Robotics 2016 01 Introduction - polito.it · Basilio Bona ROBOTICS 01PEEQW -2015/2016 4 Robot The...
Transcript of Robotics 2016 01 Introduction - polito.it · Basilio Bona ROBOTICS 01PEEQW -2015/2016 4 Robot The...
What is Robotics?
Robotics is the study and design of robots
Robots can be used in different contexts and are classified as
1. Industrial robots
2. Humanoid & biomimetic robots
3. Service robots
4. Exploration robots
5. Service & exploration robots can bea) wheeled (rovers)b) flying (UAS,UAV, Quadcopters, etc.)c) legged
There is a partial overlapping of these classes
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What is Robotics?
Definitions of Robot
� According to Robotics Institute of America
� A reprogrammable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through various programmed functions for the performance of a variety of tasks.
� Oxford American Dictionary
� A machine capable of carrying out a complex series of actions automatically, programmed by a computer
� Merriam-Webster Dictionary
� 1. A machine that looks and acts like a human being. 2. An efficient but insensitive person. 3. A device that automatically performs repetitive tasks. 4. Something guided by automatic controls
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Robot
The term robot, derived from the Slav term robota = executive
labor, was introduced in 1920 by the Czech playwright KarelČapek in the play “Rossum’s Universal Robots”
But the concept behind a robot appeared several years before any real robot was built
� 1818-1942: robots are described either in novels and plays or in science fiction stories (Frankenstein, RUR, Asimov, …)
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Timeline
� 1945: tele-manipulators used for nuclear products processing
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Timeline
� 1948: Grey Walter (UK) builds “turtle robots” Elmer and Elsie
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Timeline
� 1956: Unimation is the first industrial robot firm
� 1961: first robot on GM car lines
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Timeline
� 1970: SRI Shakey
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Timeline
Shakey was the first mobile robot to reason about its actions. Developed by SRI's (Stanford Research Institute) Artificial Intelligence Center from 1966 through 1972.
Shakey has had a substantial legacy and influence on present-day artificial intelligence and robotics.
� Shakey had a TV camera, a triangulating range finder, and bump sensors, and was connected to DEC PDP-10 and PDP-15 computers via radio and video links.
� Shakey used programs for perception, world-modeling, and acting.
� Low-level action routines took care of simple moving, turning, and route planning. Intermediate level actions strung the low level ones together in ways that robustly accomplished more complex tasks.
� The highest level programs could make and execute plans to achieve goals given it by a user.
� The system also generalized and saved these plans for possible future use.
� Similar to human arms with wrist and a final “hand” for holding tools
� Rigid mechanical structure to guarantee accuracy and precision (repeatability)
� 5-6 (rarely 7) dof
� Internal (proprioceptive) joint sensors only *recent developments include vision sensors
� High payloads
� Reduction gears
� Well known and quasi-static environment
� Strict safety requirements
� Externally supplied power
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Industrial robots
� Similar to human body with a torso, two arms, two legs, 2-5 fingered hands
� Complex mechanical structure to guarantee stable bipedal motion
� Many dofs
� Internal and external sensors
� Low payloads
� Reduction gears or direct drives
� Unknown and changing environment: land only
� Limited autonomy
� Safety requirements TBD
� HMI and social acceptance issues
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Humanoid robots
� Similar to animals, insects, fishes, birds, etc.
� May have more than two legs, no legs at all, wings, fins; can walk, crawl, swim, fly
� Internal and external sensors
� Low – medium payloads, depending on structure
� No safety requirements
� Unknown and changing environment: sea, air, land
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Biomimetic robots
� May have different motion structures: mostly wheeled (differential drives or 4-wheels), but UAVs are becoming popular
� Mechanical structure is important, but software is a critical issue
� Internal and external sensors
� Cameras (single, stereo 3D, ToF, omnidirectional)
� Laser scanners and Lidars
� Proximity sensors
� Special purpose, e.g., thermo-cameras
� Low to medium size payloads (according to use)
� HMI is important
� Unknown and changing environment: indoor (flat), outdoor (land, air, underwater)
� Privacy and legal issues important
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Service robots
� Unmanned Aerial (or Autonomous) Vehicles are known due to their use as military drones, but now “quadcopters” are very common
� Civil applications are becoming important
� surveillance and patrolling of large structures and sites
� disaster area analysis; search and rescue (SAR)
� agricultural and environmental remote sensing
� leisure: commercial and filmmaking
� material transport
� Mainly outdoor, but indoor use is gaining interest
� Unknown environment
� Limited payload
� Limited autonomy (battery life is critical) and often tele-operated
� Mostly vision sensors (lightweight)
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UAVs
� Used for planetary or deep space exploration
� e.g., Spirit, Opportunity, Curiosity, future Moon and Mars rovers
� Some used for underwater or harsh environments (volcanoes, Antarctica exploration, etc.)
� Usually tele-operated, but partial autonomy necessary due to long time delays between Earth and Mars
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Exploration robots
� Kinematic Chains: constitutive elements; KC types: open, closed; KC dofs: redundant, non redundant chains
� Industrial robot types: arms and wrists
� Kinematic chains: algorithms for fast computation of direct and inverse position and velocity kinematic functions
� Denavit-Hartenberg conventions and DH parameters
� Homogeneous matrices
� Jacobian matrices
� Statics: kineto-static relations
� Dynamics: Lagrange equations, general form for control
� Control algorithms: independent joints linear control, MIMO nonlinear control
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Course content – 1