1. Advanced Robotics for Autonomous Manipulation
Department of Mechanical Engineering ME 696 – Advanced Topics in Mechanical Engineering
Advanced Robotics for Autonomous Manipulation
Giacomo Marani
Autonomous Systems Laboratory, University of Hawaii 1

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. Autonomous Underwater Intervention
Introduction
Autonomous Underwater Intervention
Contents
Introduction
1. SAUVIM Design
2. Aut. Manipulation
3. Maris 7080 Robot
4. Target Localization
5. Course Topics
6. RDS
7. Course Organiz.
Examples
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.
SAUVIM’s main goal is to perform autonomous underwater intervention tasks.
Research key points:
Autonomous Navigation
Vehicle localization
Autonomous Manipulation
Target localization 4

5. Semi-Autonomous Underwater Vehicle for Intervention Missions
SAUVIM
Semi-Autonomous Underwater Vehicle for Intervention Missions 5

6. Semi-Autonomous Underwater Vehicle for Intervention Missions
SAUVIM
Semi-Autonomous Underwater Vehicle for Intervention Missions 6

7. Autonomous Underwater Intervention
Introduction 7

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
xBus
Communication
Subsystem
(Client/Server
architecture)
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

10. MARIS 7080 Robotic Manipulator
MARIS 7080 specifications
Contents
Introduction
1. SAUVIM Design
2. Aut. Manipulation
3. Maris 7080 Robot
4. Target Localization
5. Course Topics
6. RDS
7. Course Organiz.
Examples
Specifications
Manufacturer: Ansaldo DNU, Italy
7+1 degrees of freedom
Designed for underwater applications at high depths1 (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. 10

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

12. SD010
Writing `Welcome`

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

15. SD012
Test Tube with Ultrasonic Tracker

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. SD020
Chessboard Tracker (Demo 02, )

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. SD021
Cable Cutting (Demo 03, )

20. Demo SD023: Target Recovery [October 2006]
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.

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

22. Demo SD025: Target Tracking [July 2008]
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

23. SD025
In search for the the target

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

25. Simulation Environment
Simulink and RDS
Contents
Introduction
1. SAUVIM Design
2. Aut. Manipulation
3. Maris 7080 Robot
4. Target Localization
5. Course Topics
6. RDS
7. Course Organiz.
Examples
The Simulation Environment:
Combined use of Simulink® and Robotics Developer Studio1
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 25

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

27. Simulation Environment
Robotics Developer Studio
Contents
Introduction
1. SAUVIM Design
2. Aut. Manipulation
3. Maris 7080 Robot
4. Target Localization
5. Course Topics
6. RDS
7. Course Organiz.
Examples
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. 27

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

29. Simulation Environment
Robotics Developer Studio
Contents
Introduction
1. SAUVIM Design
2. Aut. Manipulation
3. Maris 7080 Robot
4. Target Localization
5. Course Topics
6. RDS
7. Course Organiz.
Examples
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: 29

30. Simulation Environment
Robotics Developer Studio
Contents
Introduction
1. SAUVIM Design
2. Aut. Manipulation
3. Maris 7080 Robot
4. Target Localization
5. Course Topics
6. RDS
7. Course Organiz.
Examples
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. 30

31. ME696- Advanced Robotics Contents Course Organization
Introduction
1. SAUVIM Design
2. Aut. Manipulation
3. Maris 7080 Robot
4. Target Localization
5. Course Topics
6. RDS
7. Course Organiz.
Examples
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:
Credits: 3, letter grade
Prerequisites: MATH 407, and ME452; or consent
Textbook: Course notes
Grade Evaluation:
Homework Assignments: 70%
Project: 30% 31

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

33. SD001 - SD024 SAUVIM Demos SD001 MOM Maximization Disabled (Sim.Demo)
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
SD017
2005 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. SD001
MOM Maximization Disabled (Simulative Demo)

35. SD002
MOM Maximization Enabled (Simulative Demo)

36. SD003
Collision Detection (Simulative Demo)

37. SD004
Task Position Priority (Simulative Demo)

38. SD007
Arm Drawing, 2001 Demo

39. SD010
Writing `Welcome`

40. SD012
Test Tube with Ultrasonic Tracker

41. SD015
Drawing `Smiley` (Internship Program)

42. SD017
2005 Internship Presentation

43. SD019
Underwater Plug (Demo 01, )

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. SD020
Chessboard Tracker (Demo 02, )

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. SD021
Cable Cutting (Demo 03, )

48. SD022
Cable Hooking (Demo 04, )

49. Underwater Demos #4-5: Recovery operation (October 2006)
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.

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

51. SD024
Autonomous Navigation (Demo 06, )

52. End of presentation

53. SD0
[Template]