Post on 25-Dec-2015
Robotics
Data driven robotics, 3D modeling, Google SketchUP
Lab: obtain information about 'room' to store in file to upload to computer to draw
Homework: Google SketchUP: Sign up, download and produce something (your room,
a piece of furniture, toy….)
Old Acronyms
• Computer Aided Design
• Computer Aided Manufacturing
• Computer Integrated Manufacturing
• Manufacturing Resource PlanningEnterprise Resource Planning
Companies: Oracle (PeopleSoft), SAP
• more….
Data Driven robotics
• Use data in some form to generate tasks for robot– For example, positions on circuit boards for
placement and/or testing.
• Note: automation may be forced by the – scale (very small) and – precision requirements
• In addition, shear volume of information makes [flexible] automation better fit
Robodoc
• Dr. Bargar, orthopedic surgeon, regarding hip replacements: I design the implant using 21st century CAD/CAM, but I put it in using 18th carpentry.
• Place pins in hip (fiducial marks / calibration)
• Use CAT scans to design implant and generate positions for robot arm.
Build to order manufacturing
• Data in order generates instructions for manufacturing– What set of parts– What gets in final package– What color, size, etc.
3D modeling necessary?
• Robot, through the use of sensors, may either– Generate by itself the 'world map' or– Do without it
• Relates to use of GPS while driving: still look around and follow rules of the road!
3D modeling
• Create virtual world consisting of– Combinations of primitive shapes, chiefly polyhedra
• Vertices, edges, faces, PLUS some designation to determine what is inside and what is outside. Can be done in order of the edges constituting the faces
• Render (show pictures of the world)• Perform calculations to answer questions
– Is there a path – production of path for robot
3D modeling
• Curved surfaces generally consist of facetted polyhedra
• May not be visible or important to model
• Does contribute to time requirements, especially for rendering
3D model
• Alternative (or additional) approach to use of primitive 3D shapes is to use lines and arcs and operation that generates a 3D shape by sweeping (projecting) the 2D shape– Google SketchUP push/pull
Faces
• Color and/or texture
• Apply (wrap) surface, with specific properties of reflectance
Rendering
Define position of eye (aka camera), focus point, type of projection, light sources
• Go from wire frame– Show all vertices and edges
To• Picture, with appropriate hidden line / hidden
surface removal, shadows• Many different methods. Ray tracing is one of
the most common
Google SketchUP 7
• Available for free• There is a Pro version • Uses lines, rectangles, arcs, circles, plus
implicit dependences (induced objects)
• 3D Warehouse: user created archive of buildings, stuff, including Lego (but mostly not Mindstorms)– Connection with Google Earth
Google SketchUP
• [if it is in the lecture room] demonstrate
Lego Digital Designer
• Lego offering: free
• One function is to order the parts after building a model
• Does not appear to have Mindstorms (technic) parts.
• http://factory.lego.com/getstarted/
LDraw.org
• Organized user group
• Free download of system files plus part libraries
• Libraries of Lego parts– Official (approved by the organization
standards committee) and unofficial– It appears that the Mindstorms parts are
slowly being added.
MyBlock
• NXT-G version of subroutine
• Can have data wires going in and coming out– Cannot add these after the fact.
• Create blocks within larger program and then select and Create MyBlock– Can design a look for the block, write
description
MyBlock
Benefits
• Makes programs more understandable
• Can re-use code in one program or several
Negatives
• Clunky process to create. Need to know data wires in and out.
Discussion
• Each group indicate plans for mapping
Homework• Postings• Download Google SketchUP: use and report
– Let me know if you need an invitation to join gmail.– Do tutorials / watch videos– Produce something (house, table, monster?), print
and bring to class AND put in link on moodle
• Lab: Complete mapping project• Check schedule for midterm date and midterm
guide