Introduction to Robotics(ECE 5463)

Yuan F. ZhengElectrical and Computer

Engineering

ECE5463 Introduction

What is a Robot? A robot is a mechanical device

which is controlled by a computer and behaves like a human being– conventional definition

A robot is any device which has certain intelligence – modern definition

Programmable is a key attribute

Hubo Robot

ECE5463 Introduction

Started with Robot Manipulators – Industrial Robots

Robot manipulators originally designed and targeted for industrial automation - Four largest robot manufacturers

ABB Robot

FANUC Robot

KUKA Robot

Yaskawa Robot

ECE5463 Introduction

Applications of Industrial Robots Assembly – automobile, electronics Welding – automobile Painting – automobile Material and objects handling – general

applications in factories, research laboratories (biology and pharmaceutical screen), etc.

ECE5463 Introduction

History of Industrial Robots

First industrial robot was developed in the United States by Joseph Engelberger- called the Father of Robotics

Stanford University carried out much fundamental research in late 60-70s -

Stanford Arm

ECE5463 Introduction

Basic Structure of a Robotic System

Robot ComputerController

Sensors

End – Effector (hand)Interface

Programmer

(Wheels or legs)

ECE5463 Introduction

Mechanical ModelingSix degrees of freedomThree for translationThree for rotation

Kinematics/Inverse kinematics:

From the position-orientation of the hand to the positions of joints and vice versa

Dynamic equation：

D(q)q+H(q, q)+G(q) = T

q: Joint anglesX: Hand position/orientationT: Input torques

.. .

ECE5463 Introduction

Key Components

Servo motor － needs to be reliable and powerful (25% of the cost)

Speed reducer (35% of the cost) Mechanical linkages － arms, waist, hands

(20% of the cost) Controller – hardware and software (15% of

the cost) Others – sensor, cables, cabinets, etc. (5% of

the cost)

U.S. does not make many of them nowadays

FANUC Servo Motor

ECE5463 Introduction

Scope of Robots Today (1)

Jiao Tong Mobile Robots (SJTU)

Honda - ASIMOSONY - QRIO

iRobot Roomba®

ECE5463 Introduction

SARCOS, USAHonda, Japan

Toyota, Japan AIST, JapanToyota, Japan

ECE5463 Introduction

Further Expansion

Mars Rover UAV

Anti-Terrorists Robot

Mobile Robots

Wheeled Mobile Robots

Schaft Two-Legged Robot (won DARPA Robotics Grand

Challenge Trials 2013)

KAIST Hybrid Robot (won DARPA Robotics Grand Challenge 2015)

ECE5463 Introduction

Intelligent Service Robots

Intelligent service robots will represent future of robotics technology

It combines manipulation and mobility of robots plus sensing and computing technologies

South Korea has put emphasis on the development of intelligent service robots

South Korea ETRI Robot Guider

This Course In this semester we will go through some

fundamentals of robotics including kinematics, dynamics, control, components, and sensing, etc.

The knowledge will be useful for your future career in the application (programming and integration), design, and research of robots, or in marketing and education, etc.

Homeworks and projects will be assigned for you to practice for strengthening your learning

You are encouraged to work together with graduate (undergraduate) students in joint projects

ECE5463 Introduction