Lectures on Robotics
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1 Lectures on Robotics Outline of the class 1. Introduction: the state of the art in robotics 2. Forward kinematics: homogeneous transformation and DH representation 3. Inverse kinematics and velocity kinematics 4. Analytical mechanics I: constraints and the principle of virtual work 5. Analytical mechanics II: Lagrangian formulation 6. Analytical mechanics III: Hamiltonian mechanics 7. Independent joint control 8. Multivariable control (Lyapunov stability) 9. Task space control 10. Force control 11. Feedback linearization control 12. Other advanced control techniques (sliding mode control, adaptive control)
2 Lectures based on lecture notes which are available as PDF files via Internet. No textbook will be used in this class. List of recommended books on robotics Robot Modeling and Control, M.W.Spong, S.Hutchinson and M.Vidyasagar, John Wiley, Recently revised from previous Robot Dynamics and Control, M.W.Spong and M.Vidyasagar, John Wiley, 1989 Foundations of Robotics, Tsuneo Yoshikawa, MIT Press, 1990 Mathematically challenging, but good books (more on control) A Mathematical Introduction to Robotic Manipulation, R.M.Murray, Z.Li, S.S.Sastry, CRC Press, 1994 Applied Nonlinear Control, J-J.Slotine, W.Li, Prentice Hall, 1991 Nonlinear Control Systems, 3 rd ed. A.Isidori, Springer, 1995 Nonlinear Dynamical Control Systems, H.Nijmeijer, A.v.d.Schaft, Springer, 1993
3 Robot Related Technologies I Element technology III Environmental recognition Sensor Computer vision Actuator Speech recognition Mechanism Tactile sensing Material Artificial intelligence II Control technology IV Robot systems Manipulator Autonomous system Hand Communication Mobility Power resource Sensor applications Reliability, safety, maintenance
4 Element Technology Sensors Interoceptive sensors Position/angle sensor encoder, potentiometer Angular velocity sensor Tachometer, rate gyro Accelerometer piezoelectric, semiconductive Inclinometer, declinometer Exteroceptive sensors Vision sensor panoramic, stereo, active vision Tactile sensor conductive rubber, pneumatic, semiconductive, photosensitive Force sensor strain gauge Proximity sensor infrared, eddy current, laser, capacity Sonar sensor
5 Element Technology Actuators Electric actuators DC servo motor AC servo motor Stepping motor Hydraulic actuators Hydraulic motor, hydraulic cylinder Pneumatic actuators Others Ultrasound motor, shape memory alloy, piezoelectric element, mechanochemical, Micro-organism, magnetostrictive element
6 Element Technology Mechanism Motion transmission mechanism gear, ball screw, timing belt, timing chain, lever, link, cam, traction, fluid transmission Reduction mechanism harmonic drive, non-backlash gear Joint mechanism revolute joint, prismatic joint, universal joint Micro mechanism hinge mechanism, bimorph micro drive, micro machining via photolithography
7 Element Technology Material For robot use For sensor use Structural material Light weight material High stiffness material Vibration-proof material Metal Semiconductor Organic Inorganic Composite material
8 Classification of industrial robots via structure Cartesian Cylindrical Spherical SCARA Articulated Parallel
9 Cartesian robot Gantry robot Orthogonal robot Rectangular robot P-P-P Schematic Skeleton Workspace
10 Cylindrical robot R-P-P Schematic Skeleton Workspace
11 Spherical robot Polar robot R-R-P Schematic Skeleton Workspace
12 SCARA Selective Compliance Articulated Robot Arm Schematic R-R-P Skeleton Workspace
13 Articulated robot R-R-R Schematic Skeleton Workspace
14 Parallel robot Schematic Skeleton Workspace
15 Degree of freedom (DOF) Number of independent variables needed to determine the configuration of a system of interest How many DOF does a planar mobile robot have? Position 2 DOF X, Y Orientation 1 DOF Total 3 DOF
16 How many DOF does a body in 3D space have?
17 This implies that a robot equipped with at least six independent joints (motors) can achieve an arbitrary position and orientation of the end effector within its workspace. A robot with less than six DOF, however, always is subjected to a constrained motion along a certain direction. Given the hand and the shoulder relatively fixed, how can one move his elbow? Human body is very redundant! Hand fixed on the object Shoulder fixed on the body
18 Forward kinematics Joint space variables Task space variables Inverse kinematics 2-DOF serial manipulator Joint space variable q q1, q2 joint angles Task space variable p X, Y tip position
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