ROBOT VISION LABORATORY

김 형 석

Robot Applications

http://world.honda.com/run/mov-run-60.html

1. 1. 로봇이란 로봇이란 ??

1. 1. 로봇이란 로봇이란 ??

2. 2. 로봇 응용로봇 응용 청소용 :

집안관리 로봇 ( 온도조절 , 연기 , 습도 , 조도 레벨을

모니터링 및 조절 ) 간호보조 로봇

장애인 유도로봇

보안 / 경비로봇

• 교육용 로봇

완구로봇

거리 청소로봇

안내로봇

2. 2. 로봇의 응용로봇의 응용

홈 로봇 오락용 로봇 재활 및 의료용 로봇 우주 탐사 로봇 산업용 로봇 위험 재해 로봇 연구용 로봇 군용로봇

The Origins of Robots

~1250Bishop Albertus Magnus holds banquet at which guests were served by metal attendants. Upon seeing this, Saint Thomas Aquinas smashed the attendants to bits and called the bishop a sorcerer.

Descartes builds a female automaton which he calls “Ma fille Francine.” She accompanied Descartes on a voyage and was thrown overboard by the captain, who thought she was the work of Satan.

1640

1738

Jacques de Vaucanson builds a mechanical duck made of more that 4,000 parts. The duck could quack, bathe, drink water, eat grain, digest it and void it. Whereabouts of the duck are unknown today.

1805 Doll, made by Maillardet, that wrote in either French or English and could draw landscapes.

1923

1940

Karel Capek coins the term robot in his play Rossum’s Universal Robots (R.U.R). Robot comes from the Czech word robota, which means “servitude, forced labor.”

Sparko, the Westinghouse dog, uses both mechanical and electrical components.

1950’s -1960’s

Computer technology advances and control machinery is developed.Questions Arise: Is the computer an immobile robot?

Industrial Robots created. Robotic Industries Association states that an “industrial robot is a re-programmable, multifunctional manipulator designed to move materials, parts, tools, or specialized devices through variable programmed motions to perform a variety of tasks.

1960 Shakey is made at Stanford Research Institute International. It contained a television camera, range finder, on-board logic, bump sensors, camera control unit, and an antenna for a radio link. Shakey was controlled by a computer in a different room.

1956 Researchers aim to combine “perceptual and problem-solving capabilities,” using computers, cameras, and touch sensors. The idea is to study the types of intelligent actions these robots are capable of. A new discipline is born: A.I.

Information and pictures from the previous five slides can be found in Isaac Asimov’s and Karen A. Frenkel’s book “Robots, Machines in Man’s Image ” © 1985

Combining these fields we can create a system that can

SENSE

PLAN

ACT

Combining these fields we can create a system that can

Mechanical Engineering

Electrical Engineering

Computer Science

A Brief History of Robotics IIA Brief History of Robotics II 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.

Today’s robots are not androids built to impersonate humans.

Manipulators are anthropomorphic in the sense that they are patterned after the human arm.

Industrial robots: robotic arms or manipulators

History of Robotics (cont.)History of Robotics (cont.) Early work at end of WWII for handling

radioactive materials: Teleoperation. Computer numerically controlled machine tools

for low-volume, high-performance AC parts Unimation (61): built first robot in a GM plant.

The machine is programmable. Robots were then improved with sensing: force

sensing, rudimentary vision.

History of Robotics (cont.)History of Robotics (cont.) Two famous robots:

Puma. (Programmable Universal Machine for Assembly). ‘78.

SCARA. (Selective Compliant Articulated Robot Assembly). ‘79.

In the ‘80 efforts to improve performance: feedback control + redesign. Research dedicated to basic topics. Arms got flexible.

‘90: modifiable robots for assembly. Mobile autonomous robots. Vision controlled robots. Walking robots.

Robot ClassificationRobot ClassificationRobotic manipulator: a collection of links inter-

connected by flexible joints. At the end of the robot there is a tool or end-effector.

Drive Technology. Which source of power drives the joints of the robot.

Work-envelope geometries. Points in space which can be reached by the end-effector.

Motion control method. Either point-to-point or continuous path

로봇 종류로봇 종류 고정 로봇

이동 로봇 . 텔레로봇 : 원격 수술 . 지능로봇

고정 로봇고정 로봇 : : Revolute RobotRevolute Robot

고정 로봇고정 로봇 : : Scalar Scalar RobotRobot

고정 로봇고정 로봇 : : Polar RobotPolar Robot

고정 로봇고정 로봇 : : Cylidrical Robot Cylidrical Robot

고정 로봇고정 로봇 : : Cartesian RobotCartesian Robot

http://www.thetech.org/exhibits_events/online/robots/arms/jointed_arm.html

고정 로봇의 중요 기술고정 로봇의 중요 기술 ::KinematicsKinematics

F(robot variables) = world coordinates

x = x(1,, n)

y = y(1,, n)

z = z(1,, n)

In a “cascade” robot, Kinematics is a single-valued mapping.

“Easy” to compute.

Kinematics: ExampleKinematics: Example1= , 2=r

1 r 4.5

0 50o

r

x = r cos

y = r sin

workspace

고정 로봇의 중요 기술고정 로봇의 중요 기술 ::Inverse KinematicsInverse Kinematics

G(world coordinates) = robot variables

1 = 1(x,y,z)

1 = 1(x,y,z)

The inverse problem has a lot of geometrical difficulties

inversion may not be unique!

Inverse Kinematics: ExampleInverse Kinematics: Example

2

1

Make unique by constraining angles

Trajectory PlanningTrajectory Planning Get from (xo, yo, zo) to (xf, yf, zf)

In robot coordinates: o f

Planning in robot coordinates is easier, but we loose visualization.

Additional constraints may be desirable: smoothness dynamic limitations obstacles