ES4A1 Advanced Robotics Core part of Robotics Elective Dr Emma Rushforth (EJR) Mrs Margaret Low (MJL) Prof Robert Harrison (RH) Dr Bilal Ahmad

Course Books Niku, Saeed B., “Introduction to Robotics, Analysis, Systems, Applications” (Highly recommended) See reading list on website!

Software PILZ Safety Controller Siemens PLC simulator Cognex DVT Intellect 4x4 matrix manipulation: MathWorks MATLAB Or Spread sheet (e.g. Excel) ABB’s RobotStudio?

Coursework Essay – 10% (1.5 CATS) Lab project – 40% (6 CATS) Exam – 50% (7.5 CATS)

Essay Worth 1.5 C.A.T.S., 2000 words Due in week 7, return week 11. Title: “Limitations of current robots outside the factory”. Select ONE of the following application areas: Agriculture Military Medical Domestic Marine Nuclear/Rescue

Lab Project Combines machine vision with machine motion! (DVT Intellect with robot programming “RAPID”) Apply Kinematics to a real robot. Worth 6 C.A.T.S. Set week 5, submit week 21, Return Fri week 24. Lab work will be carried out in weeks 5-16 inclusive. See your timetable! Location IMC Hall: UG teaching lab.

Locations

Exam! Worth 7.5 C.A.T.S. (50% of Module) 2 hour exam On the lecture content of the course and will include questions similar to the problem sheets. See past papers + solutions/comments on website. Rubrics: answer all 4: one on PLC, 2 on Kinematics, one on anything else! Kinematic datasheet will be attached!

What is a robot?1 By general agreement a robot is: A programmable machine that imitates the actions or appearance of an intelligent creature–usually a human. To qualify as a robot, it must be able to: Sensing and perception: get information from its surroundings and/or internally Carry out different tasks: Locomotion or manipulation, do something physical–such as move or manipulate objects Re-programmable: can do different things Function autonomously and/or interact with human beings/other objects (sometimes with no autonomy) 1. Adapted From lecture notes Jizhong Xiao, City College of New York

Why use a robot?1 Perform the 4 “A” tasks in a 3-D world, namely: Automation, Augmentation (reinforcement), Assistance, Autonomous In the 4 “D”’s environments: Dirty, Difficult, Dangerous, Dull, Increase product quality Superior Accuracies (thousands of an inch, wafer-handling: microinch) Repeatable precision  Consistency of products Increase efficiency Work continuously without fatigue Need no vacation Increase safety Operate in dangerous environment Need no environmental comfort – air conditioning, noise protection, etc Reduce Cost Reduce scrap rate Lower in-process inventory Lower labor cost Reduce manufacturing lead time Rapid response to changes in design Increase productivity Value of output per person per hour increases 1. From lecture notes Jizhong Xiao, City College of New York

Manipulators Industrial Robot arms Rigid bodies (links) connected by joints Joints: revolute or prismatic Drive: electric (or hydraulic) End-effector (tool) mounted on a flange or plate secured to the wrist joint of robot

Types of Manipulator Cartesian: PPP Cylindrical: RPP Spherical: RRP Plus you end-effector! Revolute: RRR SCARA: RRP 1. From lecture notes Jizhong Xiao, City College of New York

Motion Control Methods Point to point control a sequence of discrete points spot welding, pick-and-place, loading & unloading Continuous path control follow a prescribed path, controlled-path motion Spray painting, Arc welding, Gluing 1. From lecture notes Jizhong Xiao, City College of New York

Robot Specifications Number of Axes Degree of Freedom (DOF) Workspace Major axes, (1-3) => Position the wrist Minor axes, (4-6) => Orient the tool Redundant, (7-n) => reaching around obstacles, avoiding undesirable configuration Degree of Freedom (DOF) Workspace Payload (load capacity) Accuracy v.s. Repeatability 1. From lecture notes Jizhong Xiao, City College of New York

What is Kinematics? Forward kinematics Given joint variables Position and orientation (x, y, z, θ1, θ2, θ3)

What is Kinematics? Inverse kinematics Given Position and orientation of end-effector (x, y, z, θ1, θ2, θ3) joint variables (θ1, θ2, θ3, θ4,….. θn)

Example in 2-D – rotary joint

Robot Reference Frames World frame (or reference frame) Base frame Joint frame Tool frame Product frame R P T

History Always good to know where we have come from so that we know where we are? Easy way of introducing a complex topic! Shakey Stanford Cart/Chair Service robots Mobile robots

Next week: Robot Applications End Next week: Robot Applications