What is a Robot? (3) What Can Robots Do? (1) Autonomous Underwater - PDF document

3/16/2016 Robotics MSE 2400 1 2 What is a Robot? (1) What is a Robot? (2) Manipulator Legged Robot Wheeled Robot 3 4 What is a Robot? (3) What Can Robots Do? (1) Autonomous Underwater Vehicle Unmanned Aerial Vehicle Jobs that are dangerous for humans Decontaminating Robot Cleaning the main circulating pump housing in the nuclear power plant 6 5 1

3/16/2016 What Can Robots Do? (2) What Can Robots Do? (3) Repetitive jobs that are boring, stressful, or labor- Menial tasks that human intensive for humans don’t want to do Welding Robot The SCRUBMATE Robot 7 8 Laws of Robots Definition • Asimov proposed three “Laws • Word robot was coined by a Czech of Robotics” novelist Karel Capek in a 1920 play • Law 1: A robot may not injure titled Rossum’s Universal Robots a human being or through (RUR) inaction, allow a human being to come to harm • Robota in Czech is a word for worker or servant • Law 2: A robot must obey Karel Capek orders given to it by human  Definition of robot: beings, except where such orders would conflict with a – A robot is a reprogrammable, multifunctional manipulator higher order law designed to move material, parts, tools or specialized devices • Law 3: A robot must protect its through variable programmed motions for the performance of own existence as long as such a variety of tasks: Robot Institute of America, 1979 protection does not conflict with a higher order law 9 10 History of Robotics (1) History of Robotics (2) • The first industrial 1978: The Puma (Programmable robot: UNIMATE Universal Machine for Assembly) robot is developed • 1954: The first programmable robot is designed by George by Unimation with a General Devol, who coins the term Motors design support Universal Automation. He later shortens this to Unimation, which becomes the name of the first robot company (1962). UNIMATE originally automated the PUMA 560 Manipulator manufacture of TV picture tubes 11 12 2

3/16/2016 History of Robotics (4) History of Robotics (3) 1980s: The robot industry enters a phase of rapid growth. Many institutions introduce programs and courses in robotics. Robotics courses are spread across mechanical engineering, electrical 1995-present: Emerging engineering, and computer science departments. applications in small robotics and mobile robots drive a second growth of start-up companies and research 2003: NASA’s Mars Exploration Rovers will launch toward Mars in search of answers about the history of water on Mars 13 14 Adept's SCARA robots Barrett Technology Manipulator Cognex In-Sight Robot Knowledgebase for Robotics Key Components • Typical knowledgebase for the design and operation of robotics Power conversion systems unit – Dynamic system modeling and analysis – Feedback control Sensors Actuators – Sensors and signal conditioning Controller – Actuators and power electronics User interface – Hardware/computer interfacing – Computer programming Manipulator linkage Disciplines: mathematics, physics, biology, mechanical engineering, electrical engineering, Base computer engineering, and computer science 15 16 Robot Mechanism: Mechanical Elements Robot Base: Fixed v/s Mobile Gear, rack, pinion, etc. Robotic manipulators used in Mobile bases are typically manufacturing are examples of platforms with wheels or tracks fixed robots. They can not attached. Instead of wheels or move their base away from the tracks, some robots employ work being done. legs in order to move about. Cam and Follower Inclined plane wedge Chain and sprocket Lever Slider-Crank 17 Linkage 18 3

3/16/2016 Sensors (2) Sensors (1) • Human senses: sight, sound, touch, taste, and smell provide us vital information to function and survive Vision Sensor: e.g., to pick bins, • Robot sensors: measure robot configuration/condition perform inspection, etc. and its environment and send such information to robot controller as electronic signals (e.g., arm position, presence of toxic gas) Accelerometer Part-Picking: Robot can handle In-Sight Vision Sensors Using Piezoelectric Effect • Robots often need information that is beyond 5 human work pieces that are randomly piled by using 3-D vision sensor. Since senses (e.g., ability to: see in the dark, detect tiny amounts of invisible radiation, measure movement that is alignment operation, a special parts too small or fast for the human eye to see) feeder, and an alignment pallete are not required, an automatic system can be constructed at low cost. Flexiforce Sensor 19 20 Sensors (3) Sensors (4) Force Sensor: e.g., parts fitting and insertion, force feedback in robotic surgery Example Infrared Ranging Sensor Parts fitting and insertion : Robots can do precise fitting and insertion of machine parts by using KOALA ROBOT force sensor. A robot can insert parts • 6 ultrasonic sonar transducers to explore wide, open areas that have the phases after matching • Obstacle detection over a wide range from 15cm to 3m their phases in addition to simply • 16 built-in infrared proximity sensors (range 5-20cm) inserting them. It can automate high- • Infrared sensors act as a “virtual bumper” and allow for skill jobs. negotiating tight spaces 21 22 Sensors (5) Actuators (1) Tilt sensors: e.g., to balance a robot • Common robotic actuators utilize combinations of different electro-mechanical devices – Synchronous motor – Stepper motor Example – AC servo motor – Brushless DC servo motor – Brushed DC servo motor Tilt Sensor Planar Bipedal Robot http://www.ab.com/motion/servo/fseries.html 24 23 4

3/16/2016 Actuators (2) Controller  Provide necessary intelligence to control the manipulator/mobile robot  Process the sensory information and compute the Pneumatic Cylinder control commands for the actuators to carry out Hydraulic Motor Stepper Motor specified tasks DC Motor Pneumatic Motor Servo Motor 25 26 Controller Hardware Industries Using Robotics • Agriculture Storage devices: e.g., memory to store the • Automobile control program and the state of the robot system • Construction obtained from the sensors • Entertainment • Health care: hospitals, patient-care, surgery , research, etc. • Laboratories: science, engineering , etc. • Law enforcement: surveillance, patrol, etc. • Manufacturing • Military: demining, surveillance, attack, etc. • Mining, excavation, and exploration • Transportation: air, ground, rail, space, etc. • Utilities: gas, water, and electric • Warehouses 27 28 What Can Robots Do? Robots In Space Industrial Robots • Material handling • Material transfer • Machine loading and/or unloading Material Handling Manipulator • Spot welding • Continuous arc welding • Spray coating • Assembly NASA Space Station • Inspection Assembly Manipulator Spot Welding Manipulator 29 30 5

3/16/2016 Robots in Hazardous Environments Medical Robots HAZBOT operating in TROV in Antarctica Robotic assistant for atmospheres containing operating under water micro surgery combustible gases 31 32 Future of Robots (1) Robots at Home Artificial Intelligence Sony Aido Sony SDR-3X Entertainment Robot Cog Kismet 33 34 Future of Robots (2) Future of Robots (3) Humanoids Autonomy Robot Work Crews Garbage Collection Cart HONDA Humanoid Robot 35 36 6