1. Introduction to Robotics In the name of Allah

2. Introduction to Robotics o Leila Sharif o l_sharif@sharif.edul_sharif@sharif.edu http://ce.sharif.edu/courses/84-85/1/ce516/ o Lecture #5: Kinematics

3. Introduction to Robotics Lecture Outline  A brief history of robotics  Feedback control  Cybernetics  Artificial Intelligence (AI)  Early robotics  Robotics today  Why is robotics hard?  Degrees of Freedom (DOF)  holonomicity, redundancy  Legged locomotion  stability (static and dynamic)  polygon of support  Wheeled locomotion  Trajectory/motion planning

4. Introduction to Robotics Robot Joints  Linear  Rotary  Spherical (Sliding)  Difficult to control  Not Common in Robotic

5. Introduction to Robotics Robot Joints Most Robots have either a linear (prismatic) joint or a rotary (revolute) joint  Linear - hydraulic or pneumatic cylinder  Rotary - most are electrically driven, either by stepper motor or servomotos

6. Introduction to Robotics Cartesian/Rectangular/gantry (3p)

7. Introduction to Robotics Cylindrical (R2P)

8. Introduction to Robotics Spherical / Polar (2RP)

9. Introduction to Robotics Articulated/Revolute (3R)

10. Introduction to Robotics Selective Compliance Assembly Robot Arm SCARA (2RP)  2 Revolute joint in parallel to allow robot move in horizontal plane  1 linear joint to move vertically

11. Introduction to Robotics Robot Reference Frame  World Reference Frame  Joint Reference Frame  Tool Reference Frame

12. Introduction to Robotics Programming Mode  Physical Setup  Lead through or teach mode  Continuous walk-through mode  Software mode Most industrial robots can be programmed in more than one mode

13. Introduction to Robotics Robot Characteristics  Payload  Reach  Precision (validity)  Repeatability (variability)

14. Introduction to Robotics Workspace

15. Introduction to Robotics Robot Languages  Microcomputer Machine Language Level (machine language)  Point-to-Point Level The coordinate of points entered sequentially  Primitive Motion Level Interpreter based  Structured Programming Level Compiler based  Task-Oriented Level No actual language

16. Introduction to Robotics 3P3R Robot 1,2,3 : prismatic joints 4,5,6 : revolute joints 7 : gripper MOVE(1,10) DMOVE(1,10) Write a program to pick and place an object from one place to another

17. Introduction to Robotics Sample of a Program in IBM’s AML (A Manufacturing Language) SUBR(PICK-PLACE); PT1:NEW ; PT2:NEW ; PT3:NEW ; SPEED(0.2); MOVE(ARM,0.0); MOVE(,PT1); MOVE(7,3); DMOVE(3,-1) DMOVE(7,-1.5) DMOVE(3,1) MOVE(,PT2); DMOVE(JZ,-3); MOVE(JG,3); DMOVE(JZ,11); MOVE(ARM,PT3); END;

18. Introduction to Robotics Robot Application  Machine loading  Pick and place operation  Welding  Painting  Inspection  Sampling  Assembly operation  Manufacturing  Surveillance  Medical applications  Assisting disabled individuals  Hazardous environments  Underwater, space and remote locations