1. Robotics in Education Challenges Developing an Adequate Curriculum Dr. Antonio Soares Florida A&M University Electronic Engineering Technology Antonio.soares@famu.edu

2. Overview Education Packages Education Packages Saturated Market Technology Crossover Lego and Boebot Mechatronics Mechatronics What’s New!!! Intro to Robotics Intro to Robotics Definitions Definitions Types of Robots Types of Robots Applications Applications Industrial Robots Industrial Robots Degree of Freedom Degree of Freedom Joints Joints Coordinates Coordinates Complexity Complexity

3. Industrial Robots A machine that resembles a human being and does mechanical routine tasks on command. A machine that resembles a human being and does mechanical routine tasks on command. An industrial robot is a re-programmable, multifunctional manipulator designed to move materials, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks. An industrial robot is a re-programmable, multifunctional manipulator designed to move materials, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks.

4. What is Robotics? Robotics is the art, knowledge base, and the know-how of designing, applying, and using robots in human endeavors. Robotics is the art, knowledge base, and the know-how of designing, applying, and using robots in human endeavors.

5. Types of Robots Mobile Robots Mobile Robots Mars Explore Crawling Robots Crawling Robots Parallax

6. Types of Robots Stationary Robots Stationary Robots Industrial Robot Autonomous Robots Autonomous Robots EET Robot (Mechatronics)

7. Humanoids Robots HONDA (ASIMO) – Biped RobotFujitsu – Biped Robot

8. Pet Robots Sony (AIBO) – Toy robot

9. Machine loading Pick and place operations Welding Painting Sampling Assembly operation Manufacturing Surveillance Medical applications Assisting disabled individuals Hazardous environments Underwater, space, and remote locations Robot Applications

10. Industrial Robots A manipulator (or an industrial robot) is composed of a series of links connected to each other via joints. Each joint usually has an actuator (a motor for eg.) connected to it. A manipulator (or an industrial robot) is composed of a series of links connected to each other via joints. Each joint usually has an actuator (a motor for eg.) connected to it. These actuators are used to cause relative motion between successive links. One end of the manipulator is usually connected to a stable base and the other end is used to deploy a tool. These actuators are used to cause relative motion between successive links. One end of the manipulator is usually connected to a stable base and the other end is used to deploy a tool.

11. Industrial Robots Painting Robot

12. Manipulator Pedestal Controller End Effectors Power Source Industrial Robot Arms

13. Base Appendages - Shoulder - Arm - GrippersManipulator

14. (Human waist) Supports the manipulator. Acts as a counterbalance.Pedestal

15. (The brain) Issues instructions to the robot. Controls peripheral devices. Interfaces with robot. Interfaces with humans.Controller

16. (The hand) Spray paint attachments Welding attachments Vacuum heads Hands Grippers End Effectors

17. (The food) Electric Pneumatic Hydraulic Power Source

18. Typically defined as a graph of links and joints Typically defined as a graph of links and joints A link is a part, a shape with physical properties. A joint is a constraint on the spatial relations of two or more links. Manipulator Body

19. Robots degrees of freedom Degrees of Freedom: Number of independent position variables which would has to be specified to locate all parts of a mechanism. Degrees of Freedom: Number of independent position variables which would has to be specified to locate all parts of a mechanism. In most manipulators this is usually the number of joints. In most manipulators this is usually the number of joints.

20. A Fanuc P-15 robot. Reprinted with permission from Fanuc Robotics, North America, Inc. what is the degree 1 D.O.F. 2 D.O.F.3 D.O.F. Robots degrees of freedom

21. Robot Joints Prismatic Joint: Linear, No rotation involved. (Hydraulic or pneumatic cylinder) Revolute Joint: Rotary, (electrically driven with stepper motor, servo motor)

22. Robot Coordinates  Cartesian/rectangular/gantry (3P) : 3 cylinders joint  Cylindrical (R2P) : 2 Prismatic joint and 1 revolute joint  Spherical (2RP) : 1 Prismatic joint and 2 revolute joint  Articulated/anthropomorphic (3R) : All revolute(Human arm)  Selective Compliance Assembly Robot Arm (SCARA): 2 paralleled revolute joint and 1 additional prismatic joint

23. Math Complexity In Order to Model the Motion of a Manipulator: In Order to Model the Motion of a Manipulator: Odometry - Position Updates Using Wheals Kinematics Inverse Kinematics Inverse Kinematics Complex PID Controllers Complex PID Controllers

24. Math Complexity Kinematics Kinematics Kinematics is the study of motion without regard for the forces that cause it. It refers to all time-based and geometrical properties of motion. It ignores concepts such as torque, force, mass, energy, and inertia.

25. Given the starting configuration of the mechanism and joint angles, compute the new configuration. Given the starting configuration of the mechanism and joint angles, compute the new configuration. Forward Kinematics

26. Advantages And Disadvantages  Robots increase productivity, safety, efficiency, quality, and consistency of products.  Robots can work in hazardous environments without the need.  Robots need no environmental comfort.  Robots work continuously without experiencing fatigue of problem.  Robots have repeatable precision at all times.  Robots can be much more accurate than human.  Robots replace human workers creating economic problems.  Robots can process multiple stimuli or tasks simultaneously.  Robots lack capability to respond in emergencies.  Robots, although superior in certain senses, have limited capabilities in Degree of freedom, Dexterity, Sensors, Vision system, real time response.  Robots are costly, due to Initial cost of equipment, Installation costs, Need for Peripherals, Need for training, Need for programming.

27. Robots Taking Over? Design Limitations we design them, we code the tasks to be performed Emotionless Machines Cannot logically reason, and/or plan activities, unless the designer program it to do so. Ethical Issues

28. Educational Platforms VEX RoboticsLego Robotics Boebot From Parallax

29. Robotics is an interdisciplinary subject that benefits from mechanical engineering, electrical and electronic engineering, computer science, biology, and many other disciplines. Mechatronics – The Solution

30. Conclusions For K-12 Robot Kits are Appropriate Plan in Advance Most of these kits are not easy to follow because they share applications For Higher Education Mechatronics with some Industrial robots is Advised

31. FALL 2012 Technical Elective (All Majors) EET 4931 - SPEC TOP ELECTRO ENG Introduction to Robotics and Automation Instructor: Antonio Soares Antonio.soares@famu.edu Let’s Talk!!!