1

CS 545: Introduction to Robotics

Instructor: Prof. Hadi Moradi, d dmoradi@usc.edu

Lectures: M-Th 11:00-12:40, GFS118Office hours: MW 2:30 – 4:00 pm, SAL310,

Or by appointmentOr by appointment

TAs: Jeong-Yoon Leejeongyol@usc.eduOffice: SAL 112 Office hours: TTH 1:00-2:30PM

CS 545: Introduction to Robotics

Course web page:Course web page:http://www-scf.usc.edu/~csci545Up to date information, lecture notes Relevant dates, links, etc.

Course material:Course material:Robot Modeling and Control by Spong, Hutchinson, and Vidyasagar

Class format: two sections of 45 minutes

2

CS 545: Introduction to Robotics

Course overview: fundamentals of roboticsCourse overview: fundamentals of robotics including kinematics, dynamics, motion planning and localization.Prerequisites: CS 455x, i.e.,

programming principles, discrete mathematics p g g p p ,for computing, software design and software engineering concepts. Some knowledge of C/C++ for some programming assignments.

CS 545: Introduction to Robotics

Grading:Grading:25% for midterm 25% for final 50% for homeworks and projects

3

Practical issues

Class list: use blackboard usc eduClass list: use blackboard.usc.edu

Login with your USC username and password

Administrative Issues

Midterm: 7/26/09 11:00 12:40pmMidterm: 7/26/09 11:00 - 12:40pm

Final: 8/10/10 11:00 - 12:40pm

See also the class web page:http://blackboard usc edu/http://blackboard.usc.edu/

4

History

Robot: slaveRobot: slaveCoined in 1921: Playwright by Karel Capek

Issac Asimov laws:A robot may not …A robot must …A robot must …A robot must …

Industrial Automation

Rigid automationRigid automation

5

Industrial Automation

Programmable automationProgrammable automationLow-to-midium batches of different types

Industrial Automation

Flexible automationFlexible automation Different types, different batches

6

RobotsIndustrial robots:Industrial robots:

Tasks:PalletingPick up and placeMill and machine toolingPackagingWelding

Mechanical structureActuatorsSensorsControl system

7

Robot examples

PUMA armPUMA armK6

Symbolic Representation of Joints

8

Definitions:Configuration:Configuration:

Configuration space:Set of all possible configurations

State Space:Configuration + velocities

WorkspaceReachable workspaceDexterous workspace (subspace of reachable)

Classification of Robotic Manipulators

Power source:Power source:Hydraulic:Electric:Pneumatic:

Method of control:Open-loopClosed-loopClosed loop

Application area:AssemblyNon-assembly

9

Robotic System

Accuracy vs. Repeatability

Accuracy: How close to a given pointAccuracy: How close to a given pointRepeatability: How close to previously taught point.

10

Linear vs. rotational link

Wirst Structure

11

Articulated Manipulator (RRR)

Workspace of RRR

12

Parallelogram Linkage

h i hWhat is the advantage of putting the actuation on the first link?

SCARA Manipulator (RRP)Selective Compliant Articulated Robot for Assembly

13

Cartesian Manipulator (PPP)

Workspace Comparison

14

Parallel Manipulators

A Typical Problem

15

Coordinate Frames

Forward Kinematics

16

Inverse Kinematics

Inverse Kinematics: Joint angles

17

Velocity Kinematics

Speed of tool based on the speed ofSpeed of tool based on the speed of joints

Singular ConfigurationReduction in DOFReduction in DOF

18

Path planning and Trajectory Planning

Independent Joint Control

19

Other issues

DynamicsDynamicsMultivariable control:Force control:Computer VisionVi i b d t lVision-based control

Issues in industrial robots

DesignDesignKinematicsInverse kinematicsDynamicsI d iInverse dynamics