chapter3-introduction to robotic

CHAPTER 3

Introduction to Robotics

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INDUSTRIAL AUTOMATION AND ROBOTICS

• The word "robot" originated from the Czechword “robota”, meaning forced labour. It wasintroduced by playwright Karel Capek in 1921.

• Robot Maria appeared in the 1927 movie„Metropolis‟.

• The word robotics appeared in Isaac Asimov'sscience-fiction story "Runaround" in 1942.

Historical Overview

Isaac Asimov

• In 1954, George C. Devol files a patent for the first programmable robot, which capable of performing industrial tasks.

• In 1961, G.C. Devol with Joseph Engelberger works for Unimation to develop the first industrial robot, called Unimate. It used hydraulic actuators and was programmed in joint-coordinates.

Historical Overview

http://en.wikipedia.org/wiki/File:George_C_Devol_Color_Photo.jpg

• In 1962, General Motors installed a Unimate robot on one of its automobile assembly lines.

• In 1969, Victor Scheinman from Stanford University, designed the robot arm called Stanford Arm, an all electric, 6-axis articulated robot.

Historical Overview

Unimate

Stanford Arm

• In 1977, Scheinman sold his design to Unimation, which further developed it with General Motors, into the PUMA robot.

• In 1980s, the robot industry enters into a maturing period as industry recognizes that robots are integrated part of automation.

Historical Overview

End

Historical Overview

♦ There is no standard definition that can be agreed upon by all, to describe the meaning of robot. Hence, to pick which machines can qualify as robots is not so straight forward practice.

♦ However, there is a common understanding among many people that a robot must have several essential characteristics before it can be accepted as robot. The characteristics are as follows:

Able to move around in its environment Able to sense and manipulate its environment Able to power itself Able to display some form of intelligent Able to imitate human or animal behaviour

Basic Robotics

Basically, you may imagine a robot as a mechanical device that can moves and performs automated (semi- or fully-) tasks, with electronic control system at its heart.

The robot is controlled by a stored program and is reprogrammable, meaning that the program can be changed to fit the requirements of different jobs.

The robot should be multi-functional, meaning that it able to perform more than one function. The same robot can be used to perform varying jobs.

Basic Robotics

Robotics is the science and technology of robots, requiring multi-disciplinary fields, and to name several;

Mechanical engineering Electrical and electronics engineering Computer science and computer engineering Sensory technology Control theory Materials science Mathematics, Physics and Biology

Specific knowledge involves are; Dynamic, Kinematic, Feedback Control, Sensors and signal conditioning, Actuators and power electronics, Computer interfacing, Software and programming.

Basic Robotics

Various types of robots are in use today, and they may be categorized in a number of ways, for example based on their number of degree of freedom, types of structure, types of applications, degree of autonomous, and etc. However, here we divide them into two main categories, which reflects their big area of applications;

Industrial

Non-industrial

Basic Robotics

Mostly manipulator types, and specifically used in manufacturing operations, that are automatically controlled, reprogrammable, multipurpose, programmable, and have in three or more axes.

Other robots that are not used in manufacturing plants, exist in sectors such as agriculture, medical, military, etc.

The Robot Industries Association (RIA – formerly Robot Institute of America) developed the following definition to help identify machines that can be classified as industrial robots:

“A robot is a reprogrammable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks.”

Based on the ISO/TR/8373-2.3 standard, an industrial robot is officially defined as:

“Automatically controlled, reprogrammable, multipurpose manipulator programmable in three or more axes, which may be either, fixed in place or mobile for use in industrial automation applications.”

Industrial Robots

The worldwide manufacturing sector continues to established as the main users of robots. The total unit sales of world industrial robot for the year 2008 was 113,345 units, with a value of about US$6.2 billion. It is projected that for the period between 2010 and 2012, there will be an increase of about 15% per year.

For the year 2008, Japan maintains as the country with largest installation of new robots, with about 33,100 installations. North America is second with 16,200 installations, and third is Germany with 15,200 installations.

36% of the industrial robots were installed for the automotive manufacturing. Electrical/electronics industry account for about 11.8%. Chemical, rubber and plastics industry account for 11%. Other biggest users are metal products, machinery and food industries.

Industrial Robots

The market share for industrial robots based on the types of robots are as follows;

Articulated 60%

Gantry (Cartesian) 22%

Industrial Robots

robot with rotary joints (e.g. a legged robot or an industrial robot). Articulated robots can range from simple two-jointed structures to systems with 10 or more interacting joints.

an industrial robot whose three principal axes of control are linear (i.e. they move in a straight line rather than rotate) and are at right angles to each other. The simplest application is used in milling and drawing machines where a pen or router translates across an x-y plane

The market share for industrial robots based on the types of robots are as follows;

SCARA 13%

Cylindrical 4%

Industrial Robots

stands for Selective Compliant Assembly Robot Arm or Selective Compliant Articulated Robot Arm. The arm is slightly compliant in the X-Y direction but rigid in the „Z‟ direction, hence the term: Selective Compliant. This is advantageous for many types of assembly operations, i.e., inserting a round pin in a round hole without binding.

the motion of this robot is basically up and down at the main part of the body and circular at the base. The motion is perform by extending a cylinder that is built into the arm.

Area of application Welding Spray painting Assembly Palletizing and material handling Finishing Inspection and testing

Industrial Robots

Welding

The most popular industrial applications for robots, especially in the automotive industry.

Types of welding: Spot and Arc welding.

Industrial Robots

Spray painting

It can provide consistency (uniform & quality), repeatability, & less waste (cutting cost).

Industrial Robots

Assembly

Tasks are tedious and repetitive in nature Mechanical parts (small parts less than 1 kg) Electronic parts (auto insertion on PCB, wafer

handling, soldering, harddisk assembly)

Industrial Robots

Palletizing and material handling

Loading & unloading material onto pallets For casting, molding, forging, stamping, machine

tool, etc.

Industrial Robots

Finishing

Grinding and polishing

Industrial Robots

Inspection & testing (measurement)

Visual inspection, Ultrasonic inspection, X-ray inspection

Industrial Robots

Inspection & testing (measurement)

Automated visual inspection

Industrial Robots

Welding InspectionFor automobile manufacturing

Car industryCeramic filters inspection, colour

measurement on dash board components

The use of robots in other areas has been growing, and this non-industrial robots are grouped into a category called Service Robots. But difficult to define because the multitude of forms and structure of the robot as well as the application areas.

A provisional definition by IFR (International Federation of Robotics) describe a service robot as:

“A service robot is a robot which operates semi- or fully autonomously to perform services useful to the well-being of humans and equipment, excluding manufacturing operations.”

With this definition, manipulating industrial robots could also be regarded as service robots, provided they are installed in non-manufacturing operations. Service robots may or may not be fitted with a manipulator arm structure, and often that, the service robots are mobile.

Service Robots

The nature of applications for service robots are varied and they are used in unstructured and dynamic environments, such as construction, forestry, agriculture, mining, subsea, highways, search and rescue, military, space, etc. The robots perform non-repetitive tasks and objective sensing as well as self-navigation in random environments.

20,000 units are being used in defense, rescue and security applications, which accounted for more than 30% of total service robots for professional use sold up until 2008.

Other sectors for service robots are milking (23%), cleaning (9%), medical and underwater (8%), construction and demolition (7%), mobile platforms for general use (6%), logistic systems (5%).

Service Robots

Service robots may further be divided into 2 sub-groups, one “for professional use” and second “for personal and domestic use”.

The areas for service robots for professional use are:

Field robotics Professional cleaning Inspection and maintenance systems Construction and demolition Logistic systems Medical robotics Defense, rescue & security applications Underwater systems Mobile platforms in general use Robot arms in general use

Service Robots

The areas for service robots for personal and domestic use are:

Domestic tasks (including vacuum cleaning and lawn-mowing)

Entertainment robots (including toy robots and hobby systems)

Handicap assistance Automated personal transportation Home security and surveillance Humanoid robots

Service Robots

Field Robots

Precision farming using autonomous field operations.

Service Robots

Autonomous tractor with a centered mower

Milking robot

Vegetables harvesting

Cleaning Robots

Street cleaning, Window cleaning, Underwater (pool) cleaning, Office cleaning.

Service Robots

Street cleaning (Figla)

Window Cleaning (Gecko, SERBOT AG)

Under water Cleaning (Urakami)

Pool Cleaning (Verro 600, iRobot)

Inspection and maintenance systems

Service Robots

Robot inspect wind turbines

Eddy current test robot for cooling water pipelines, using video and laser

(Inspector 6000, INSPECTOR SYSTEMS)

Compact Magnetic Wheeled Inspection

Robot with High Mobility (Magnebike,

ETH ZURICH-ALSTOM)

Construction and demolition

Most construction jobs are repetitious, labor-intensive, and dangerous, which perfectly suited for robot automation.

From laying brick, to handling delicate windows and insulation. Some robots have even been used to build prefabricated walls, and can vertically dispense concrete.

Service Robots

Remote operation Demolition robot using radio controlExcavator (Brokk)

Logistic systems

Moving materials, goods and people. At present less than 15% of the end-to-end

distribution process has been considered for automation.

There is a large demand for the development and integration of robot-systems within logistics with the aim being to make the processes of logistics more efficient and the work easier.

Service Robots

Medical Robotics

Shared-control robotic systems assist surgeons performing surgery. The surgeon does most of the work, while the robotic system monitors the surgeon‟s performance and provide active support.

Pharmacy automation

Service Robots

Prepares a robotic surgery system for heart surgery

Surgeon using a Photomedix electro-mechanical manipulator

Defense, rescue & security applications

Unmanned Aerial Vehicles (UAVs) – Surveillance & reconnaissance, navigation

Unmanned Ground Vehicles (UGV) – Surveillance & reconnaissance

Bomb detection and disposal Search and rescue

Service Robots

Rescue Robot (T-52, TmSuk)

Bomb disposal

Underwater systems

Deep water remotely operated vehicle (ROV). Applied in offshore oil & gas industry to assist in the development of offshore oil fields.

Inspection of subsea structures, pipeline and platforms. Locate shipwrecks and recover material from the sea floor.

Used widely by the science community to study the ocean.

Service Robots

Space Exploration

Deep water remotely operated vehicle (ROV). Applied in offshore oil & gas industry to assist in the development of offshore oil fields.

Inspection of subsea structures, pipeline and platforms. Locate shipwrecks and recover material from the sea floor.

Used widely by the science community to study the ocean.

Service Robots

Robot arms in general use

Used in other than the industrial manufacturing sector.

Service Robots

Agriculture, Grapevine Pruner (3-D vision technology)

Educational

Domestic tasks

Vacuum Cleaning Lawn Mowing

Service Robots

The Future

LG RoboKing (V-R4000)

ECO-G158

Entertainment robots

Toy robots, hobby, and games.

Service Robots

Handicap Assistance

Service Robots

Legged human carrier

Powered assistive Limb/suits

Elevating Wheelchair

iBot 4000 Wheelchair

Automated personal transportation

Service Robots

Segway

Honda

Toyota

Home security and surveillance

Internet-enabled, Mobile phone-controlled, GPS-enabled, in-home care & security.

Service Robots

Internet-enabled Mobile phone-controlled robot for in-home care & security (Fujitsu, MARON-1)

Monitor 1 mile area using GPS (Securo)

Rovio, mobile webcam

Humanoid Robots

Imitates humans (humanoid) & animals bio-mechanics

Service Robots

Mobile Robots

Mobile Robots

MiRoC

Mobile Robots

Robocon

Mobile Robots

SmartCar

Mobile Robots

• A robot architecture primarily refers to both the software and hardware structure of the robot.

• Examples of a robot‟s hardware structure are;• Fixed base or mobile base• 2- or more axis• Wheeled or legged or flying mobile• With or without manipulator arm, etc.

• Examples of a robot‟s software structure are;• C language on 8-bit or 16-bit platform • Software polling or interrupt• Opened-loop or Closed-loop control• PID or fuzzy logic scheme• Single-tasking or multi-tasking, etc.

Robot Architecture

• A physically functional robot is based on proper integration of the hardware and software structures.

• Robots may have physical appearances and functionalities that are very different from one another, but their architectures are formed from some common elements;

• Controller• Sensors• Actuators• Software• User interface• Power system• Base and linkages

Robot Architecture


Robot Architecture

Controller is central to the robot’s control system, which process the program with aim to control the

robot’s motion

Actuators produce movement for the robot in the form of navigation and manipulation

Sensors measure some parameters from the environment& these data are fed back to the controller for analysis

Primary source of power that supplies energy to the control systems,

actuators & sensors.

The program commands robot to do various functions such as; Navigation, Manipulation, Sensing,

Communication, Data processing

To sent and receive input from user to controller

Provides base and physical structure in the forms of manipulator, wrist & end-

effector


Robot Architecture

Mechanical structure(Hardware)

Electrical and Electronics (hardware)

Electrical Power (Hardware)

Software

The Technology Fields


Robot Architecture

Controller

Software

PowerConversion

Sensors Actuators

PowerSource

Base & linkages

User Interface

The blocks representing a basic robot’s architecture


Robot Architecture

A mobile robot


Robot Architecture

Hydraulic-electrical Power Unit

Controller(Software and user

interface)

Actuators at every axis

Base

An industrial robot arm

• Having common elements for their architectures, robots may be categorised based on their types of base structure. Two types of structures can be established.

Robot Architecture

Fixed base manipulator robot

Mobile base robot

The base is fixed to the floor and the manipulator can moves around in the workspace within the reach from the base to perform tasks.

The base has a form of locomotion for the robot to move around in the environment to perform tasks.

• Different types of fixed base manipulator robots:

Robot Architecture

Cartesian

Spherical

Cylindrical

Articulated

• Different types of mobile base robots:

Robot Architecture

Wheeled

Legged

• Different types of mobile base robots:

Robot Architecture

Aerial (Flying)

Submersible (in/on water)

• The primary function of a robot is to perform appropriate movements according to its required application. A robot can execute two types of motions:

• Manipulation: movement of a manipulator to do specific tasks in its environment.

• Navigation: movement of a mobile base robot in its environment.

Robot Architecture

Navigation

Manipulation

• The primary function of a robot is to perform appropriate movements according to its required application. A robot can execute two types of motions:

• Manipulation: movement of a manipulator to do specific tasks in its environment.

• Navigation: movement of a mobile base robot in its environment.

• A manipulator and a mobile platform can merge together into a single robot.

Robot Architecture

Navigation

Manipulation

• The robot‟s movements are controlled by the internal controller, directed through the software programmed into it. The controller could store several different programs and can be modified if necessary.

• Other functions can be programmed and processed by the controller are such as;

• Sensing the environment• Processing data and making decision• Communication between user or other devices

Robot Architecture

• Controller is central to the robot‟s control system, which processes the program to perform the desired tasks.

• The program controls the actuators to produce output action (motion) on the robot, in the form of navigation and manipulation.

Robot Architecture

Program

Controller Actuators PlantOutput

(Motion)

Navigation and/or ManipulationInput

(DesiredTasks)

• Sensors are used to measure the performances of the output, and also to measure some parameters from the environment. These data are fed back to the controller for analysis and decision making.

Robot Architecture

Sensors

Program


(Motion)

Navigation and/or Manipulation

Position, orientation, obstacles, speed, light, etc.

Input(DesiredTasks)

• Controller may receive input from user or operator through a user interface.

• The controller is equipped with input and output ports to send signal to actuators and receive signal from sensors or user.

Robot Architecture

Sensors

Program


(Motion)

Navigation and/or Manipulation

Position, orientation, obstacles, speed, light, etc.

Input(DesiredTasks)

User Interface

• The types of controller to choose will depends largely on the functions and nature of the robot tasks. Some are more complex than the others.

• A complex motion control scheme demands for high performance processors to process them, or a basic motion can be controlled by a low end basic processors.

• Besides embedded controller, PLC and PC can be used as controllers for robots.

Robot Architecture

• A robot structure is located relative to the ground by a fixed or mobile base.

• A fixed base manipulator consists of several rigid parts that are connected in series and can move through space. The rigid parts are called links. A robot can has many links.

Robot Mechanism

Link 1

Link 2

Link 3

Joint 1 (Axis 1)

Joint 2 (Axis 2)

Joint 3 (Axis 3)

• Two links are connected together by a joint, or also known as axis of motion. Actuators are placed at the joints to allow relative motion of two links.

Link 1

Link 2

Link 3

Joint 1 (Axis 1)

Joint 2 (Axis 2)

Joint 3 (Axis 3)

Example with an articulated robot

arm

Base (fixed)

Link 1

Link 2

Link 4

Link 5 Link 3

Robot Mechanism

• A mobile base robot contains links and joints between the base and the locomotion medium (e.g. wheels, legs, propeller, etc).

• Similarly, actuators may be placed at the joints to allow relative motion (mobility) of the base.

Wheeled Mobile Robot

Base (mobile)

Joint 1

Joint 2

Joint 3

Robot Mechanism

• The joints in a robot are normally restricted to one degree of freedom. That means, each axis equals one degree of freedom.

• There are 2 basic types of joints: Revolute and Prismatic joints.

• Most electric motors could produce revolute motion.

Robot Mechanism

Revolute Joint: Produces a rotational motion along the axis

with some angular velocity

• The joints in a robot are normally restricted to one degree of freedom. That means, each axis equals one degree of freedom.

• There are 2 basic types of joints: Revolute and Prismatic joints.

• Hydraulic and pneumatic actuators naturally produce linear motion, but there are also electric motors that can generate linear motion.

Robot Mechanism

Prismatic Joint: Produces a linear or sliding motion along a joint axis with some linear velocity

• The degree to which the joints can move (revolute and prismatic) in any direction is called the degree of freedom (DOF).

• It refers to the number of different ways in which a robot manipulator arm can move to position and orientate the end-effector.

• For a typical manipulator arm robot, the number of joints equals the number of degrees of freedom. Each joint position is usually defined with a single variable.

• A robotics system with several bodies (links) would have a combined DOF that is the sum of the DOFs of the bodies, less the internal constraints they may have on relative motion

Robot Mechanism

chapter3-introduction to robotic

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