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