Introduction to Robotics - Mechanical Engineeringmech.sharif.ir/~meghdari/files/Session1R.pdf©...
Transcript of Introduction to Robotics - Mechanical Engineeringmech.sharif.ir/~meghdari/files/Session1R.pdf©...
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Introduction To Robotics(Kinematics, Dynamics, and Design)
Ali Meghdari, ProfessorSchool of Mechanical Engineering
Sharif University of Technology
Tehran, IRAN 11155-9567
Email: [email protected]
Homepage: http://meghdari.sharif.edu
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Text BookIntroduction to Robotics: Mechanics & Control
By: J. J. Craig, Prentice Hall, 3rd Edition 2005, 2nd/3rd
Edition, Translated to Farsi; By A. Meghdari &
F. Mirfakhraei, et.al. SUT Press, 1374, 1377, 1384, 1388.
Intelligent Robotics Systems; by Mohsen Shahinpoor, ERI Press, 1994.
Fundamentals of Robotics; by R. J. Schilling, Prentice Hall, 1990.
Reference Books
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At the end of this course, you should be able to:
• Describe and analyze rigid body motion…
• Write down manipulator kinematics/dynamics and
operate with the resulting equations…
• Solve inverse kinematics/dynamics problems...
• Design and select robots for performing various robotic
tasks…
• Solve trajectory and motion planning problems…
• Program manipulators to perform various motions…
Course Objectives
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Topics• Introduction to robotics terminologies & applications
• Review of current robotics research (Videos)
• Robot arm mechanism’s designs & grippers
• Mathematical tools: spatial descriptions & transformations
• Robot manipulator kinematics
• Inverse manipulator kinematics/workspace
• Jacobians: velocities & static forces, singularities
• Robot manipulator dynamics: Newton-Euler & Lagrangian equations of motion
• Robot trajectory and motion planning/generation
• Robot Design, and Robot Programming Languages
• Laboratory robot’s motion programming & task planning
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Grading Policy• Mid-Term Exam: 30%
• Final Exam: 30%
• Homework*& Quiz(Weekly): 15%
• Lab/Seminar Projects: 25%
Office Hours Tuesdays: 3:00 to 4:30 PM
Tel: (021) 6616-5541, 5548
Email: [email protected]
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Basic Issues in Robotics
A Robot is an entity that can sense, think and act!
• How to SENSE?
• How to PLAN?
• How to ACT?
Environment
Sense ActPlan
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Primitive Robotic Functions
• SENSE
– The function of acquiring information from the
environment (i.e. bump sensors, optical sensors, …).
• PLAN
– The function of determining high-level tasks to
accomplish Various AI techniques.
• ACT
– The function of producing low-level actuator
commands (i.e. Turn on motor one for a few seconds).
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What are Robots Made of?
• Sensors
– cameras
– ranged finders
– touch sensors
• Computer
– embedded controller and microprocessor
• Actuators
– wheels or legs
– manipulators (gripper or hand)
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Robot Samples
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Robot Demos - Rescue
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Robot Demos – Pick & Place
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Robot Demos
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Robot Demos - Humanoid
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Robot Demos
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Applying Robots as Teaching Assistants in EFL Classes …
© SUT-CEDRA, Meghdari-Alemi
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Passive Robots - Humanoid
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Robot Demos
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Robot Demos
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Laparoscopic surgery is a specific branch of Minimally Invasive Surgery (MIS) that is performed in the abdominal cavity. In this method "ROBOLENS" helps the surgeon by holding and moving the laparoscopic lens (camera) under his/her supervision during the surgical operation and acquires a stable view from the surgical site. It can be controlled by Voice commands or by a smart foot switch system.
The project is accomplished and the robot has passed technical and clinical tests at the Imam Khomeini Hospital Complex, Tehran, Iran.
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Animal Like Robots
A Flying Insect
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Animal Like Robots
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Animal Like Robots
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Animal Like Robots