Spring 2004, Lecture 1

ME 486 Robotics

ME 486

Robotics

Dept. of Mechanical Engineering

New Mexico State University

Ou MaOffice: JH 515, Email: oma@nmsu.edu, Tel.: (505)646-6534

Spring 2004, Lecture 1

ME 486 Robotics

Fundamental Areas of Robotics

• Kinematics

• Dynamics

• Sensing and Control

• Operations – applications of robots

Spring 2004, Lecture 1

ME 486 Robotics

Course SyllabusCourse Title ME 486 Robotics Spring/2004

INSTRUCTOR: Dr. Ou Ma Office: JH 515 Phone: 646-6534Email: oma@nmsu.edu

ASSISTANTS: Toby Holden

OFFICE HOURS: 9:30-11:30 Tue & Thu or by appointment

CATALOGDESCRIPTION:

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: 20%Project: 20%Midterm exam: 30%Final exam: 30%

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

ME 486 Robotics

• Textbook:– 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: 0-201-09528-9.– 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.

Textbook and References

Spring 2004, Lecture 1

ME 486 Robotics

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

ME 486 Robotics

• Example of Industrial Robots

Introduction

Industrial robots performing spot welding in an automobile assembly line.

Spring 2004, Lecture 1

ME 486 Robotics

• Example of Space Manipulators

IntroductionShuttle arm example

Spring 2004, Lecture 1

ME 486 Robotics

• Example of Space Servicing Robots– SPDM developed by MDR

http://www.mdrobotics.ca

Introduction

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

ME 486 Robotics

• Example of Space Exploration Robots– Spirit robot for JPL’s Mars exploration mission.

http://fido.jpl.nasa.gov/fidomerftest.html

Introduction

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

ME 486 Robotics

• Example of Space/Military Robots– Orbital Express Program.

Introduction

Docking example

Spring 2004, Lecture 1

ME 486 Robotics

• Example of Medical Robots– Zeus Robotic system

http://www.computermotion.com/zeus.html

Introduction

Spring 2004, Lecture 1

ME 486 Robotics

• Example of Servicing Robots– Humanoid Robot built by Honda

http://world.honda.com/robot/

Introduction

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

Play Play

Play Play

Spring 2004, Lecture 1

ME 486 Robotics

• Example of Robot Hands– Hand developed by DLR

http://www.robotic.dlr.de

Introduction

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

ME 486 Robotics

• Examples of Entertainment Robots

Introduction

Robotic dinosaur made by MDR for Universal StudioDOFs: head 26, body 36, others 14Length 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/sBattery-power: swimming for 30 minutes.

Play

Spring 2004, Lecture 1

ME 486 Robotics

• Robotic Animals

Introduction

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.

Roborat:A research project conducted by New York State University.

Spring 2004, Lecture 1

ME 486 Robotics

• Based on Applications– Industrial robots

– Space robots

– Military robots

– Underwater robots

– Medical robots

– Personal assistant robots

– Entertainment robots– … (the list can endlessly grow)

Introduction

Classification of Robotic Systems

• 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

ME 486 Robotics

Introduction

Serial manipulators – a, b, eParallel manipulators – g, h, jTree manipulators – c, dWalk machines – f, I

(i)

(j)

Spring 2004, Lecture 1

ME 486 Robotics

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

Introduction

Spring 2004, Lecture 1

ME 486 Robotics

• Robot Kinematics

Introduction

Forward kinematics – compute end-effector motion in terms of given joint motionInverse kinematics – compute joint motion in terms of given end-effector motion.

Joint motiontrajectory

Fbase

FEE

Forward kinematics End-effectormotion trajectory

Fbase

FEE

Inverse kinematics

Spring 2004, Lecture 1

ME 486 Robotics

• Robot Dynamics

Introduction

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

End-effectormotion trajectory

Fbase

FEE

Joint torques

Fbase

FEE

Forward dynamics

Inverse dynamics

Spring 2004, Lecture 1

ME 486 Robotics

Introduction

• Robot Controls

Robot

Fbas

e

FEE

Sensors

ControllerEnd-effector

task trajectory

TaskCommand

Jointcommand

Feedback

Feedback

Desiredend-effector task

Spring 2004, Lecture 1

ME 486 Robotics

Introduction

• Robot Operations– Human-machine interface

– Task planning

– Collision avoidance

– Supervision

Spring 2004, Lecture 1

ME 486 Robotics

Introduction• Robot Operations