1. COMPUTER INTEGRATED MANUFACTURING Evgeny Kagan kaganevg@post.tau.ac.il CIM Laboratory, room 454

2. Course Agenda Introduction and computer integrated manufacturing (CIM) tasks Computer aided design (CAD) Robotics: mechatronics and programming Vision and digital patterns processing Digital control and human-machine interface (HMI) Programmable logic controllers (PLC) Computer aided manufacturing (CAM) and numerical control (NC) Mobile robots CIM systems design and optimization Introduction and computer integrated manufacturing (CIM) tasks Computer aided design (CAD) Robotics: mechatronics and programming Vision and digital patterns processing Digital control and human-machine interface (HMI) Programmable logic controllers (PLC) Computer aided manufacturing (CAM) and numerical control (NC) Mobile robots CIM systems design and optimization

3. Robotics Production line Research stage: wishes and goals  formal models and mathematical schemes Restrictions: logical and mathematical rules Technological stage: models and schemes  sequences of production operations Restrictions: physical laws and technique abilities Production stage: sequences of operations  production processes Restrictions: human abilities Research stage: wishes and goals  formal models and mathematical schemes Restrictions: logical and mathematical rules Technological stage: models and schemes  sequences of production operations Restrictions: physical laws and technique abilities Production stage: sequences of operations  production processes Restrictions: human abilities

4. Robotics Production line Lathing Quality control Milling Storage Robots

5. Robot Controller Manipulator

6. Robot Degrees of freedom (Asfahl) Manipulator 1 1 2 2 3 3 4 4 5 5 6 6 hand 1 1 2 2 3 3 4 4 5 5

7. Manipulators’ types Movements and degrees of freedom (Selig)

8. Manipulators’ types Envelops of manipulators Cylinder Ball Cartesian SCARA: Selective Compliance Assembly Robot Arm SCARA: Selective Compliance Assembly Robot Arm Linked joints

9. Cartesian vs. linked joints a a     constants variables b b y y x x constant  = 90 0 2D Linked joints Cartesian  

10. Vectors and transformations 2D 3D P1P1 P1P1 P2P2 P2P2 P1P1 P1P1 P2P2 P2P2

11. Rotation of vectors: 2D Cartesian and polar coordinates P 1 = (0, 0) P 2 = (8, 7) x = 8 y = 7 r r  

12. Rotation of vectors: 2D Rotation of vector P 1 = (0, 0) P 2 = (8, 7) x = 8 y = 7 r = 10.630  = 41.186 0

13. Rotation of vectors: 2D Rotation of vector Polar coordinates Cartesian coordinates

14. Rotation of vectors: 2D Rotation of vector P 1 = (0, 0) P 2 = (8, 7) x = 8 y = 7 r = 10.630  = 41.186 0  Polar coordinates Cartesian coordinates

15. Rotation of vectors: 2D Rotation of vector: example  ’ = 61.186 0 r = r’ = 10.630 y’ = 9.314 x’ = 5.1234 P 1 ’ = P 1 P 2 = (8, 7) P2’P2’ P2’P2’

16. Rotation of vectors: 2D a a     b b Links and joints vs. two vectors 22 22 r1r1 r1r1 r2r2 r2r2 11 11

17. Rotation of vectors: 2D Rotation of two vectors 22 22 r1r1 r1r1 r2r2 r2r2 11 11

18. Rotation of vectors: 2D Rotation of two vectors 22 22 r1r1 r1r1 r2r2 r2r2 11 11

19. Rotation of vectors: 2D Rotation of two vectors 22 22 r1r1 r1r1 r2r2 r2r2 11 11

20. Rotation of vectors: 2D Rotation of two vectors 22 22 r1r1 r1r1 r2r2 r2r2 11 11

21. Rotation of vectors: 2D Rotation of two vectors 22 22 r1r1 r1r1 r2r2 r2r2 11 11

22. Rotation of vectors: 2D Rotation of two vectors 22 22 r1r1 r1r1 r2r2 r2r2 11 11 ’1’1 ’1’1 ’2’2 ’2’2 r1r1 r1r1 r2r2 r2r2

23. Rotation of vectors: 2D Rotation of two vectors   ’’ ’’   ’’ ’’ Rotation Stretching Rotation of two vectors Composition of R and T

24. 3D vs. 2D 2D 3D

25. Rotation of vectors: 3D 3D vector r r z z     Cylindrical coordinates Cartesian coordinates Polar coordinates

26. Rotation of vectors: 3D Rotation of vector r r z z     2D

27. Rotation of vectors: 3D Rotation of vector r r z z     Rotations are non-commutative, i.e. the order of rotations makes sense …

28. Rotation of vectors: 3D Rotation of vector

29. Rotation of vectors: 3D Rotation of two vectors r1r1 r1r1 r2r2 r2r2

30. Rotation of vectors: 3D Rotation of two vectors

31. Robot Controller Manipulator

32. Homing Adjustment between local and world coordinates World coordinates Local coordinates

33. Homing Number of rotations until switches are on or off World coordinates Motors Switches Local coordinates World coordinates

34. Motion programming VAL – 1983 (Unimation-Westinghouse) ARM – 1980 (Microbot) ACL – 1982 (Scorbot): Advanced control language

35. Resume: robots’ types Robots’ types according to envelops Linked joints Ball SCARA: Selective Compliance Assembly Robot Arm Cylindrical Cartesian Cartesian and polar coordinates Links - 3D vectors, joints - angles Motion: 3D rotations

36. Resume: links and rotations Links – 3D vectors Rotations non-commutative

37. Resume: joint links Movement of joint links 1 2 34

38. Resume: controller World and local coordinates Homing: Adjustment between local and world coordinates Rotations number and switches’ states Manipulations with coordinates: Built-in in controller Programming: ACL – Advanced Control Language