1. MECH4503 Introduction to Robotics Jurek Sasiadek Department of Mechanical and Aerospace Engineering Carleton University

2. Course Objectives 1.The main objective of this course is to introduce students to basics of robotics. 2. The other objective is to give student brief overview of history of robotics, transformations, kinematics, dynamics, sensors and control related to robots.

3. Methodology used to meet course objectives I General HistoryTransformation

4. Methodology used to meet course objectives II Robotics KinematicsDynamics

5. Methodology used to meet course objectives III Robotics Control Systems Sensors

6. Jurek Sasiadek Definition of Robotics Definition 1 : “any device which replaces human labour” Definition 2 : “ a programmable multifunction manipulator designated to move materials, arts, or specialized devices through variable programmed motions for the performance of variety of tasks”

7. Jurek Sasiadek Definition of Robotics Definition 3: “a robot is a machine which can be programmed to do variety of tasks, in the same way that a computer is an electronic circuit which can be programmed to do variety of tasks” Definition 4: “robotics is an intelligent connection of perception to action”

8. Jurek Sasiadek Robotics Robotics is the discipline which involves: Design, manufacture, control, and programming of robots; Use of robots to solve problems; Study of control processes, sensors and algorithms used in humans, animals and machines; Application of these controls and algorithms to the design of robots

9. Jurek Sasiadek Robotics Engineering Robotics engineering is concerned with design, construction and application of robots

10. Jurek Sasiadek Robotics Science The goal of RS in not develepment of machines but to understand the physical and information processes underlying perception and action. Once basic concepts are understood, they can be used in the design of robots.

11. Jurek Sasiadek History of Robotics 1921 – Karel Capek, Czech playwwriter and novelist wrote a play “RUR” (Rossum’s Universal Robots)

12. Jurek Sasiadek Karel Capek : " It is with horror, frankly, that he rejects all responsibility for the idea that metal contraptions could ever replace human beings, and that by means of wires they could awaken something like life, love, or rebellion. He would deem this dark prospect to be either an overestimation of machines, or a grave offence against life." [The Author of Robots Defends Himself - Karl Capek, Lidove noviny, June 9, 1935, translation: Bean Comrada]

13. Jurek Sasiadek RUR Word ROBOTICS comes from the Czech language where “robota” means work In the play RUR the machines (robots) revolted, killed their human master and took over the World

14. Jurek Sasiadek History of Robotics 1926 – The first movie involving robots. “Metropolis” was released in Germany

15. Jurek Sasiadek History of Robotics 1939 – ELECTRO, a walking robot and his dog SPARKO were displayed at the New York World’s Fair

16. Jurek Sasiadek Electro and Sparko

17. Jurek Sasiadek Electro and Sparko A robot and his electric dog. Sparko was built by Westinghouse as Elektro's robotic pet, though from his much more basic construction, I have a feeling that he was a bit of a slap-together job.

18. Jurek Sasiadek Sparko

19. Jurek Sasiadek Electro

20. Jurek Sasiadek History of Robotics 1948 – Goertz is credited with development of teleoperator 1948 Norbert Wiener publishes a book on cybernetics

21. Jurek Sasiadek History of Robotics 1950 – Issac Asimov publishes his book “I, ROBOT” that revolves around intelligent humanoid robots designd according to certain laws Clarke, Roger, "Asimov's Laws for Robotics: Implications for Information Technology", Part 1 and Part 2, Computer, December 1993, pp. 53-61 and Computer, January 1994, pp.57-65.

22. Jurek Sasiadek Asimov’s laws Law Zero: A robot may not injure humanity, or, through inaction, allow humanity to come to harm. Law One: A robot may not injure a human being, or, through inaction, allow a human being to come to harm, unless this would violate a higher order law. Law Two: A robot must obey orders given it by human beings, except where such orders would conflict with a higher order law. Law Three: A robot must protect its own existence as long as such protection does not conflict with a higher order law.

23. Jurek Sasiadek History of Robotics 1968 – GE (General Electric) built a quadrupedal walking machines 1968 – GM (General Motors) installed its first Unimation robot 1969 – a mobile robot was designed and built at Stanford University

24. Jurek Sasiadek Robot History Shakey (Stanford Research Institute) –the first mobile robot to be operated using AI techniques Simple tasks to solve: –To recognize an object using vision –Find its way to the object –Perform some action on the object (for example, to push it over) http://www.frc.ri.cmu.edu/~hpm/book98/fig.ch2/p027.html

25. Jurek Sasiadek Shakey

26. Jurek Sasiadek The Stanford Cart 1973-1979 –Stanford Cart –Equipped with stereo vision. –Take pictures from several different angles –The computer gauged the distance between the cart and obstacles in its path Hans Moravec http://www.frc.ri.cmu.edu/users/hpm /

27. Jurek Sasiadek History of Robotics 1970 – Lunokhod, a first unmanned rover designed in Russia explored the surface of the Moon 1970’s and 80’s – exponential grow in the field of robotics

28. Jurek Sasiadek Contemporary robotics

29. Jurek Sasiadek Types of Robots Robot Manipulators Mobile Manipulators

30. Jurek Sasiadek Types of Robots Humanoid Legged robots Underwater robots Wheeled mobile robotsAerial Robots Locomotion

31. Jurek Sasiadek Mobile Robot Examples Hilare II http://www.laas.fr/~matthieu/robots/ Sojourner Rover NASA and JPL, Mars exploration

32. Jurek Sasiadek Autonomous Robots

33. Jurek Sasiadek Autonomous robot - helicopter Goal: To develop a vision-guided robot helicopter which can autonomously carry out functions applicable to search and rescue, surveillance, law enforcement, inspection, mapping, and aerial cinematography, in any weather conditions and using only on-board intelligence and computing power http://www-2.cs.cmu.edu/afs/cs/project/chopper/www/haughton-do.html

34. Jurek Sasiadek Installed Industrial Robots

35. Jurek Sasiadek How are they used? Industrial robots –70% welding and painting –20% pick and place –10% others Research focus on –Manipulator control –End-effector design Compliance device Dexterity robot hand –Visual and force feedback –Flexible automation

36. Jurek Sasiadek Robot Arm Dexterity

37. Jurek Sasiadek Robotics: a much bigger industry Robot Manipulators –Assembly, automation Field robots –Military applications –Space exploration Service robots –Cleaning robots –Medical robots Entertainment robots

38. Jurek Sasiadek Field Robots

39. Jurek Sasiadek Field Robots

40. Jurek Sasiadek Service robots

41. Jurek Sasiadek Is this you future?

42. Jurek Sasiadek What is AI Knowledge representation Understanding natural language Learning Planning and problem solving Inference Search Vision

43. Jurek Sasiadek Learning and Evolution Learning –Skills vs Task (Map acquisition) Learning Methods –Learning by instruction –Learning by imitation –Learning by skill transfer Evolution and adaptation

44. Jurek Sasiadek The early stage of AI

45. Jurek Sasiadek Autonomous and Intelligence

46. Jurek Sasiadek The Honda Humanoid (1997)

47. Jurek Sasiadek Humanoid

48. Jurek Sasiadek Robot Applications Manufacture Industry –Assembling –Automation Biotechnology –Micro/Nano manipulation –Sample Handling –Automated Analysis

49. Jurek Sasiadek Robot Applications Military Applications

50. Jurek Sasiadek Military Applications DARPA Programs: (Defense Advanced Research Projects Agency) Tactical Mobile Robotics

51. Jurek Sasiadek Robot Applications Fire Fighting, Search and Rescue

52. Jurek Sasiadek Robot Applications Robots for Assistive Technology

53. Jurek Sasiadek Robot Applications Entertainment Industry

54. Jurek Sasiadek Robot Applications Entertainment Robots Sony-Qrio

55. Jurek Sasiadek Classification of Robots JIRA – Japanese Industrial Robot Association RIA – Robotics Institute of America AFRI – Association Francaise de Robotique

56. Jurek Sasiadek JIRA Classification Class 1 – manual handling devices Class 2 – fixed sequence robots Class 3 – variable sequence robots Class 4 – playback robots Class 5 – numerical control robots Class 6 – intelligent robots

57. Jurek Sasiadek RIA Classification Classes 3, 4, 5, 6 from JIRA are considered to be robots

58. Jurek Sasiadek AFRI Classification Type 1 = class 1 JIRA - manual control and telerobotics Type B = classes 2 and 3 – automatic handling devices with predetermined cycle Type C = Classes 4 and 5 – programmable robots Type D = class 6

59. Jurek Sasiadek Types of Robot Motion Control Point to point – spot welding, pick and place operation, loading and unloading Continuous path - spray painting, arc welding, gluing

60. Jurek Sasiadek Types of Robots Robots Stationary/ Manipulators Mobile

61. Jurek Sasiadek Types of Robots Manipulators ArmGantry SCARA (Selective Compliance Artificial Research Arm)

62. Jurek Sasiadek Gantry Type Robot Gantry kinematics

63. Jurek Sasiadek SCARA

64. Jurek Sasiadek SCARA specs

65. Jurek Sasiadek SCARA Adept Technologies Robot

66. Jurek Sasiadek Types of Robots Mobile robots Flying and floating robots Surface on-road robots Surface off-road robots

67. Jurek Sasiadek Surface off-road Walking

68. Jurek Sasiadek Mobile Robots

69. Jurek Sasiadek iRobot- ATRV

70. Jurek Sasiadek Technical Specs ATRV mobile robot Sonar11 (6 forward facing, 4 side facing, 2 rear facing) CPU'sPentium based ATX computer systemCommunicationsOptional wireless radio EthernetBatteries4 lead acid, 1440 W-hrRun Time4 to 6 hours terrain dependentMotor4 high torque, 24V DC servo motorsDrive4-wheel differentialTurn RadiusZero (skid steer)Translate Speed2m/s 6.6'/sRotate Speed70°/sApproach Angle45°Decent Angle45°Payload100kg 220lbsHeight65cm 25.6"Length105cm 41.3"Width80cm 31.5"Weight118kg 260lbs Replacement Battery Pack Vision Systems Individual Vision Components Wireless Communications SICK® LMS Laser Scanner ASCII to Speech Interface Front and Rear Bumper Tactiles Computerized Navigation Compass 12 Channel GPS Receiver Inertial Sensors

71. Jurek Sasiadek Robot characteristics Rhino XR-3 Number of axis – 5 Load carrying capacity – 0.5 kg Max speed, cycle time – 25cm/s Reach and stroke – horizontal (62.23 mm), vertical (88.27mm) Tool orientation – pitch (270deg), roll (∞) Repeatability – 0.5mm Precision and Accuracy - ……

72. Jurek Sasiadek Robot Specification Repeatability - is a measure of the ability of the robot to position the tool tip in the same place repeatedly Accuracy – is a measure of the ability of the robot to place the tool tip at an arbitrarily prescribed location in the work envelope

73. Jurek Sasiadek Robot specification (cont) Precision – is a measure of a spatial resolution with which the tool can be positioned within the work envelope

74. Jurek Sasiadek AB Precision Accuracy

75. Manipulators Robot Configuration: Cartesian: PPPCylindrical: RPPSpherical: RRP SCARA: RRP (Selective Compliance Assembly Robot Arm) Articulated: RRR Hand coordinate: n: normal vector; s: sliding vector; a: approach vector, normal to the tool mounting plate

76. Jurek Sasiadek Robot Configurations Cartesian – joints: prismatic waist x, prismatic shoulder y, prismatic z Cylindrical – joints: revolute waist Θ, prismatic shoulder z, prismatic elbow r Spherical (Polar) – joints: revolute waist Θ, revolute shoulder Φ, prismatic elbow r

77. Jurek Sasiadek Robot Configuration Anthropomorphic – joints: revolute waist Θ, revolute shoulder Φ, revolute elbow Ψ SCARA (Selective Compliance Artificial Research Arm)

78. Jurek Sasiadek Cartesian configuration Advantages: linear motion in three directions; simple kinematics model; rigid structure; easy to visualize; can use inexpensive pneumatic drives for pick and place operations

79. Jurek Sasiadek Cartesian (cont) Disadvantages: require a large volume to operate in; work space is smaller than robot volume; unable to reach areas under objects; guiding surfaces of prismatic joints must be covered to prevent ingress of dust

80. Jurek Sasiadek Cylindrical configuration Advantages: simple kinematics model; easy to visualize, good accesses into cavities and machine openings; very powerful when hydraulic drives used Disadvantages: restricted work envelope, prismatic guides difficult to seal from dust and liquids; back side of robot can overlap with work volume

81. Jurek Sasiadek Spherical configuration Advantages: covers a large volume from a central support; can bend down to pick objects up off the floor Disadvantages: complex kinematics model; difficult to visualize

82. Jurek Sasiadek Articulated configuration Advantages: maximum flexibility; covers a large work space relative to the volume of robots; revolute joints are easy to seal; suits electric motors; can reach over and under objects

83. Jurek Sasiadek Articulated configuration (cont.) Disadvantages: complex kinematics, difficult to visualize, control of linear motion is difficult, structure not very rigid at full reach

84. Jurek Sasiadek Robot design Potential weak points in mechanical design

85. Jurek Sasiadek Permanent deformation of total structure or single components Corrective measures : -increase stiffness; - reduce weight; - counterbalance

86. Jurek Sasiadek Dynamic deformation Corrective measures: -Increase stiffness; -Reduce the mass to be moved; -Distribute mass

87. Jurek Sasiadek Backlash Corrective measures: -Reduce backlash in gears; -Use stiffer transmission elements

88. Jurek Sasiadek Bearing clearance Corrective measures: -Use prestressed bearings;

89. Jurek Sasiadek Friction Corrective measures: -improve bearing clearance; -increase lubrication

90. Jurek Sasiadek Thermal effects Corrective measures: - Isolate the heat source

91. Jurek Sasiadek Poor connection of transducers Corrective measures; -Improve mechanical connection; -Find a better location; - Shield against environment

92. Jurek Sasiadek Robots main parts Joints Links Actuators

93. Jurek Sasiadek Joints - Prismatic (linear) -Revolute -Spherical

94. Jurek Sasiadek Links Robots links are powered by actuators

95. Jurek Sasiadek Robot Actuators Pneumatic Hydraulic Electric

96. Jurek Sasiadek Pneumatic Actuators Advantages: -relatively inexpensive; -high speed; -do not pollute workspace with fluids; -can be used in laboratory work; -actuator can stall without damage; -use common source of energy in industry

97. Jurek Sasiadek Pneumatic Actuators Disadvantages: -compressibility of air limits their accuracy; -noise pollution; -leakage of air is a major concern; -additional air filtering and drying system is needed; -difficult with speed control

98. Jurek Sasiadek Hydraulic Actuators Advantages: -large lift capacity; -fast response; -very good servo control; -offers accurate control; -oil is incompressible, hence once positioned joints can be held motionless; -self lubricating and self cooling

99. Jurek Sasiadek Hydraulic Actuators Disadvantages: -hydraulic systems are expensive; -they pollute the workspace with fluids and noise; -not suitable for really high speed cycling

100. Jurek Sasiadek Electric Actuators Advantages: -fast and accurate; -it is possible to apply sophisticated control techniques; -easily available and relatively inexpensive; -simple to use; -new rare Earth (SmCO 5 samarium cobalt) motors have high torques, reduced weight and fast response

101. Jurek Sasiadek Electric Actuators Disadvantages: -require gear trains or the like for transmission of power; -gear backlash limits precision; -electric arcing might be a problem; -power limit; -problems with overheating in stalled conditions; -brake are needed to lock them in position

102. Jurek Sasiadek Electric motor selection consideration Mechanical specification: -mechanical time constant; -no-load speed and acceleration; -rated torque; -rated output power; -frictional torques; -damping constant; -dimension and weight; -armature moment of inertia

103. Jurek Sasiadek Electric motor selection (cont) Electrical specification: -electrical time constant; -input power; -armature resistance and inductance; -field resistance and inductance; -compatible drive circuit specification

104. Jurek Sasiadek Electric motor selection (cont.) General specification: -brush life and motor life; -efficiency; -operating temperature and other environment conditions; -heat transfer; -mounting configurations; -coupling methods

105. Jurek Sasiadek Actuators Actuators are usually components of so called, “servo control mechanism” Servo control of robots actuators acts on three main variables: -movement (angular or linear); -speed (angular or linear); -torque (or force)

106. Jurek Sasiadek Robots Servo systems Positional Speed Torque

107. Jurek Sasiadek Sensors InternalExternal

108. Jurek Sasiadek Sensors Internal (Motion Sensors) Potentiometers Tachometers MicroswitchesEncoders

109. Jurek Sasiadek Internal Sensors Encoders

110. Jurek Sasiadek Sensors External Contact Non- contact

111. Jurek Sasiadek Sensors Contact Pressure sensorsTactile sensors Force and Torque Sensors/ Inertial Sensors

112. Jurek Sasiadek Inertial Sensors Navigation systems Computerized Navigation Compass One-axis heading sensor with 0.5 degree accuracy RS-232 communication port Auto-calibration compensates for field effects of other on-board equipment Inertial Navigation Sensor 3-axis pitch/roll/yaw gyros 3-axis pitch/roll/yaw accelerometers 150 degrees per second gyro rate 10Hz gyro bandwidth 100Hz accelerometer bandwidth RS-232 communications interface Low power consumption

113. Jurek Sasiadek Inertial Systems Absolute Orientation Sensor Heading accuracy of 1.5 degrees Heading resolution of 0.1 degrees Heading repeatability of 0.3 degrees Tilt accuracy of 0.4 degrees Tilt resolution of 0.3 degrees Tilt repeatability of 0.3 degrees Tilt range of 50 degrees RS-232 communications interface Low power consumption Mobility Robot Integration support

114. Jurek Sasiadek Sensors Non-contact Vision systems Radar and Sonar sensors Range sensors

115. Jurek Sasiadek Vision Systems Vision Systems and Components High-Performance Stereo Vision System Fully assembled and configured. Available on the ATRV, ATRV-Jr and B21r robots. 2 PCI Frame Grabbers Pan-Tilt Head 2 XC999 Color CCD cameras with 6mm lenses (NTSC or PAL) Custom, adjustable stereo camera mounting bar Synchronization electronics Power, signal and control cabling Mobility Robot Integration support for individual components

116. Jurek Sasiadek Range Sensors SICK Proximity Laser Scanner Pulsed IR 164' (50m) range 180-degrees coverage 0.5% angle resolution +/- 50 mm dist. measurement resolution Mobility Robot Integration support SICK Laser Measurement System Pulsed IR 492'(150m) range 180-degrees coverage 0.5% angle resolution +/- 50 mm dist. measurement resolution Mobility Robot Integration support

117. Jurek Sasiadek Robot Actuators Actuators PneumaticHydraulicElectric

118. Jurek Sasiadek Electric Actuators Stepper Synchronous AC servo Brushless DC servo Brushed DC servo Direct drive motors

119. Jurek Sasiadek Stepper motors

120. Jurek Sasiadek Controllers

121. Jurek Sasiadek Controllers Boards

122. Jurek Sasiadek Robotics What is the future of robotics? UAV? Service robots? Humanoid robots?

123. Jurek Sasiadek Homogeneous Transformations Vectors: x, y, v Planes: P, A Coordinate frames: CONV, H Arrays: A,B,C,D

124. Jurek Sasiadek Homogeneous Transformation (cont.) To describe a point in space, which we call p, with respect to a coordinate frame E: E v The same point p with respect to a different coordinate frame, for example H is described : H w

125. Jurek Sasiadek HT Example The tip of a pin might be described as a vector tip, with respect to a frame BASE as BASE tip

126. Jurek Sasiadek HT Vectors The homogenous coordinate representation of objects in n-space is an n+1 space entity such that a particular perspective projection recreates the n- space It can also be viewed as an addition of an extra coordinate to each vector, such that the vector has the same meaning if each component, including the scale vector, is multiplied by a constant

127. Jurek Sasiadek HT Vectors (cont.) A point vector v = ai +bj + ck, where i,j,k are unit vectors along x, y, z coordinate axis, respectively, is represented in homogeneous coordinates as a column matrix, e.g. v =

128. Jurek Sasiadek HT Where a = x/w ; b = y/w ; c = z/w thus the vector 3i+4j+5k can be represented as [3 4 5 1] T or as [6 8 10 2] T.

129. Jurek Sasiadek Trajectory Planning A path is a set of points in operational or joint space that the end point of manipulator has to follow. A path is a geometric description of motion

130. Jurek Sasiadek Trajectory Planning A trajectory is a path on which the time constraints have been specified, e.g. velocities and/or accelerations are specified at each points

131. Jurek Sasiadek Joint space trajectories Joint space trajectory planning algorithm requirements: - to generate smooth trajectory, not too demanding from computational point of view - joint positions and velocities have to be continuous functions

132. Jurek Sasiadek Trajectory and motion planning Point-to-point motion Path motion

133. Jurek Sasiadek Point-to point motion Optimization problem - For chosen angular joint velocity, determine the solution of the differential equation (1) subject to the condition (2)