chapter1n- robot introduction %282015%29.pdf

Creative Advanced Robotics

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창의로봇특론


Min Cheol Lee

Professor, School of Mechanical Engineering Pusan National University, Korea

Office: RIMT 418 Phone: 051-510-2439

Email: [email protected] Home Page: http://mclab.me.pusan.ac.kr

mailto:[email protected]


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Main Reference Text Introduction to

Robotics Analysis, Systems, and Applications Saeed B. Niku, Prentice Hall, 2001

Robotics Control, Sensing, Vision, and Intelligence K. S. Fu, R.C. Gonzalez, C. S. G. Lee

McGraw-Hill, Inc, 1995.

Saeed B. Niku, Prentice Hall, 2001

염 영 일, 김 정 하 공역, SciTech, 2001


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What is Creative Advanced Robot ?

• Engineering design is a creative activity whose goal is to

conceive and plan the form, structure, manufacture, and

operation of object, a machine, or other product.

It involves artistic as well as engineering, scientific, and

mathematical skills.

• Creative Thinking

The creative thinking occurs in the right brain and is

associated with randomness, synthesis, nonjudgmental

scrutiny, irregularity, sensuality, imagination, visualization.

• Mechanism Design + Control Theory + IT + Economics +

…+ Creative Thinking ?


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Contents

(1)Robot Arm Kinematics(chap2)

- Direct(Forward) Kinematics : Denavit-Hartenberg Representation.

θ i → determine a position and an orientation of end-effector

- Inverse Kinematics : Give a position and an orientation of end-

effector → determine θ i

(2) Robot Arm Dynamics (chap 3)

(3) The Trajectory Planning (chap. 4)

(4) The Motion Control (chap. 5)

(5) Robot Sensing (chap. 6, Chap. 7)

Robotics Analysis, Systems, and Applications Control, Sensing, Vision, and Intelligence

q

q

q

1

2

3


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Chapter 1 Fundamentals

1. Introduction

A Kuhnezug truck-mounted crane

Unimation

PUMA 560

Cincinnati Milacron T3


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Industrial Robot

FANUC R-2000ia

SAMSUNG SCARA robot

Fanuc S-500 Performing seam-sealing on a truck.


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Industrial Robot What is Creativeness ?


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Mobile and Humanoid Robot

What is Creativeness ?


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How classify robots? - JIRA (Japanese Industrial Robot Association) Class1: Manual-Handling Device

Class2: Fixed Sequence Robot Class3: Variable Sequence Robot Class4: Playback Robot Class5: Numerical Control Robot Class6: Intelligent Robot

- RIA (Robotics Institute of America) Variable Sequence Robot(Class3) Playback Robot(Class4) Numerical Control Robot(Class5) Intelligent Robot(Class6)


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Classification of Robots - AFR (Association FranÇaise de Robotique) Type A: Manual Handling Devices/ telerobotics Type B: Automatic Handling Devices/ predetermined cycles Type C: Programmable, Servo controlled robot, continuous point-to-point trajectories Type D: Same type with C, but it can acquire information.


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History of Robotics 1922: Karel Čapek’s novel, Rossum’s Universal Robots, word “Robota”

(worker) 1952: NC machine (MIT) 1955: Denavit-Hartenberg Homogeneous Transformation 1967: Mark II (Unimation Inc.) 1968: Shakey (SRI) - intelligent robot 1973: T3 (Cincinnati Milacron Inc.) 1978: PUMA (Unimation Inc.) 1983: Robotics Courses 21C: Walking Robots, Mobile Robots, Humanoid Robots

Domestic(Korea): 1996: SCARA type FARAMAN SM5(Samsung Electronics) 1998: Vertical multi articulated robot AM1, AS1, FARAMAN SD1 Dual Arm structure(Samsung Electronics) 2003 ~: HX1, HX 165, HR1 and intelligent multi articulated robot (HHI, Hyundae Heavy Industry )


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Type of Industrial robot (HHI)

HR006 HR015

HX130/165 HX165S

HR100P

HX300 HD165


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Robot Structure of HA165

V-Link &

Hinge

HA165 Model HX165 Model

A1-PART

W1 - PART

A2 - PART

S1 - PART


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Spot Welding

HX165 HR120


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Advantages VS. Disadvantages of Robots

Robots increase productivity, safety, efficiency, quality, and consistency of products.

Robots can work in hazardous environments without the need. Robots need no environmental comfort. Robots work continuously without experiencing fatigue of problem. Robots have repeatable precision at all times. Robots can be much more accurate than human. Robots replace human workers creating economic problems. Robots can process multiple stimuli or tasks simultaneously.

Robots lack capability to respond in emergencies. Robots, although superior in certain senses, have limited capabilities in

Degree of freedom, Dexterity, Sensors, Vision system, real time response.

Robots are costly, due to Initial cost of equipment, Installation costs, Need for Peripherals, Need for training, Need for programming.


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Vision System based on collision detection -- Dajin System (2002)

Domestic Research Trend

OOBB (Object-Oriented Bounding Box) which is collision detection algorithm is applied to

automatic welding system.

Selecting each plate detection and recognizing welding position

Effect : Increase of productivity and reduction to equipment cost

< Simulation >

• Source : the Korean Intellectual Property Office, an applicant for a patent – Dajin System Company, Register date – 11/01/2003


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ABB’s MultiMove Robot Controller IRC5

Overseas Research Trend

Integrated control technology for

positioner of 36 axis robot

Dependent and independent

motion control for each axis

Higher tact time ,

Minimizing waiting cycle

Higher welding quality

Flexpendant with touch screen

function

Effect : flexibility and optimization

• Sourse – ABB’s MultiMove fires the imagination, Industrial Robot : An International Journal Vol.31 No.5 2004

pp.401-404

• ABB( Asea Brown Boveri)


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Estimation of position of industrial robot(ABB IRB1400)

accelerometer data based extended Kalman filter (EKF) and the particle filter

(solving the Bayesian estimation problem) =>Increase of positioning accuracy

• Source – Sensor fusion for position estimation of an industrial robot, Technical reports from the Control &

Communication group in LinkÄ oping http://www.control.isy.liu.se/publications.

< The ABB IRB1400 robot with the accelerometer. >



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FANUC - Factory Automation by Robot

Machining (Milling) Factory

Servo Motor Factory

< Robot Factory >


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YASKAWA - Factory Automation by Robot


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Turboscara SR4/6/8 – Bosch Rexroth (2002 Yr)

Effect : Support of variable function for satisfying user’s needs

Increase of processing time of robot control

Internet connection for transferring data

Remote maintenance

Robotvision image processing system

• Source – Robots make a show at the UK automation and machine tool exhibitions, Industrial Robot : An

International Journal Vol.29 No.6 2002 pp.511-516



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Bin picking – FANUC Robotics

Effect : Flexibility in application environment,

easier teaching plan , high reliability of

controller

2D Vision sensing – Parts Recognition

3D Vision sensing – Measurement of

position and orientation

Teach Pendant

Communication between vision

systems

Reliablity - verified performance history


International Journal Vol.29 No.6 2002 pp.511-516 & http://www.fanucrobotics.com



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Robot controller, 8-axis KR C2 – KUKA

Safety fieldbus interface- peripheral safety monitoring devices, limit switches

Effect : reduction of error rate due to keeping safety


International Journal Vol.29 No.6 2002 pp.511-516



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Robot Application in the world

Painting Robot in Motor Company

Assembly Robot in Electronic Company


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Industrial Society to Intelligent Based Society via Information Society

Classic Robot

Substitution of labor

Repetitive work

Increase of productivity

Intelligent Robot

Coexistence with human

Self motion

Incerase of life quality

Innovation of

technology

Environment change

Change of society needs

Change of Paradigm


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Developing to Intelligent Robot

Robot for simple work

- Simple sensor and controller

- Repetitive industrial robot

Intelligent Robot

- Voice recognition,

Artificial vision

- Learning, inference

- Autonomous mobile

robot

- Personal service robot

- Ultimate environment

1990

2005

After 2015

Advanced Intelligent Robot

- Bio-mimic

- Co-existance environment

with human…….


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Classification

Service Robot

Industrial Robot Service Robot for

Personal Use Service Robot for Professional

Use

Source : IFR (International Federation of Robot]

Perception of environment

Self cognition

Autonomous Mobility & Manipulation

Intelligent robot includes network based

service robot with IT technology

Definition of Intelligent Robot and Classification


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Classification of Intelligent Robot

IFR(International Federation of Robotics) Robot Classification

Classification of

Robot Specific Classification by Application Areas

Industrial Robot Manufacturing

Expert Service Robot

Field, Cleaning, Inspection

Construction, Logistics, Medical, Military,

Rescue, Security, Underwater, Humanoid

Personal Service

Robot

Home tasks, Entertainment

(toy, hobby), Handicap Assistance


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Robot in the world

Wearable Robotic Arm and Tele-Operated Robot (KIST)


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Robot for Production Manufacture

Automated guided vehicles

Japan , YASKAWA USA, AGV Products


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HX165 HR120

Robot for Production Manufacture


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Home Service Robot

Guide and Security robot

Tutor for education, Pet, Silver robot

Vacuum robot Coffee delivery

iRobot 社


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Sony (AIBO) – Toy robot

Entertainment Robot


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Entertainment & Humanoid(biped) Robot

ASIMO Cat robot


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HONDA (ASIMO) - 2002 Hubo II – 2010

Biped Robot


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Biped robot: SDR 4X (Surfing robot)


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Laparoscope

Holder

AESOP

Laparoscopic

Surgical Instrument

with camera assistance

CAD/CAM

Arthrobot

RoboDoc

Hip joint surgical robot

Surgical

Robot

daVinci

Laparoscopic

Surgical robot

Surgical Robot

37


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Surgical Robot


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Healthcare Robot

Rehabilitation and walking assistance intelligent wheel chair robot

Human interface based intelligent wheel chair


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Welfare Robot


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Social Stabilization

Reduction of birth rate, Preparation for aging society

Stable economy through creation of jobs

Realization of Welfare Society

Reading Industry

1 robot / one house in 2020 ( Japan Robot Society)

Higher value-added business

Future STAR Industry

Technology Innovation

Robot Convergence (Sensor fusion technology:

Computer -> Automobile -> Intelligent robot)

Extension of Information space- Ubiquitous network fusion

Advanced Fusion Technology

Importance of Intelligent Robot Industry


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(‘네트워크로봇의 실현을 향해서,’ 일본로봇공업회, 일본총무성, ’03)

Robot application S/W,

Service contents, 12. Tri Yen

Network based Robotic

Appliance, 4.3 Tri Yen

Independent Robot

3.5 Tri Yen

19.8 Trilion Yen

Independent Robot

3.5 Tri Yen

’13 Japan domestic market

World market size in 2013: 2,00 Billion dollors( 500 Billion, 2020 )

Robot Market size in Japan in 2013: 19.8 Trillion Yen

Market Forcasting

Market Size of Intelligence Robot


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2018 Yr World Market Size: 100 Billion USD

Market size forecasting

2022 Yr Domestic Market Size: 2.45 Trillion Won (2.4 Billion USD)

Market Forecasting of Intelligence Robot


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Robot Components

Fig. 1.2

Manipulator or Rover: Main body of robot (Links, Joints, other structural element of the robot)

End Effector: The part that is connected to the last joint(hand) of a manipulator

Actuators: Muscles of the manipulators (servomotor, stepper motor, pneumatic and hydraulic cylinder)

Sensors: To collect information about the internal state of the robot or To communicate with the outside environment

Controller: Similar to cerebellum. It controls and coordinates the motion of the actuators.

Processor: The brain of the robot. It calculates the motions and the velocity of the robot’s joints, etc.

Software: Operating system, robotic software and the collection of routines.


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ExternalPower Unit.

Robotmechanical

arm

End-of-armtooling

PermanentProgramStorage

Teach device terminal

orpendent

RobotComputerController

Host

Computer

Controller(Micro -processor,

DSP,8086 ....)

D/A

A/D

Counter

......

AMP

PROM,disk,tape

Trajectory Planning.

Data Comunication

PID

Sliding Mode Control

Adaptation Conrol Acturator (DC,AC,BLDC)

Sensor(Resolver,Encoder,

Potentiometer)

Structure of Industrial Robot


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Robot Degree of Freedom

Fig. 1.3 A Fanuc P-15 robot. Reprinted with permission from Fanuc Robotics, North America, Inc.

Consider what is the degree of Fig. 3

1 D.O.F. 2 D.O.F. 3 D.O.F.


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Robot Joints

Prismatic Joint: Linear, No rotation involved. (Hydraulic or pneumatic cylinder)

Revolute Joint: Rotary, (electrically driven with stepper motor, servo motor)


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Robot Coordinates

Fig. 1.4

Cartesian/rectangular/gantry (3P) : 3 cylinders joint

Cylindrical (R2P) : 2 Prismatic joint and 1 revolute joint

Spherical (2RP) : 1 Prismatic joint and 2 revolute joint

Articulated/anthropomorphic (3R) : All revolute(Human arm)

Selective Compliance Assembly Robot Arm (SCARA): 2 paralleled revolute joint and 1 additional prismatic joint


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Robot Reference Frames

Fig. 1.6 A robot’s World, Joint, and Tool reference frames.

Most robots may be programmed to move relative to either of these reference frames.


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Programming Modes

Robot Characteristics

Physical Setup: PLC Lead Through/ Teach Mode: Teaching Pendant/ Playback, p-to-p

Continuous Walk-Through Mode: Simultaneous joint-movement Software Mode: Use of feedback information

Payload: Fanuc Robotics LR Mate™ (6.6/ 86 lbs), M- 16i ™(35/ 594 lbs)

Reach: The maximum distance a robot can reach within its work envelope.

Precision (validity): defined as how accurately a specified point

can be reached… 0.001 inch or better.

Repeatability (variability): how accurately the same position can be reached if the motion is repeated many times.


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Robot Workspace

Fig. 1.7 Typical workspaces for common robot configurations


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Robot Languages

Microcomputer Machine Language Level: the most basic and

very efficient but difficult to understand to follow.

Point-to-Point Level: Funky Cincinnati Milacron’s T3

It lacks branching, sensory information.

Primitive Motion Level: VAL by Unimation™

Interpreter based language.

Structured Programming Level: This is a compiler based

but more difficult to learn.

Task-Oriented Level: Not exist yet and proposed IBM in the 1980s.


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Robot Application

• Machine loading:

• Pick and place operations:

• Welding:

• Painting:

• Inspection:

• Sampling:

• Assembly operation:

• Manufacturing:

• Surveillance:

• Medical applications:

• Assisting disabled individuals:

• Hazardous environments:

• Underwater, space, and remote locations:


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Robot Application

Fig. 1.8 A Staubli robot loading and unloading Fig. 1.9 Staubli robot placing dishwasher tubs

Fig. 1.10 An AM120 Fanuc robot Fig. 1.11 A P200 Fanuc painting automobile bodies

Machine loading Pick and place operations

Welding Painting


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Fig. 1.12 Staubli RX FRAMS robot in a BMW Fig. 1.13 A Fanuc LR Mate 200i robot removal operation

Fig. 1.14 The Arm, a 6 DOF bilateral force-feedback manipulator Medical Robot of German

Inspection Manufacturing

Remote locations Medical applications

Robot Application

chapter1n- robot introduction %282015%29.pdf

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