Introduction to Robotics PESEcourse Robot Technique Autumn 2004 Ole Madsen

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Introduction to RoboticsPE/SE-courseRobot
TechniqueAutumn 2004Ole Madsen
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Course Objectives

• Purpose
• Introduce the principles of robot operations to
  students.
• Main focus is on methods for controlling of
  industrial robots.
• Learning aims
• Acquire basic knowledge about design/construction
  and use of industrial robots.
• Acquire basic understanding to select methods for
  use of robots in industrial applications and to
  estimate/evaluate demands to the employed robots.
• Acquire knowledge to specifying, purchasing and
  implementing use of robots in industrial
  applications.

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Agenda

• Introduktion
• Hvad er en robot ?
• Robottens bestanddele
• Specifikation af position og orientering

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Robotter i film
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Robotter i virkeligheden
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Fact and Fantasy
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Mennesker vs Robotter
Bedste fodboldspiller nogensinde
Bedste robot fodboldspiller
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Agenda

• Introduktion
• Hvad er en robot ?
• Robottens bestanddele
• Specifikation af position og orientering

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Definition

• Definition a robot is a software-controllable
  mechanical device that uses sensors to guide one
  or more end-effectors through programmed motions
  in a workspace in order to manipulate physical
  objects.

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To klasser af robotter

• Industrirobotter
• Arbejder i stabile og veldefinerede omgivelser
• Begrænset mobilitet
• Relative simple styreprogrammer
• Servicerobotter
• Arbejder I den virkelige verden
• Er mobile
• Kræver en høj grad af autonomi

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Industrirobotter
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Industrirobotter world-wide
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Robotter i Danmark
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Robot anvendelse
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Servicerobotter

• Udforskning af farlige steder
• Militær/Politi
• Sundhedsvæsnet
• I hjemmet
• Legetøj
• Produktion ??

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Agenda

• Introduktion
• Hvad er en robot ?
• Robottens bestanddele
• Specifikation af position og orientering

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A Robot System
Additional equipment
Fixtures
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Robotarmen
Unimation robot fra 1961 (verdens første
industrirobot)
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Articulated robot (RRR)
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Cartesian robot (TTT)
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Scara robot (RRT)
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FlexPicker (ABB)
Fra http//www.abb.com/robotics
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DockWelder
http//www.mip.sdu.dk/dockwelder/
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Mobile robotter
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Gående robotter
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Gående robotter
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RobVision projektet
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Agenda

• Introduktion
• Hvad er en robot ?
• Robottens bestanddele
• Specifikation af position og orientering

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Frihedsgrader
End Effector
Robot Basis
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Description of position and orientation

• Location of objects
• Links of manipulator, Parts, Tools
• Specified by
• frame, coordinate systems

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Example of position and orientation
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Description of a Position

• point position vector

YA
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Description of an Orientation
Often a point is not enough need orientation

• In the example, a description of B with
  respect to A suffices to give orientation
• Orientation System of
  Coordinates
• Directions of B XB, YB and ZB
• In A coord. system AXB, AYB and AZB

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Rotation Matrix

• describes B with respect to A
• Rows of unit vectors of A with respect
  to B

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Description of a Frame

• Frame set of four vectors giving position
  orientation
• Description of a frame position rotation
  matrix
• Ex.

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Homogeneous Transformation Matrix
Replace by the more appealing equation
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Compound Transformation

• If C is known relative to B, and B is
  known relative to A. We want to transform P
  from C to A

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Difficulties of rotation matrices

• R1R2 is not the same as R2R1
• If rotation about the fixed
• pre-multiply
• If rotation about the rotated frame
• post-multiply

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Summery of Rotations

• We saw that a rotation can be represented by a
  rotation matrix
• Matrix has 9 variables
• Rotation matrix can be parameterized in different
  manners
• Roll, pitch and yaw angles
• Euler Angles
• Others

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XYZ fixed Angles (roll,pitch,yaw)

• Start with a frame B coincident with a known
  reference frame A. Make the following rotations
  of B (Pre-multiply)
• rotate B about XA by an angle ?
• rotate about YA by an angle ?
• rotate about ZA by an angle ?

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ZYX Euler angles

• Start with a frame B coincident with a known
  reference frame A. Make the following rotations
  of B (Post-multiply)
• rotate B ZB by an angle ?
• rotate about YB by an angle ?
• rotate about XB by an angle ?

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Equivalent angle-axis

• Start with a frame B coincident with a known
  reference frame A. Then rotate B about the
  vector AK by an angle ? according to the
  right-hand rule.

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Quaternions (Euler parameters)

• Used by e.g.. ABB-robots.
• Start with a frame B coincident with a known
  reference frame A. Then rotate B about the
  vector AK by an angle ? according to the
  right-hand rule. The quaternions are

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Problems

• CRAIG
• 2.1
• 2.2
• 2.3
• 2.13
• 2.27
• 2.30