CE801: Intelligent Systems and Robotics Lecture 3: Actuators and Localisation. Prof. Dr. Hani Hagras

Save this PDF as:
 WORD  PNG  TXT  JPG

Size: px
Start display at page:

Download "CE801: Intelligent Systems and Robotics Lecture 3: Actuators and Localisation. Prof. Dr. Hani Hagras"

Transcription

1 1 CE801: Intelligent Systems and Robotics Lecture 3: Actuators and Localisation Prof. Dr. Hani Hagras

2 Robot Locomotion Robots might want to move in water, in the air, on land, in space.. 2 Most of the mechanisms for locomotion has equivalent in nature One important exception: the powered wheel! Biological energy storage and the muscular and hydraulic activation systems much better than man-made systems

3 Wheeled Locomotion: Car-like drive Car-like drive Two motors: one to drive, one to steer. 3

4 Wheeled Locomotion: Differential Drive 4 Two motors, one per wheel Wheels run at equal speeds for straight-line motion Wheels run at equal and opposite speeds to turn on the spot Other combinations of speeds lead to motion in a circular arc

5 Synchro drive One motor for translation, One motor for rotation Wheels mechanically coupled Turns without turning body For example Nomad200 robot 5

6 Skid-steer Drive More common for outdoor platforms Wheels or tracks Turn by applying different speed to wheels Skidding makes it hard to predict motion Extremely energy inefficient when friction is high 6

7 Exotic Wheeled Robots Segway platform with dynamic balance gives good height with small footprint and high acceleration Mars Rover has wheels on stalks to tackle large obstacles A robot with several omni-directional wheels on axles at angles can travel in any instantaneous direction (holonomic) 7

8 Non-holonomic constraint A vehicle is holonomic if the number of local degrees of freedom of movement equals the number of global degrees of freedom. A car is non-holonomic: the global degrees of freedom are motion in x,y and heading. However locally, a car can only move forward or turn. It cannot slide sideways. 8

9 Legged Locomotion Need at least 2 DOF to move leg forward Lift Swing Gait = sequence of lift and release events for the individual legs Robot legs often have 3 joints A fourth ankle joint can improve walking More DOFs increase complexity, weight and power requirements Human leg has more than 7 DOFs plus toes 9

10 Need to hop to move One Leg Robots Could in principle handle quite rough terrain Balance is the major challenge Static stability not possible The Raibert hopper from MIT Springs can capture kinetic energy and help increase efficiency 10

11 Biped Walking Biped walking can be approximated by a rolling polygon Smaller steps gives closer to rolling circle 11

12 Four Legged Robots (Quadrupeds) Can be statically stable when standing still Walking still challenging Example Sony Aibo, BigDog 12

13 Electronic actuators Hydraulic actuator Pneumatic actuators Air Muscle Actuators Shadow Hand by the Shadow Robot Company, London Actuated using air muscles (most joints have an opposite pair) 13

14 Electric Actuators 14

15 DC Motors Electric Actuators Most common motors, available in all sizes and types Simple control with voltage or pulse width modulation Advanced control with encoder and feedback Step Motors 15 Motion in precise increments controlled by electrical pulses Used when open-loop precise is required and desired torque is small (printers, disk drives)

16 Disadvantages Electric Actuators Inherently high speed with low torque, hence gear trains or power transmission units are needed 16 Gear backlash limits precision Electrical arcing may be a consideration in flammable atmospheres Problems of overheating in stalled condition Brakes are needed to lock them in position

17 Localisation 17 Autonomous robots are equipped with various sensors to see" the environment where they are committed to operate. One of the fundamental problems for autonomous operations is to find its location information. For ground mobile robots, the information includes a 2D coordinate (x; y) and an orientation (heading). Often the location information is called robot pose. For flying robots and underwater robots, a robot pose consists of 3D coordinate (x; y; z) and three angles around three axes. The localization problem, well known as a question Where am I?" in robotics, is stated as given the map of the environment and sensor's readings, to find out the pose of the robot.

18 Localisation 18 For outdoor environments, although the GPS can provide the global coordination, the accuracy is questionable for some tasks. For indoor environments, the GPS signal is not accurate or even not available. The on-board sensor based approaches are a key technique for localization, which is targeted by robotic research community for many years.

19 Triangulation and Trilateration The straightforward way for localization is the triangulation or trilateration methods in geometry. The triangulation is the process of determining the location of a point by measuring angles to it from known points. The trilateration is the process of determining the location of a point by measuring distances to it from known points. For 2D cases, the location of a point is calculated when the angle (or distance) measurements from three different beacons are known. 19

20 Trilateration 20

21 Triangulation 21

22 Measurement Noise 22 The localization results of the triangulation or trilateration methods are very sensitive to the noise in angle or distance measurements. The localization performance is not ideal for robot navigation. Mobile phone uses the trilateration method to provide the locating service. It does not measure the distance, but RSS (received signal strength) which is converted into distance value. Even worse, the three angle or distance measurements are not obtained simultaneously as the robot moves forward. The time compensation in the triangulation or trilateration methods has been developed, but the performance is still not satisfactory. Handling the noise in angle/distance measurements or any other sensory measurements leads to various probability based approaches. Kalman filter is a known probability based approach to deal with noise

23 Kalman Filter Kalman filter is a powerful tool in dealing with noise in the sensory measurements. 23 Kalman filter for robot localization has been successfully developed for many years The Kalman filter is an efficient recursive filter that estimates the state of a dynamic system from a series of noisy measurements.

24 KF Conceptual Overview To simplify the presentation, a one dimensional case is chosen to illustrate how to use KF for localization. The robot true position is x k at time step k, which we don't know and we want to estimate. The robot moves along the x direction with a dynamic state equation: 24 w k is a Gaussian noise with zero mean and variance q, representing the movement uncertainty. Assume the robot has a GPS device and it provides the noisy measurement z k at time step k. The measurement equation is: v k is a Gaussian noise with zero mean and variance r, representing the measurement noise.

Definitions. A [non-living] physical agent that performs tasks by manipulating the physical world. Categories of robots

Definitions. A [non-living] physical agent that performs tasks by manipulating the physical world. Categories of robots Definitions A robot is A programmable, multifunction manipulator designed to move material, parts, tools, or specific devices through variable programmed motions for the performance of a variety of tasks.

More information

3D Vision An enabling Technology for Advanced Driver Assistance and Autonomous Offroad Driving

3D Vision An enabling Technology for Advanced Driver Assistance and Autonomous Offroad Driving 3D Vision An enabling Technology for Advanced Driver Assistance and Autonomous Offroad Driving AIT Austrian Institute of Technology Safety & Security Department Christian Zinner Safe and Autonomous Systems

More information

Path Tracking for a Miniature Robot

Path Tracking for a Miniature Robot Path Tracking for a Miniature Robot By Martin Lundgren Excerpt from Master s thesis 003 Supervisor: Thomas Hellström Department of Computing Science Umeå University Sweden 1 Path Tracking Path tracking

More information

3D Vision An enabling Technology for Advanced Driver Assistance and Autonomous Offroad Driving

3D Vision An enabling Technology for Advanced Driver Assistance and Autonomous Offroad Driving 3D Vision An enabling Technology for Advanced Driver Assistance and Autonomous Offroad Driving AIT Austrian Institute of Technology Safety & Security Department Manfred Gruber Safe and Autonomous Systems

More information

Robotics. Lecture 3: Sensors. See course website http://www.doc.ic.ac.uk/~ajd/robotics/ for up to date information.

Robotics. Lecture 3: Sensors. See course website http://www.doc.ic.ac.uk/~ajd/robotics/ for up to date information. Robotics Lecture 3: Sensors See course website http://www.doc.ic.ac.uk/~ajd/robotics/ for up to date information. Andrew Davison Department of Computing Imperial College London Review: Locomotion Practical

More information

UNIT II Robots Drive Systems and End Effectors Part-A Questions

UNIT II Robots Drive Systems and End Effectors Part-A Questions UNIT II Robots Drive Systems and End Effectors Part-A Questions 1. Define End effector. End effector is a device that is attached to the end of the wrist arm to perform specific task. 2. Give some examples

More information

Robotics. Chapter 25. Chapter 25 1

Robotics. Chapter 25. Chapter 25 1 Robotics Chapter 25 Chapter 25 1 Outline Robots, Effectors, and Sensors Localization and Mapping Motion Planning Motor Control Chapter 25 2 Mobile Robots Chapter 25 3 Manipulators P R R R R R Configuration

More information

E190Q Lecture 5 Autonomous Robot Navigation

E190Q Lecture 5 Autonomous Robot Navigation E190Q Lecture 5 Autonomous Robot Navigation Instructor: Chris Clark Semester: Spring 2014 1 Figures courtesy of Siegwart & Nourbakhsh Control Structures Planning Based Control Prior Knowledge Operator

More information

Onboard electronics of UAVs

Onboard electronics of UAVs AARMS Vol. 5, No. 2 (2006) 237 243 TECHNOLOGY Onboard electronics of UAVs ANTAL TURÓCZI, IMRE MAKKAY Department of Electronic Warfare, Miklós Zrínyi National Defence University, Budapest, Hungary Recent

More information

FRC WPI Robotics Library Overview

FRC WPI Robotics Library Overview FRC WPI Robotics Library Overview Contents 1.1 Introduction 1.2 RobotDrive 1.3 Sensors 1.4 Actuators 1.5 I/O 1.6 Driver Station 1.7 Compressor 1.8 Camera 1.9 Utilities 1.10 Conclusion Introduction In this

More information

Static Environment Recognition Using Omni-camera from a Moving Vehicle

Static Environment Recognition Using Omni-camera from a Moving Vehicle Static Environment Recognition Using Omni-camera from a Moving Vehicle Teruko Yata, Chuck Thorpe Frank Dellaert The Robotics Institute Carnegie Mellon University Pittsburgh, PA 15213 USA College of Computing

More information

Mobile robots. Structure of this lecture. Section A: Introduction to AGV: mobile robots. Section B: Design of the ShAPE mobile robot

Mobile robots. Structure of this lecture. Section A: Introduction to AGV: mobile robots. Section B: Design of the ShAPE mobile robot slide n. 1 Mobile robots Development of the ShAPE mobile robot Ing. A.Tasora Dipartimento di Ingegneria Industriale Università di Parma, Italy tasora@ied.unipr.it slide n. 2 Structure of this lecture Section

More information

Mobile Robotics I: Lab 2 Dead Reckoning: Autonomous Locomotion Using Odometry

Mobile Robotics I: Lab 2 Dead Reckoning: Autonomous Locomotion Using Odometry Mobile Robotics I: Lab 2 Dead Reckoning: Autonomous Locomotion Using Odometry CEENBoT Mobile Robotics Platform Laboratory Series CEENBoT v2.21 '324 Platform The Peter Kiewit Institute of Information Science

More information

Longitudinal and lateral dynamics

Longitudinal and lateral dynamics Longitudinal and lateral dynamics Lecturer dr. Arunas Tautkus Kaunas University of technology Powering the Future With Zero Emission and Human Powered Vehicles Terrassa 2011 1 Content of lecture Basic

More information

Lecture 07: Work and Kinetic Energy. Physics 2210 Fall Semester 2014

Lecture 07: Work and Kinetic Energy. Physics 2210 Fall Semester 2014 Lecture 07: Work and Kinetic Energy Physics 2210 Fall Semester 2014 Announcements Schedule next few weeks: 9/08 Unit 3 9/10 Unit 4 9/15 Unit 5 (guest lecturer) 9/17 Unit 6 (guest lecturer) 9/22 Unit 7,

More information

Robotics and Automation Blueprint

Robotics and Automation Blueprint Robotics and Automation Blueprint This Blueprint contains the subject matter content of this Skill Connect Assessment. This Blueprint does NOT contain the information one would need to fully prepare for

More information

Gear Trains. Introduction:

Gear Trains. Introduction: Gear Trains Introduction: Sometimes, two or more gears are made to mesh with each other to transmit power from one shaft to another. Such a combination is called gear train or train of toothed wheels.

More information

MSc in Autonomous Robotics Engineering University of York

MSc in Autonomous Robotics Engineering University of York MSc in Autonomous Robotics Engineering University of York Practical Robotics Module 2015 A Mobile Robot Navigation System: Labs 1a, 1b, 2a, 2b. Associated lectures: Lecture 1 and lecture 2, given by Nick

More information

Robotics & Automation

Robotics & Automation Robotics & Automation Levels: Grades 10-12 Units of Credit: 1.0 CIP Code: 21.0117 Core Code: 38-01-00-00-130 Prerequisite: None Skill Test: 612 COURSE DESCRIPTION Robotics & Automation is a lab-based,

More information

ROBOTICS 01PEEQW. Basilio Bona DAUIN Politecnico di Torino

ROBOTICS 01PEEQW. Basilio Bona DAUIN Politecnico di Torino ROBOTICS 01PEEQW Basilio Bona DAUIN Politecnico di Torino Probabilistic Fundamentals in Robotics Robot Motion Probabilistic models of mobile robots Robot motion Kinematics Velocity motion model Odometry

More information

1. SYSTEM OVERVIEW. 1) Basic Theory of ABS Function 10-3 4891-01

1. SYSTEM OVERVIEW. 1) Basic Theory of ABS Function 10-3 4891-01 10-3 1. SYSTEM OVERVIEW When braking suddenly or braking on slippery roads, the vehicle keeps moving forward but the wheels are locking and not rotating. If these happen, the vehicle may lose stability

More information

Artificial Intelligence

Artificial Intelligence Artificial Intelligence Robotics RWTH Aachen 1 Term and History Term comes from Karel Capek s play R.U.R. Rossum s universal robots Robots comes from the Czech word for corvee Manipulators first start

More information

E/ECE/324/Rev.1/Add.12/Rev.7/Amend.4 E/ECE/TRANS/505/Rev.1/Add.12/Rev.7/Amend.4

E/ECE/324/Rev.1/Add.12/Rev.7/Amend.4 E/ECE/TRANS/505/Rev.1/Add.12/Rev.7/Amend.4 6 December 2012 Agreement Concerning the adoption of uniform technical prescriptions for wheeled vehicles, equipment and parts which can be fitted and/or be used on wheeled vehicles and the conditions

More information

CNC HARDWARE & TOOLING BASICS

CNC HARDWARE & TOOLING BASICS Computer Aided Manufacturing (CAM) CNC HARDWARE & TOOLING BASICS Assoc. Prof. Dr. Tamer S. Mahmoud 1. Parts of CNC Machine Tools Any CNC machine tool essentially consists of the following parts: Part Program,

More information

Obstacle Avoidance Design for Humanoid Robot Based on Four Infrared Sensors

Obstacle Avoidance Design for Humanoid Robot Based on Four Infrared Sensors Tamkang Journal of Science and Engineering, Vol. 12, No. 3, pp. 249 258 (2009) 249 Obstacle Avoidance Design for Humanoid Robot Based on Four Infrared Sensors Ching-Chang Wong 1 *, Chi-Tai Cheng 1, Kai-Hsiang

More information

Industrial Robotics. Training Objective

Industrial Robotics. Training Objective Training Objective After watching the program and reviewing this printed material, the viewer will learn the basics of industrial robot technology and how robots are used in a variety of manufacturing

More information

Force/position control of a robotic system for transcranial magnetic stimulation

Force/position control of a robotic system for transcranial magnetic stimulation Force/position control of a robotic system for transcranial magnetic stimulation W.N. Wan Zakaria School of Mechanical and System Engineering Newcastle University Abstract To develop a force control scheme

More information

To help avoid personal injury due to poor braking. DO NOT Tap into the vehicle's brake system to operate a trailer brake system.

To help avoid personal injury due to poor braking. DO NOT Tap into the vehicle's brake system to operate a trailer brake system. 489201 133 ANTIBRAKE SYSTEM GENERAL 489201 1. REPAIR INSTRUCTIONS 1) ONVEHICLE SERVICE (1) Service Precautions Brake Fluid may irritate eyes and skin. In case of contact, take the following actions: Eye

More information

TRIMBLE ATS TOTAL STATION ADVANCED TRACKING SYSTEMS FOR HIGH-PRECISION CONSTRUCTION APPLICATIONS

TRIMBLE ATS TOTAL STATION ADVANCED TRACKING SYSTEMS FOR HIGH-PRECISION CONSTRUCTION APPLICATIONS TRIMBLE ATS TOTAL STATION ADVANCED TRACKING SYSTEMS FOR HIGH-PRECISION CONSTRUCTION APPLICATIONS BY MARTIN WAGENER APPLICATIONS ENGINEER, TRIMBLE EUROPE OVERVIEW Today s construction industry demands more

More information

EVALUAT ING ACADEMIC READINESS FOR APPRENTICESHIP TRAINING Revised for ACCESS TO APPRENTICESHIP

EVALUAT ING ACADEMIC READINESS FOR APPRENTICESHIP TRAINING Revised for ACCESS TO APPRENTICESHIP EVALUAT ING ACADEMIC READINESS FOR APPRENTICESHIP TRAINING for ACCESS TO APPRENTICESHIP SCIENCE SKILLS SIMPLE MACHINES & MECHANICAL ADVANTAGE AN ACADEMIC SKILLS MANUAL for The Construction Trades: Mechanical

More information

M.S Ramaiah School of Advanced Studies - Bangalore. On completion of this session, the delegate will understand and be able to appriciate:

M.S Ramaiah School of Advanced Studies - Bangalore. On completion of this session, the delegate will understand and be able to appriciate: Transmission Control Lecture delivered by: Prof. Ashok C.Meti MSRSAS-Bangalore 1 Session Objectives On completion of this session, the delegate will understand and be able to appriciate: Rl Role of electronic

More information

TOYOTA ELECTRONIC CONTROL TRANSMISSION

TOYOTA ELECTRONIC CONTROL TRANSMISSION Electronic Control Transmission (ECT) The Electronic Control Transmission is an automatic transmission which uses modern electronic control technologies to control the transmission. The transmission itself,

More information

This week. CENG 732 Computer Animation. Challenges in Human Modeling. Basic Arm Model

This week. CENG 732 Computer Animation. Challenges in Human Modeling. Basic Arm Model CENG 732 Computer Animation Spring 2006-2007 Week 8 Modeling and Animating Articulated Figures: Modeling the Arm, Walking, Facial Animation This week Modeling the arm Different joint structures Walking

More information

EDUMECH Mechatronic Instructional Systems. Ball on Beam System

EDUMECH Mechatronic Instructional Systems. Ball on Beam System EDUMECH Mechatronic Instructional Systems Ball on Beam System Product of Shandor Motion Systems Written by Robert Hirsch Ph.D. 998-9 All Rights Reserved. 999 Shandor Motion Systems, Ball on Beam Instructional

More information

The Effects of Wheelbase and Track on Vehicle Dynamics. Automotive vehicles move by delivering rotational forces from the engine to

The Effects of Wheelbase and Track on Vehicle Dynamics. Automotive vehicles move by delivering rotational forces from the engine to The Effects of Wheelbase and Track on Vehicle Dynamics Automotive vehicles move by delivering rotational forces from the engine to wheels. The wheels push in the opposite direction of the motion of the

More information

Sensor Based Control of Autonomous Wheeled Mobile Robots

Sensor Based Control of Autonomous Wheeled Mobile Robots Sensor Based Control of Autonomous Wheeled Mobile Robots Gyula Mester University of Szeged, Department of Informatics e-mail: gmester@inf.u-szeged.hu Abstract The paper deals with the wireless sensor-based

More information

Active Vibration Isolation of an Unbalanced Machine Spindle

Active Vibration Isolation of an Unbalanced Machine Spindle UCRL-CONF-206108 Active Vibration Isolation of an Unbalanced Machine Spindle D. J. Hopkins, P. Geraghty August 18, 2004 American Society of Precision Engineering Annual Conference Orlando, FL, United States

More information

Slide 10.1. Basic system Models

Slide 10.1. Basic system Models Slide 10.1 Basic system Models Objectives: Devise Models from basic building blocks of mechanical, electrical, fluid and thermal systems Recognize analogies between mechanical, electrical, fluid and thermal

More information

Dynamics of Rotational Motion

Dynamics of Rotational Motion Chapter 10 Dynamics of Rotational Motion PowerPoint Lectures for University Physics, Twelfth Edition Hugh D. Young and Roger A. Freedman Lectures by James Pazun Modified by P. Lam 5_31_2012 Goals for Chapter

More information

Thermodynamic efficiency of an actuator that provides the mechanical movement for the driven equipments:

Thermodynamic efficiency of an actuator that provides the mechanical movement for the driven equipments: 1. Introduction 1.1. Industry Automation Industry automation is the term that describes a vital development programme of a production community where the project engineers build up automated manufacturing

More information

MODELING A HEXAPOD ROBOT BY MEANS OF CAD TECHNIQUES

MODELING A HEXAPOD ROBOT BY MEANS OF CAD TECHNIQUES Thiago Augusto Ferreira 1, Armando Carlos de Pina Filho 2, Aloísio Carlos de Pina 3 1 Universidade Federal do Rio de Janeiro, Mechanical Engineering Department, Polytechnic School, Rio de Janeiro - RJ,

More information

2/26/2008. Sensors For Robotics. What is sensing? Why do robots need sensors? What is the angle of my arm? internal information

2/26/2008. Sensors For Robotics. What is sensing? Why do robots need sensors? What is the angle of my arm? internal information Sensors For Robotics What makes a machine a robot? Sensing Planning Acting information about the environment action on the environment where is the truck? What is sensing? Sensing is converting a quantity

More information

Chapter 4 DEFENSIVE DRIVING

Chapter 4 DEFENSIVE DRIVING Chapter 4 DEFENSIVE DRIVING Chapter 4 Table of Contents Chapter 4 DEFENSIVE DRIVING... 4-1 DEFENSIVE DRIVING... 4-3 Positioning The Bus... 4-3 When Making a Turn at an Intersection... 4-3 Making the perfect

More information

Robot coined by Karel Capek in a 1921 science-fiction Czech play

Robot coined by Karel Capek in a 1921 science-fiction Czech play Robotics Robot coined by Karel Capek in a 1921 science-fiction Czech play Definition: A robot is a reprogrammable, multifunctional manipulator designed to move material, parts, tools, or specialized devices

More information

Lecture 3: Teleoperation

Lecture 3: Teleoperation ME 328: Medical Robotics Spring 2015 Lecture 3: Teleoperation Allison Okamura Stanford University Announcements 1. I am not Allison. 2. You re a huge class. So, we found a 2nd CA! meet Jeesu Baek jeesu@stanford.edu

More information

Servo Info and Centering

Servo Info and Centering Info and Centering A servo is a mechanical motorized device that can be instructed to move the output shaft attached to a servo wheel or arm to a specified position. Inside the servo box is a DC motor

More information

Sustainable mobility: the Italian technological challenge

Sustainable mobility: the Italian technological challenge Sustainable mobility: the Italian technological challenge an innovative paradigm for a new vehicles' generation ANFIA-ANIE ANIE WORKSHOP Hannover Messe 2010, April 19th Ing. Pier Luigi Farina DUCATI energia:

More information

Design Aspects of Robot Manipulators

Design Aspects of Robot Manipulators Design Aspects of Robot Manipulators Dr. Rohan Munasinghe Dept of Electronic and Telecommunication Engineering University of Moratuwa System elements Manipulator (+ proprioceptive sensors) End-effector

More information

Intelligent Submersible Manipulator-Robot, Design, Modeling, Simulation and Motion Optimization for Maritime Robotic Research

Intelligent Submersible Manipulator-Robot, Design, Modeling, Simulation and Motion Optimization for Maritime Robotic Research 20th International Congress on Modelling and Simulation, Adelaide, Australia, 1 6 December 2013 www.mssanz.org.au/modsim2013 Intelligent Submersible Manipulator-Robot, Design, Modeling, Simulation and

More information

Design of a Robotic Arm with Gripper & End Effector for Spot Welding

Design of a Robotic Arm with Gripper & End Effector for Spot Welding Universal Journal of Mechanical Engineering 1(3): 92-97, 2013 DOI: 10.13189/ujme.2013.010303 http://www.hrpub.org Design of a Robotic Arm with Gripper & End Effector for Spot Welding Puran Singh *, Anil

More information

Robot Navigation. Johannes Maurer, Institute for Software Technology TEDUSAR Summerschool 2014. u www.tugraz.at

Robot Navigation. Johannes Maurer, Institute for Software Technology TEDUSAR Summerschool 2014. u www.tugraz.at 1 Robot Navigation u www.tugraz.at 2 Motivation challenges physical laws e.g. inertia, acceleration uncertainty e.g. maps, observations geometric constraints e.g. shape of a robot dynamic environment e.g.

More information

FORKLIFT STABILITY. MATERIAL HANDING AND ROBOTICS I. Practical course. Dávid HURI office door number: 324/6 huri.david@eng.unideb.

FORKLIFT STABILITY. MATERIAL HANDING AND ROBOTICS I. Practical course. Dávid HURI office door number: 324/6 huri.david@eng.unideb. FORKLIFT STABILITY MATERIAL HANDING AND ROBOTICS I. Practical course Dávid HURI office door number: 324/6 huri.david@eng.unideb.hu What is a powered industrial truck (P.I.T.)? Definition: A powered vehicle

More information

Three Channel Optical Incremental Encoder Modules Technical Data

Three Channel Optical Incremental Encoder Modules Technical Data Three Channel Optical Incremental Encoder Modules Technical Data HEDS-9040 HEDS-9140 Features Two Channel Quadrature Output with Index Pulse Resolution Up to 2000 CPR Counts Per Revolution Low Cost Easy

More information

Digital Position Control for Analog Servos

Digital Position Control for Analog Servos Digital Control for Analog Servos Sven Behnke and Michael Schreiber Humanoid Robots Group, Computer Science Institute University of Freiburg, Georges-Köhler-Allee 52, 79 Freiburg, Germany Email: { behnke

More information

Interactive Computer Graphics

Interactive Computer Graphics Interactive Computer Graphics Lecture 18 Kinematics and Animation Interactive Graphics Lecture 18: Slide 1 Animation of 3D models In the early days physical models were altered frame by frame to create

More information

Mechanics lecture 7 Moment of a force, torque, equilibrium of a body

Mechanics lecture 7 Moment of a force, torque, equilibrium of a body G.1 EE1.el3 (EEE1023): Electronics III Mechanics lecture 7 Moment of a force, torque, equilibrium of a body Dr Philip Jackson http://www.ee.surrey.ac.uk/teaching/courses/ee1.el3/ G.2 Moments, torque and

More information

Data Analysis Software

Data Analysis Software Data Analysis Software Compatible with all Race Technology products Fully integrated video support Accurate track maps Graphs generated with a single mouse click for fast analysis Automatically splits

More information

Autonomous Mobile Robot-I

Autonomous Mobile Robot-I Autonomous Mobile Robot-I Sabastian, S.E and Ang, M. H. Jr. Department of Mechanical Engineering National University of Singapore 21 Lower Kent Ridge Road, Singapore 119077 ABSTRACT This report illustrates

More information

ANTI LOCK BRAKING SYSTEM MODELLING AND DEVELOPMENT

ANTI LOCK BRAKING SYSTEM MODELLING AND DEVELOPMENT ANTI LOCK BRAKING SYSTEM MODELLING AND DEVELOPMENT Aldi Manikanth ME10B004 A Manoj Kumar ME10B006 C Vijay Chauhan ME10B010 Nachiket Dongre ME10B013 Lithas ME10B020 Rajesh Kumar Meena ME10B030 Varada Karthik

More information

2. Dynamics, Control and Trajectory Following

2. Dynamics, Control and Trajectory Following 2. Dynamics, Control and Trajectory Following This module Flying vehicles: how do they work? Quick refresher on aircraft dynamics with reference to the magical flying space potato How I learned to stop

More information

INDEX 1. Introduction..7 1.2 Objectives...7 2. Analytical part.......9 2.1 Stationary robots..... 9 2.2 Locomotion overview....12 2.3 Wheeled robots..15 2.4 Legged robots...17 2.5 Hexapod robots..20 3

More information

Mechanism and Control of a Dynamic Lifting Robot

Mechanism and Control of a Dynamic Lifting Robot Mechanism and Control of a Dynamic Lifting Robot T. Uenoa, N. Sunagaa, K. Brownb and H. Asada' 'Institute of Technology, Shimizu Corporation, Etchujima 3-4-17, Koto-ku, Tokyo 135, Japan 'Department of

More information

Autonomous Advertising Mobile Robot for Exhibitions, Developed at BMF

Autonomous Advertising Mobile Robot for Exhibitions, Developed at BMF Autonomous Advertising Mobile Robot for Exhibitions, Developed at BMF Kucsera Péter (kucsera.peter@kvk.bmf.hu) Abstract In this article an autonomous advertising mobile robot that has been realized in

More information

K.Prasanna NIT Rourkela,India Summer Internship NUS

K.Prasanna NIT Rourkela,India Summer Internship NUS K.Prasanna NIT Rourkela,India Summer Internship NUS LOCALIZATION Vehicle localization is an important topic as it finds its application in a multitude of fields like autonomous navigation and tracking

More information

MR6 MR30. limit switches Compacta slip-on geared motors with integrated limit switches (figure 1) are ideal drives for reversing tasks (figure 2).

MR6 MR30. limit switches Compacta slip-on geared motors with integrated limit switches (figure 1) are ideal drives for reversing tasks (figure 2). Slip-on geared motors Compacta General MST MR6 MS12 cutaway AG60 cutaway MR30 Compacta limit switches Compacta slip-on geared motors with integrated limit switches (figure 1) are ideal drives for reversing

More information

Adaptive Cruise Control of a Passenger Car Using Hybrid of Sliding Mode Control and Fuzzy Logic Control

Adaptive Cruise Control of a Passenger Car Using Hybrid of Sliding Mode Control and Fuzzy Logic Control Adaptive Cruise Control of a assenger Car Using Hybrid of Sliding Mode Control and Fuzzy Logic Control Somphong Thanok, Manukid arnichkun School of Engineering and Technology, Asian Institute of Technology,

More information

Electronic Power Control

Electronic Power Control Service. Self-Study Programme 210 Electronic Power Control Design and Function With the Electronic Power Control system, the throttle valve is actuated only by an electric motor. This eliminates the need

More information

What s Left in E11? Technical Writing E11 Final Report

What s Left in E11? Technical Writing E11 Final Report Technical Writing What s Left in E11? Technical Writing E11 Final Report 2 Next Week: Competition! Second Last Week: Robotics S&T, Eng&CS Outlooks, Last Week: Final Presentations 3 There are several common

More information

When looking at machine tools, the details of the installed drive technology usually

When looking at machine tools, the details of the installed drive technology usually Multiple Solutions: Different Drive Concepts for Machine Tools When looking at machine tools, the details of the installed drive technology usually remain concealed. There are, in principle, various possibilities

More information

MODULAR ROBOTIC LOCOMOTION SYSTEMS. Darnel Degand (Mechanical Engineering), University of Pennsylvania ABSTRACT

MODULAR ROBOTIC LOCOMOTION SYSTEMS. Darnel Degand (Mechanical Engineering), University of Pennsylvania ABSTRACT MODULAR ROBOTIC LOCOMOTION SYSTEMS Darnel Degand (Mechanical Engineering), University of Pennsylvania NSF Summer Undergraduate Fellowship in Sensor Technologies Advisors: Dr. Jim Ostrowski, Robert Breslawski

More information

Wheeled Vehicle Design For Science Olympiad By Carey I. Fisher

Wheeled Vehicle Design For Science Olympiad By Carey I. Fisher Wheeled Vehicle Design For Science Olympiad By Carey I. Fisher The Wheeled Vehicle competition requires that the vehicle travel a specific distance set by the judge at the time of the contest. So the problem

More information

Vision-based Walking Parameter Estimation for Biped Locomotion Imitation

Vision-based Walking Parameter Estimation for Biped Locomotion Imitation Vision-based Walking Parameter Estimation for Biped Locomotion Imitation Juan Pedro Bandera Rubio 1, Changjiu Zhou 2 and Francisco Sandoval Hernández 1 1 Dpto. Tecnología Electrónica, E.T.S.I. Telecomunicación

More information

Modeling and Simulation of Heavy Truck with MWorks

Modeling and Simulation of Heavy Truck with MWorks Modeling and Simulation of Heavy Truck with MWorks Ying Sun, Wei Chen, Yunqing Zhang, Liping Chen CAD Center, Huazhong University of Science and Technology, China zhangyq@hust.edu.cn Abstract This paper

More information

Power Electronics. Prof. K. Gopakumar. Centre for Electronics Design and Technology. Indian Institute of Science, Bangalore.

Power Electronics. Prof. K. Gopakumar. Centre for Electronics Design and Technology. Indian Institute of Science, Bangalore. Power Electronics Prof. K. Gopakumar Centre for Electronics Design and Technology Indian Institute of Science, Bangalore Lecture - 1 Electric Drive Today, we will start with the topic on industrial drive

More information

Physical Modeling with SimScape

Physical Modeling with SimScape Physical Modeling with SimScape Saving energy with Physical Modeling Adriaan van den Brand Mday 29-4-2011 V1.4 A. Van den Brand, Mday 29-4-2011 1 Bio Adriaan van den Brand System architect Sogeti High

More information

KINEMATICS OF PARTICLES RELATIVE MOTION WITH RESPECT TO TRANSLATING AXES

KINEMATICS OF PARTICLES RELATIVE MOTION WITH RESPECT TO TRANSLATING AXES KINEMTICS OF PRTICLES RELTIVE MOTION WITH RESPECT TO TRNSLTING XES In the previous articles, we have described particle motion using coordinates with respect to fixed reference axes. The displacements,

More information

EFC 3600. Frequency converters

EFC 3600. Frequency converters 2 Bosch Rexroth AG Electric Drives and Controls Documentation Compact and complete: space saving side-by-side assembly, plug-in I/O terminals, with brake chopper and mains filter for ultra-simple installation

More information

Aerospace Information Technology Topics for Internships and Bachelor s and Master s Theses

Aerospace Information Technology Topics for Internships and Bachelor s and Master s Theses Aerospace Information Technology s for Internships and Bachelor s and Master s Theses Version Nov. 2014 The Chair of Aerospace Information Technology addresses several research topics in the area of: Avionic

More information

Design Report. IniTech for

Design Report. IniTech for Design Report by IniTech for 14 th Annual Intelligent Ground Vehicle Competition University of Maryland: Baltimore County: Erik Broman (Team Lead and Requirement Lead) Albert Hsu (Design Lead) Sean Wilson

More information

Developing a Sewer Inspection Robot through a Mechatronics Approach

Developing a Sewer Inspection Robot through a Mechatronics Approach Developing a Sewer Inspection Robot through a Mechatronics Approach Alireza. Hadi, Gholamhossein. Mohammadi Abstract Sewerage is a harsh environment which requires periodically inspection. The inspection

More information

Sensor-Based Robotic Model for Vehicle Accident Avoidance

Sensor-Based Robotic Model for Vehicle Accident Avoidance Copyright 2012 American Scientific Publishers All rights reserved Printed in the United States of America Journal of Computational Intelligence and Electronic Systems Vol. 1, 1 6, 2012 Sensor-Based Robotic

More information

Robustness to unintended ignition key rotation with key ring only

Robustness to unintended ignition key rotation with key ring only Robustness to unintended ignition key rotation with key ring only GM North American Engineering Joe Fedullo Ali Seyam 5/6/14 Data collected 2/24/14 4/3/14 5/6/2014 Summary_5_16_14.pptx 1 Robustness to

More information

Introduction to Robotics. Vikram Kapila, Associate Professor, Mechanical Engineering

Introduction to Robotics. Vikram Kapila, Associate Professor, Mechanical Engineering Introduction to Robotics Vikram Kapila, Associate Professor, Mechanical Engineering Definition Types Uses History Key components Applications Future Robotics @ MPCRL Outline Robot Defined Word robot was

More information

CIS009-2, Mechatronics Robotic Arms & Hands

CIS009-2, Mechatronics Robotic Arms & Hands CIS009-2, Robotic Arms & Hands Bedfordshire 06 th December 2012 Outline Bedfordshire 47 1 2 3 Considering design specifications 4 Bedfordshire 47 Robots are designed for specific purposes. For this reason

More information

Vibrations can have an adverse effect on the accuracy of the end effector of a

Vibrations can have an adverse effect on the accuracy of the end effector of a EGR 315 Design Project - 1 - Executive Summary Vibrations can have an adverse effect on the accuracy of the end effector of a multiple-link robot. The ability of the machine to move to precise points scattered

More information

CFD Modelling and Real-time testing of the Wave Surface Glider (WSG) Robot

CFD Modelling and Real-time testing of the Wave Surface Glider (WSG) Robot 21st International Congress on Modelling and Simulation, Gold Coast, Australia, 29 Nov to 4 Dec 2015 www.mssanz.org.au/modsim2015 CFD Modelling and Real-time testing of the Wave Surface Glider (WSG) Robot

More information

SOLID MECHANICS TUTORIAL MECHANISMS KINEMATICS - VELOCITY AND ACCELERATION DIAGRAMS

SOLID MECHANICS TUTORIAL MECHANISMS KINEMATICS - VELOCITY AND ACCELERATION DIAGRAMS SOLID MECHANICS TUTORIAL MECHANISMS KINEMATICS - VELOCITY AND ACCELERATION DIAGRAMS This work covers elements of the syllabus for the Engineering Council exams C105 Mechanical and Structural Engineering

More information

INDIANA AREA SCHOOL DISTRICT SECONDARY

INDIANA AREA SCHOOL DISTRICT SECONDARY INDIANA AREA SCHOOL DISTRICT SECONDARY Course Title: Robotics Engineering I Grade Level: 9-12 Course Number: 642 Core or Elective: Elective Periods Per Week: 5 Length of Time: 39 minutes / 1 period Length

More information

Encoders for Linear Motors in the Electronics Industry

Encoders for Linear Motors in the Electronics Industry Technical Information Encoders for Linear Motors in the Electronics Industry The semiconductor industry and automation technology increasingly require more precise and faster machines in order to satisfy

More information

ECE 491 SENIOR PROJECT I MINI SUMO ROBOT

ECE 491 SENIOR PROJECT I MINI SUMO ROBOT ECE 491 SENIOR PROJECT I MINI SUMO ROBOT STUDENTS EMRAH ÇAĞLAR CİHAN ARDA Supervisor: Assist. PROF. DR. ORHAN GAZİ 1 DIGITEST ELECTRONICS LTD COMPANY(established in 2002) Main purpose of the company is

More information

The connector we use most in joining beams is the Technic pin. The Technic pin comes in several variants, as shown in Figure 1 below.

The connector we use most in joining beams is the Technic pin. The Technic pin comes in several variants, as shown in Figure 1 below. In this chapter we consider various ways to build strong constructions. A strong construction is vital to a robot, particularly mobile robots that tend to run into solid objects like walls, chairs, table

More information

Wynn s Extended Care

Wynn s Extended Care Wynn s Extended Care Every car deserves to receive the very best care... especially yours. How Do You Keep Your Reliable Transportation Reliable? Count on Wynn s Because Wynn s has been caring for cars

More information

Real Time Simulation for Off-Road Vehicle Analysis. Dr. Pasi Korkealaakso Mevea Ltd., May 2015

Real Time Simulation for Off-Road Vehicle Analysis. Dr. Pasi Korkealaakso Mevea Ltd., May 2015 Real Time Simulation for Off-Road Vehicle Analysis Dr. Pasi Korkealaakso Mevea Ltd., May 2015 Contents Introduction Virtual machine model Machine interaction with environment and realistic environment

More information

of large scale imagery without GPS

of large scale imagery without GPS Titelmaster Online geocoding and evaluation of large scale imagery without GPS Wolfgang Förstner, Richard Steffen Department of Photogrammetry Institute for Geodesy and Geoinformation University of Bonn

More information

hydraulic oil and a radiator cools the engine for sustained operation.

hydraulic oil and a radiator cools the engine for sustained operation. BigDog, the Rough-Terrain Quaduped Robot Marc Raibert, Kevin Blankespoor, Gabriel Nelson, Rob Playter and the BigDog Team Boston Dynamics, Waltham, MA 02451 USA (Tel: 617-868-5600; e-mail: mxr@bostondynamics.com).

More information

LINEAR MOTOR CONTROL IN ACTIVE SUSPENSION SYSTEMS

LINEAR MOTOR CONTROL IN ACTIVE SUSPENSION SYSTEMS LINEAR MOTOR CONTROL IN ACTIVE SUSPENSION SYSTEMS HONCŮ JAROSLAV, HYNIOVÁ KATEŘINA, STŘÍBRSKÝ ANTONÍN Department of Control Engineering, Faculty of Electrical Engineering, Czech Technical University Karlovo

More information

INTRODUCTION TO SERIAL ARM

INTRODUCTION TO SERIAL ARM INTRODUCTION TO SERIAL ARM A robot manipulator consists of links connected by joints. The links of the manipulator can be considered to form a kinematic chain. The business end of the kinematic chain of

More information

Robot Sensors. Outline. The Robot Structure. Robots and Sensors. Henrik I Christensen

Robot Sensors. Outline. The Robot Structure. Robots and Sensors. Henrik I Christensen Robot Sensors Henrik I Christensen Robotics & Intelligent Machines @ GT Georgia Institute of Technology, Atlanta, GA 30332-0760 hic@cc.gatech.edu Henrik I Christensen (RIM@GT) Sensors 1 / 38 Outline 1

More information

THE MECHANICS OF TENSION CONTROL By Jeff Damour CONVERTER ACCESSORY COPORATION Wind Gap, PA USA

THE MECHANICS OF TENSION CONTROL By Jeff Damour CONVERTER ACCESSORY COPORATION Wind Gap, PA USA THE MECHANICS OF TENSION CONTROL By Jeff Damour CONVERTER ACCESSORY COPORATION Wind Gap, PA USA Introduction This presentation is a basic tutorial in the mechanics of web tension control. We will discuss:

More information

Using angular speed measurement with Hall effect sensors to observe grinding operation with flexible robot.

Using angular speed measurement with Hall effect sensors to observe grinding operation with flexible robot. Using angular speed measurement with Hall effect sensors to observe grinding operation with flexible robot. François Girardin 1, Farzad Rafieian 1, Zhaoheng Liu 1, Marc Thomas 1 and Bruce Hazel 2 1 Laboratoire

More information