization 5. Course Topics 6. RDS 7. Course Organiz. Examples

30 Simulation Environment Robotics Developer Studio 30 RDS: Vehicle Simulation RDS can model more general mechanical systems than robots. The following example is an overall simulation of the vehicle with the arm, in empty space and without gravity. C ontents Introduction 1. SAUVIM Design 2. Aut. Manipulation 3. Maris 7080 Robot 4. Target Localization 5. Course Topics 6. RDS 7. Course Organiz. Examples

31 ME696- Advanced Robotics Organization 31 Course Organization Course Schedule:Tue-Thu, 3:00 PM – 4:15 PM Instructor:Dr. Giacomo Marani Office:Holmes 202 Office Hours:Mon-Fri, 3:00 PM – 5:00 PM Tel.: Web:http://www2.hawaii.edu/~marani Credits:3, letter grade Prerequisites:MATH 407, and ME452; or consent Textbook:Course notes Grade Evaluation: Homework Assignments:70% Project:30% C ontents Introduction 1. SAUVIM Design 2. Aut. Manipulation 3. Maris 7080 Robot 4. Target Localization 5. Course Topics 6. RDS 7. Course Organiz. Examples

32 32 C ontents Introduction 1. SAUVIM Design 2. Aut. Manipulation 3. Maris 7080 Robot 4. Target Localization 5. Course Topics 6. RDS 7. Course Organiz. Examples Video clips of SAUVIM Demos

33 SAUVIM DemosSD001 - SD024 SD001 MOM Maximization Disabled (Sim.Demo) SD002 MOM Maximization Enabled (Sim.Demo) SD003 Collision Detection (Simulative Demo) SD004 Task Position Priority (Sim.Demo) SD005 Vehicle Navigation (Old Sim. Demo) SD006 Arm Drawing, 2001 Demo (Simulation) SD007 Arm Drawing, 2001 Demo SD008 SAUVIM Extraction (Unpainted Fairing) SD009 Writing `Welcome` (Extended) SD010 Writing `Welcome` SD011 Test Tube with Ultras. Tracker (Ex) SD012 Test Tube with Ultrasonic Tracker SD013 Particular of Docking Sequence SD014 Particular of Undocking Sequence SD015 Drawing `Smiley` (Internship Prog.) SD016 First Navigation SD Internship Presentation SD018 Underwater Plug, Ex. (Demo 01, ) SD019 Underwater Plug (Demo 01, ) SD020 Chessboard Tracker (D02, ) SD021 Cable Cutting (D03, ). SD022 Cable Hooking (D04, ) SD023 Cable Hooking, Hi-R (D05, ) SD024 Auton. Navigation (D06, )

34 MOM Maximization Disabled (Simulative Demo) SD001

35 MOM Maximization Enabled (Simulative Demo) SD002

36 Collision Detection (Simulative Demo) SD003

37 Task Position Priority (Simulative Demo) SD004

38 Arm Drawing, 2001 Demo SD007

39 Writing `Welcome` SD010

40 Test Tube with Ultrasonic Tracker SD012

41 Drawing `Smiley` (Internship Program) SD015

42 2005 Internship Presentation SD017

43 Underwater Plug (Demo 01, ) SD019

44 Underwater Demo #2 Deploying an object Localizing a chessboard The arm picks the object to deploy from the vehicle The arm the arm scans around in order to look for the chessboard Once the chessboard is detected, the arm deploys the object over it.

45 Chessboard Tracker (Demo 02, ) SD020

46 Underwater Demo #3 Cutting the cable Localizing and cutting a cable The arm scans around in order to look for the ball Once the ball is detected, the arm attempts to position the gripper about 5 inches over the ball. When no movement is detected from the camera-arm system, the arm proceeds cutting the cable (open gripper, move forward of 2 inches, close gripper).

47 Cable Cutting (Demo 03, ) SD021

48 Cable Hooking (Demo 04, ) SD022

49 Target recovery The arm scans around in order to look for the target Once the target is detected, the arm attempts to clamp the hook (tied to a cable) in between the 2 spheres. Underwater Demos #4-5: Recovery operation (October 2006)

50 Cable Hooking, Hi-Res (Demo 05, ) SD023

51 Autonomous Navigation (Demo 06, ) SD024

52 End of presentation

53 [Template] SD0


Download ppt "1 Advanced Robotics for Autonomous Manipulation Department of Mechanical EngineeringME 696 – Advanced Topics in Mechanical Engineering."

Similar presentations


Ads by Google