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

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

3. Course Syllabus Course Title ME 486 Robotics Spring/2004
INSTRUCTOR:
Dr. Ou Ma Office: JH 515 Phone:
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: %
Project: %
Midterm exam: %
Final exam: %
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

4. 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:
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

5. 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

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

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

8. Introduction Example of Space Servicing Robots SPDM developed by MDR
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

9. Introduction Example of Space Exploration Robots
Spirit robot for JPL’s Mars exploration mission.
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

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

11. Introduction Example of Medical Robots Zeus Robotic system
Spring 2004, Lecture 1

12. Introduction Example of Servicing Robots Humanoid Robot built by Honda
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

13. Introduction Example of Robot Hands Hand developed by DLR
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

14. 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

15. 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

16. 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

17. 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

18. 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

19. 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

20. 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

21. Introduction
Robot Controls
Spring 2004, Lecture 1

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

23. Introduction
Robot Operations
Spring 2004, Lecture 1