Dept. of Mechanical Engineering New Mexico State University Robotics Ou Ma Dept. of Mechanical Engineering New Mexico State University Spring 2004, Lecture 1

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

Course Syllabus Course Title ME 486 Robotics Spring/2004 INSTRUCTOR: Dr. Ou Ma Office: JH 515 Phone: 646-6534 Email: oma@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 Spring 2004, Lecture 1

Textbook and References 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. 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, … Spring 2004, Lecture 1

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

Introduction Example of Space Manipulators Shuttle arm example Spring 2004, Lecture 1

Introduction Example of Space Servicing Robots SPDM developed by MDR http://www.mdrobotics.ca 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) Spring 2004, Lecture 1

Introduction Example of Space Exploration Robots Spirit robot for JPL’s Mars exploration mission. http://fido.jpl.nasa.gov/fidomerftest.html 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. Spring 2004, Lecture 1

Introduction Example of Space/Military Robots Orbital Express Program. Docking example Spring 2004, Lecture 1

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

Introduction Example of Servicing Robots Humanoid Robot built by Honda http://world.honda.com/robot/ Play Play Play Play 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 Spring 2004, Lecture 1

Introduction Example of Robot Hands Hand developed by DLR http://www.robotic.dlr.de 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. Spring 2004, Lecture 1

Introduction Examples of Entertainment Robots Play 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. Spring 2004, Lecture 1

Introduction Robotic Animals Roborat: A research project conducted by New York State University. 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. Spring 2004, Lecture 1

Introduction Classification of Robotic Systems Based on Applications Industrial robots Space robots Military robots Underwater robots Medical robots Personal assistant robots Entertainment robots … (the list can endlessly grow) 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 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) Spring 2004, Lecture 1

Introduction 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 Spring 2004, Lecture 1

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

Introduction Robot Dynamics Forward dynamics (simulation) – Inverse dynamics 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 Spring 2004, Lecture 1

Introduction Robot Controls Spring 2004, Lecture 1

Introduction Robot Operations Human-machine interface Task planning Collision avoidance Supervision Spring 2004, Lecture 1

Introduction Robot Operations Spring 2004, Lecture 1