MIN-Fakult¨ at Department Informatik Universit¨ at Hamburg Introduction to Robotics Introduction to Robotics Jianwei Zhang zhang@informatik.uni-hamburg.de Universit¨ at Hamburg Fakult¨ at f¨ ur Mathematik, Informatik und Naturwissenschaften Department Informatik Technische Aspekte Multimodaler Systeme 04. April 2014 J. Zhang 1
MIN-Fakult¨ at Department Informatik Universit¨ at Hamburg General Information Introduction to Robotics Outline General Information Introduction Architectures of Sensor-based Intelligent Systems Conclusions and Outlook J. Zhang 2
MIN-Fakult¨ at Department Informatik Universit¨ at Hamburg General Information Introduction to Robotics General Information (1) Lecture: Friday 10:15 s.t - 11:45 s.t. F334 Room: Web: http://tams-www.informatik.uni-hamburg.de/lehre/ Name: Prof. Dr. Jianwei Zhang Office: F308 E-mail: zhang@informatik.uni-hamburg.de Consultation hour: (Thursday 15:00 - 16:00) Secretary: Tatjana Tetsis F311 Office: Tel.: +49 40 - 42883-2430 tetsis@informatik.uni-hamburg.de E-mail: J. Zhang 3
MIN-Fakult¨ at Department Informatik Universit¨ at Hamburg General Information Introduction to Robotics General Information (2) Exercises: Friday 9:15 s.t - 10:00 s.t. F334 Room: Web: http://tams-www.informatik.uni-hamburg.de/lehre/ Name: Hannes Bistry Office: F313 Tel.: +49 40 - 42883-2398 E-mail: bistry@informatik.uni-hamburg.de by arrangement Consultation hour: J. Zhang 4
MIN-Fakult¨ at Department Informatik Universit¨ at Hamburg General Information Introduction to Robotics Exercises: Criteria for Course Certificate: ◮ 60 % of points in the exercises ◮ regular presence in exercises ◮ presentation of two tasks ◮ everyone of a group should be able to present the tasks J. Zhang 5
MIN-Fakult¨ at Department Informatik Universit¨ at Hamburg General Information Introduction to Robotics Previous knowledge ◮ Basics in physics ◮ (Basics of electrical engineering) ◮ Linear algebra ◮ Elementary algebra of matrices ◮ Programming knowledge J. Zhang 6
MIN-Fakult¨ at Department Informatik Universit¨ at Hamburg General Information Introduction to Robotics Content ◮ Mathematic concepts (description of space and coordinate transformations, kinematics, dynamics) ◮ Control concepts (movement execution) ◮ Programming aspects (ROS, RCCL) ◮ Task-oriented movement J. Zhang 7
MIN-Fakult¨ at Department Informatik Universit¨ at Hamburg Introduction Introduction to Robotics Outline General Information Introduction Basic terms Robot classification Coordinate systems Concatenation of rotation matrices Inverse transformation Transformation equation Summary of homogenous transformations Architectures of Sensor-based Intelligent Systems Conclusions and Outlook J. Zhang 8
MIN-Fakult¨ at Department Informatik Universit¨ at Hamburg Introduction - Basic terms Introduction to Robotics Introduction Basic terms Components of a robot Robotics: intelligent combination of computers, sensors and actuators. J. Zhang 9
MIN-Fakult¨ at Department Informatik Universit¨ at Hamburg Introduction - Basic terms Introduction to Robotics An interdisciplinary field J. Zhang 10
MIN-Fakult¨ at Department Informatik Universit¨ at Hamburg Introduction - Basic terms Introduction to Robotics Definition of Industry robots According to RIA ( Robot Institute of America ), a robot is: ...a reprogrammable and multifunctional manipulator, devised for the transport of materials, parts, tools or specialized systems, with varied and programmed movements, with the aim of carrying out varied tasks. J. Zhang 11
MIN-Fakult¨ at Department Informatik Universit¨ at Hamburg Introduction - Basic terms Introduction to Robotics Background of some terms “Robot” became popular through a stage play by Karel Capek in 1923, being a capable servant. “Robotics” was invented by Isaac Asimov in 1942. “Autonomous”: (literally) (gr.) “living by one’s own laws” ( Auto: Self; nomos : Law) “Personal Robot”: a small, mobile robot system with simple skills regarding vision system, speech, movement, etc. (from 1980). “Service Robot”: a mobile handling system featuring sensors for sophisticated operations in service areas (from 1989). J. Zhang 12
MIN-Fakult¨ at Department Informatik Universit¨ at Hamburg Introduction - Basic terms Introduction to Robotics A robot’s degree of freedom Degrees of freedom (DOF): The number of independent coordinate planes or orientations on which a joint or end-point of a robot can move. The DOF are determined by the number of independent variables of the control system. ◮ On a plane: translational / rotational movement ◮ In a space: translational / rotational movement - location + orientation ( the maximum DOF of a solid object? ) ◮ The DOF of a manipulator: Number of joints which can be controlled independently. A “Robot” should have at least two degrees of freedom. J. Zhang 13
MIN-Fakult¨ at Department Informatik Universit¨ at Hamburg Introduction - Basic terms Introduction to Robotics A robot’s degree of freedom - Examples • Kuka LBR 4+ robot arm: 7 (without gripper) Shadow Air Muscle Robot Hand: 20 (+4 unactuated joints) • • 80’s Toy Robot (Quickshot): 4 (without gripper) J. Zhang 14
MIN-Fakult¨ at Department Informatik Universit¨ at Hamburg Introduction - Robot classification Introduction to Robotics Robot classification by engine type ◮ electrical ◮ hydraulic ◮ pneumatic J. Zhang 15
MIN-Fakult¨ at Department Informatik Universit¨ at Hamburg Introduction - Robot classification Introduction to Robotics Robot classification by field of work ◮ stationary ◮ arms with 2 DOF ◮ arms with 3 DOF ◮ ... ◮ arms with 6 DOF ◮ redundant arms ( > 6 DOF) ◮ multi-finger hand ◮ mobile ◮ automated guided vehicles ◮ portal robot ◮ mobile platform ◮ running machines and flying robots ◮ anthropomorphic robots (humanoids) J. Zhang 16
MIN-Fakult¨ at Department Informatik Universit¨ at Hamburg Introduction - Robot classification Introduction to Robotics Robot classification by type of joint ◮ translatory (“linear joint”, “translational”, “cartesian”, “prismatic”) ◮ rotatory ◮ combinations J. Zhang 17
MIN-Fakult¨ at Department Informatik Universit¨ at Hamburg Introduction - Robot classification Introduction to Robotics Robot classification by robot coordinate system ◮ cartesian ◮ cylindrical ◮ spherical J. Zhang 18
MIN-Fakult¨ at Department Informatik Universit¨ at Hamburg Introduction - Robot classification Introduction to Robotics Robot classification by usage ◮ object manipulation ◮ object modification ◮ object processing ◮ transport ◮ assembly ◮ quality testing ◮ deployment in non-accessible areas ◮ agriculture and forestry ◮ unterwater ◮ building industry ◮ service robot in medicine, housework, ... J. Zhang 19
MIN-Fakult¨ at Department Informatik Universit¨ at Hamburg Introduction - Robot classification Introduction to Robotics Robot classification by intelligence ◮ manuel control ◮ programmable for repeated movements ◮ featuring cognitive ability and responsiveness ◮ adaptive on task level J. Zhang 20
MIN-Fakult¨ at Department Informatik Universit¨ at Hamburg Introduction - Robot classification Introduction to Robotics Robotics is fun! ◮ robots move - computers don’t ◮ interdisciplinarity: ◮ soft- and hardware technology ◮ sensor technology ◮ mechatronics ◮ control engineering ◮ multimedia, ... ◮ A dream of mankind: "Computers are the most ingenious product of human laziness to date." computers ⇔ robots J. Zhang 21
MIN-Fakult¨ at Department Informatik Universit¨ at Hamburg Introduction - Robot classification Introduction to Robotics Literature The official slides (including more literature references) are available through the TAMS website under ”lectures” Important secondary literature: ◮ K. S. Fu, R. C. Gonzales and C. S. G. Lee , Robotics: Control, Sensing, Vision and Intelligence , McGraw-Hill, 1987 ◮ R. P. Paul , Robot Manipulators: Mathematics, Programming and Control , MIT Press, 1981 ◮ J. J. Craig. Introduction to Robotics , Addison-Wesley, 1989. J. Zhang 22
MIN-Fakult¨ at Department Informatik Universit¨ at Hamburg Introduction - Coordinate systems Introduction to Robotics Coordinate systems The position of objects, in other words their location and orientation in Euclidian space can be described through specification of a cartesian coordinate system (CS) in relation to a base coordinate system (B). P p’ e yK e zK CS e xK p e yB e zB e −− unit vectors p, p’ −− position vectors B e xB J. Zhang 23
MIN-Fakult¨ at Department Informatik Universit¨ at Hamburg Introduction - Coordinate systems Introduction to Robotics Specification of location and orientation position (object-coordinates): ◮ translation along the axes of the base coordinate system (here B) P p’ e yK e zK CS e xK p e yB e zB e −− unit vectors p, p’ −− position vectors B e xB ◮ given by p = [ p x , p y , p z ] T ∈ R 3 J. Zhang 24
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