1. ME 486 Robotics Spring 2004, Lecture 1 ME 486 Robotics Dept. of Mechanical Engineering New Mexico State University Ou Ma Office: JH 515, Email: oma@nmsu.edu, Tel.: (505)646-6534oma@nmsu.edu

2. ME 486 Robotics Spring 2004, Lecture 1 Fundamental Areas of Robotics Kinematics Dynamics Sensing and Control Operations – applications of robots

3. ME 486 Robotics Spring 2004, Lecture 1 Course Syllabus Course TitleME 486 RoboticsSpring/2004 INSTRUCTOR:Dr. Ou MaOffice: JH 515Phone: 646-6534Email: oma@nmsu.eduoma@nmsu.edu ASSISTANTS:Toby Holden OFFICE HOURS:9:30-11:30 Tue & Thu or by appointment CATALOG DESCRIPTION: The course introduces the fundamentals of robotics with emphasis on solutions to the basic problems in kinematics, dynamics, and control of robot manipulators of serial type. It covers modeling of rigid body motion, kinematics of articulated multibody systems, robot dynamics and simulation, sensing and actuation, robot controls, task planning, and robotic operations. PREREQUISITES:ME 237, 329 and EE 201 or consent of instructor CLASS SCHEDULE:11:45-13:00 Tue & Thu, JH 203 GRADING:Homework assignments: 20% Project: 20% Midterm exam: 30% Final exam: 30% TOPICS COVERED:  Representation of 3D rigid body motion  Kinematics of articulated multibody systems  Inverse kinematics, Jacobian, singularities, and branches  Task planning and trajectory generation  Dynamics modeling and inverse dynamics  Forward dynamics and simulation  Sensing, actuation, and joint servos  Arm control strategies  Robot operations

4. ME 486 Robotics Spring 2004, Lecture 1 Textbook: –S.B. Niku, Introduction to Robotics: Analysis, Systems, Applications, Prentice Hall, 2001 Recent Robotics Books (not required for the course): –John J. Craig, Introduction to Robotics: Mechanics and Control (2nd Edition 1989), Addison Wesley, ISBN: 0-201-09528-9. –Jorge Angeles, Fundamentals of Robotic Mechanical Systems, Springer, 1997. –Lung-Wen Tsai, Robot Analysis, John Wiley & Sons, 1999. –F.L. Lewis et al, Control of Robot Manipulators, Macmillan 1993. –R. Murray, Z. Li, and S.S. Sastry, A Mathematical Introduction to Robotic Manipulation, CRC Press, 1994. –J.Keramas, Robot Technology Fundamentals. Delmar Publishers, 1999. Textbook and References

5. ME 486 Robotics Spring 2004, Lecture 1 Introduction Definition: Robot – a reprogrammable, multifunctional manipulator designed to move materials, parts, tools or specialized devices through variable programmed motions for the performance of a variety of tasks. (by the Robot Institute of America) Robotics – the science studying robots History: –1923: “Robot” entered into English Vocabulary –1950s: Computer-based control appeared –1960/70s: Academic research started –1980/90s: Research and education advanced Applications in manufacturing, space, undersea, military, etc. –2000s: Medical, personal assistance, entertainment, Mars, …

6. ME 486 Robotics Spring 2004, Lecture 1 Example of Industrial Robots Introduction Industrial robots performing spot welding in an automobile assembly line.

7. ME 486 Robotics Spring 2004, Lecture 1 Example of Space Manipulators Introduction Shuttle arm example

8. ME 486 Robotics Spring 2004, Lecture 1 Example of Space Servicing Robots –SPDM developed by MDR http://www.mdrobotics.ca Introduction Major specifications: Height: 3.5m; Arm length: 3m; Weight: 1660kg; DOF: 7/arm, 1/body; Max load: 600kg per arm; Max arm speed: 7 cm/s (unloaded)

9. ME 486 Robotics Spring 2004, Lecture 1 Example of Space Exploration Robots –Spirit robot for JPL’s Mars exploration mission. http://fido.jpl.nasa.gov/fidomerftest.html Introduction Two arms; each has 4 DOFs. One arm is 1.5m long with 1kg load capacity and the other is 0.5 long with 2 kg load capacity.

10. ME 486 Robotics Spring 2004, Lecture 1 Example of Space/Military Robots –Orbital Express Program. Introduction Docking example

11. ME 486 Robotics Spring 2004, Lecture 1 Example of Medical Robots –Zeus Robotic system http://www.computermotion.com/zeus.html Introduction

12. ME 486 Robotics Spring 2004, Lecture 1 Example of Servicing Robots –Humanoid Robot built by Honda http://world.honda.com/robot/ Introduction Height: 1.82m; Weight: 210kg; DOF: 7/arm, 6/leg, 2/hand; Max load: 5kg per hand; Operation time: 15min; Max speed: 0.5 m/s Play

13. ME 486 Robotics Spring 2004, Lecture 1 Example of Robot Hands –Hand developed by DLR http://www.robotic.dlr.de Introduction Major specifications: Size: human hand; Weight: 1.8kg; DOF: 3/finger; Max load: 11N per finger; Each finger has 4 joints, 3 motors, and 25 sensors.

14. ME 486 Robotics Spring 2004, Lecture 1 Examples of Entertainment Robots Introduction Robotic dinosaur made by MDR for Universal Studio DOFs: head 26, body 36, others 14 Length 8m, height 4m, weight 13,600kg, speed 0.6m/s Robotic fish made by Mitsubishi Heavy Industries. DOFs: ??? Length 0.5m, weight 0.5kg, speed 0.25m/s Battery-power: swimming for 30 minutes. Play

15. ME 486 Robotics Spring 2004, Lecture 1 Robotic Animals Introduction Roboroach: Capable of carrying micro camera and microphone and being remotely controlled to turn left/right and walk forward/backward, a $5M research carried out by Tokyo University in Japan. Roborat: A research project conducted by New York State University.

16. ME 486 Robotics Spring 2004, Lecture 1 Based on Applications –Industrial robots –Space robots –Military robots –Underwater robots –Medical robots –Personal assistant robots –Entertainment robots –… (the list can endlessly grow) Introduction Classification of Robotic Systems Based on Architecture –Serial manipulators –Parallel manipulators –Tree-type manipulators –Walking Machines –Rovers Easy for scientific study and thus used by researchers Easy to understand and thus used by general people

17. ME 486 Robotics Spring 2004, Lecture 1 Introduction Serial manipulators – a, b, e Parallel manipulators – g, h, j Tree manipulators – c, d Walk machines – f, I (i) (j)

18. ME 486 Robotics Spring 2004, Lecture 1 Basic Robot Components  Links – rigid or flexible  Joints – different kinematic types  Actuators – rotational or translational  Sensors – motion, force, vision, etc.  End-Effector  Software  Human-machine interfaces Introduction

19. ME 486 Robotics Spring 2004, Lecture 1 Robot Kinematics Introduction Forward kinematics – compute end-effector motion in terms of given joint motion Inverse kinematics – compute joint motion in terms of given end-effector motion. Forward kinematics Inverse kinematics

20. ME 486 Robotics Spring 2004, Lecture 1 Robot Dynamics Introduction Forward dynamics (simulation) – compute end-effector motion in terms of given joint control torques Inverse dynamics – compute joint control forces in terms of given end-effector motion Forward dynamics Inverse dynamics

21. ME 486 Robotics Spring 2004, Lecture 1 Introduction Robot Controls

22. ME 486 Robotics Spring 2004, Lecture 1 Introduction Robot Operations –Human-machine interface –Task planning –Collision avoidance –Supervision

23. ME 486 Robotics Spring 2004, Lecture 1 Introduction Robot Operations