Robotics Introduction • • Course Structure Etymology Definition Robotics OK So what is a robot? How new is robotics? What do I need to know to work in robotics – Math and language is mostly common – Vocabulary – Matrix Algebra • Types of Robots 02/11/2002 Robotics 1 Copyright Martin P. Aalund, Ph. D.
Etymology • The Word Robot has its root in the Slavic languages and means worker, compulsory work, or drudgery. It was popularized as a word for intelligent machines by the Czechoslovakian playwright Karel Kapek in Rossum’s Universal Robot 1921 • 1950 s Isaac Asimov Came up with laws of robotics in I Robot 1. A robot may not injure a human being, or through inaction allow a human being to come to harm. 2. A robot must obey the orders given it by human beings, except where such orders would conflict with the first law. 3. A robot must protect its own existence as long as such protection does not conflict with the first or second law. 02/11/2002 Robotics 1 Copyright Martin P. Aalund, Ph. D.
Definitions • • Robot: Many Definitions American Heritage Dictionary: ro·bot (rbt, -bt) n. 1: A mechanical device that sometimes resembles a human being and is capable of performing a variety of often complex human tasks on command or by being programmed in advance. • • • 2: A machine or device that operates automatically or by remote control. 3: A person who works mechanically without original thought, especially one who responds automatically to the commands of others. Websters: 1 a : a machine that looks like a human being and performs various complex acts (as walking or talking) of a human being; also : a similar but fictional machine whose lack of capacity for human emotions is often emphasized b : an efficient insensitive person who functions automatically 2 : a device that automatically performs complicated often repetitive tasks 3 : a mechanism guided by automatic controls RIA defines a robot as: "A programmable multi-function manipulator designed to move material, parts, or specialized devices through variable programmed motion for the performance of a variety of tasks" (RIA) Mc. Kerrow, in 1986 used "A robot is a machine which can be programmed to do a variety of tasks in the same way a computer is an electronic circuit which can be programmed to do a variety of tasks” 02/11/2002 Robotics 1 Copyright Martin P. Aalund, Ph. D.
OK so what is a robot? Is it R 2 D 2? Is it an industrial welding robot? A pick and place machine? A Machine Tool? A Back Hoe? A car on cruse control? • A robot is an integration of mechanical electrical and software components that can be reprogrammed to perform a variety of tasks both with and without human intervention. • Robotics: The study of robots design, programming and control. 02/11/2002 Robotics 1 Copyright Martin P. Aalund, Ph. D.
So is robotics a new field? • 800 BC Homer describes walking tripods in the Iliad • 350 BC Aristotle envisions mechanisms that work by "obeying or anticipating the will of others" • 1801 Joseph-Marie Jacquard invents an automated textile loom controlled by punched cards • 1892 Seward Babbitt designs a motorized crane and gripper to remove steel ingots from a furnace • 1890 s Nikola Tesla, after working briefly for Edison, demonstrates various radiocontrolled vehicles, including a submersible boat • 1926 Fritz Lang's movie Metropolis features Maria, a robot seductress • 1939 For the New York World's Fair, Westinghouse Electric Corp. builds a mechanical man and dog: Electro danced, counted to 10, smoked, and described Westingouse's products -- and his dog walked, stood on its hind legs, and barked • 1954 Devol designs a programmable factory robot (patent granted in 1961) aimed at "Universal Automation, " later trimmed to Unimation. First commercial industry robot goes online in 1961 (Engleburger) 02/11/2002 Robotics 1 Copyright Martin P. Aalund, Ph. D.
New Continued? • 1976 NASA provides Mars landers with robot arms for its Viking I and II missions • 1977 Asea Brown Boveri Ltd. introduces microcomputer-controlled robots • 1977 Star Wars stars an android, C 3 PO, and a mobile robot, R 2 D 2. By the early 1980 s, R 2 D 2 lookalikes are vacuuming floors and singing songs in • 1978 Brooks Founded • 1982 PRI Automation, founded in • 1983 A six-leg walking robot is unwrapped by Odetics Inc. • 1984 Brooks Introduces Frog Leg • 1986 Honda Motor Co. launches a secret project to build a humanoid robot • 1990 Robodoc, developed by Dr. William Bargar and Howard Paul of Integrated Surgical Systems Inc. and the University of California at Davis, performs a hipreplacement operation on a dog -- and in 1992, on a human patient • 2000 At Robo. Cup 2000, three humanoid robots meet for the first time: Johnny Walker from the University of Western Australia, the Mk-II from Japan's Aoyama Gakuin University, and Pino from Kitano Symbiotic Systems Project 02/11/2002 Robotics 1 Copyright Martin P. Aalund, Ph. D.
Vocabulary • DOF: Degree of Freedom. Free space has 6, a plane 3 , the surface of a sphere 3. A point in space is defined by 3. A line of unit length in space can be defined by a point and 3 angles. • Joint: Same as a human joint. – – Revolute: Rotational Joint similar to elbow or wrist. 1 DOF Prismatic: Like an elevator 1 DOF Knuckle: Universal Joint 2 DOF Spherical: Ball and Socket 3 DOF Not Common. • Kinematics: The relationship between the positions, and the positions derivatives of the robot and its links. Kinematics is motion without forces or mass. • Forward (direct) Kinematics: Given the joint trajectories find the link’s or end-effector’s. • Inverse Kinematics: Given a path calculate the motion of the joints. 02/11/2002 Robotics 1 Copyright Martin P. Aalund, Ph. D.
Vocabulary 2 • Kinetics: Relates motion and forces • Statics: Study of forces without motion • Dynamics: Study of motion and forces contain both kinetics and kinematics. Still have inverse and forward. • Force or Torque: Four Types – – Coriolis: Coupling between Axes Centripetal: Like a ball on a string. Inertial: Due to acceleration of deceleration of a mass. Gyroscopic: Changing the angle of a quickly spinning mass. Drill or Router. 02/11/2002 Robotics 1 Copyright Martin P. Aalund, Ph. D.
Vocabulary 3 • • Manipulator: A robot arm. Manipulation: The act of grasping and or moving an object. Gripper: Attaches to a robot to allow an object to be picked up. End-Effector: Part of robot that affects the world. This can be a gripper, a welding torch, a light, or a sensor. • Cartesian Coordinates: X Y Z a b g • Right Hand Rule: Standard for defining coordinate frames and positive motion. – Point Fingers of right hand down positive X axes, thump down positive Z axes, Curl fingers by 90 degrees. They will point in the Y direction. – Point thumb of right hand down any axes. Positive rotation is indicated by curling you fingers around the axes 02/11/2002 Robotics 1 Copyright Martin P. Aalund, Ph. D.
Vocabulary 4 • Reference Frame: Coordinate system. Can be stationary or in motion. – Tool: Coordinate system that is attached to the tool or end-effector. – World: Coordinate system that the robot is relative to. – Global: Coordinate system that is stationary. • DH Parameters: Denavit-Hartenberg Parameters. Robot parameters obtained by a convention for defining the coordinate frames of a robot. 02/11/2002 Robotics 1 Copyright Martin P. Aalund, Ph. D.
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