Historical Perspective: Universal Robots) Which Opened in Prague in January 1921. in R.U.R., Capek

Kalasalingam Academy of Research and Education
School of Electronics and Electrical Engineering

Department of Instrumentation and Control Engineering
Introduction
• Historical perspective
• The acclaimed Czech playwright Karel Capek (1890-1938) made the first use
of the word ‘robot’, from the Czech word for forced labor or serf.
• The use of the word Robot was introduced into his play R.U.R. (Rossum's
Universal Robots) which opened in Prague in January 1921. In R.U.R., Capek
poses a paradise, where the machines initially bring so many benefits but in
the end bring an equal amount of blight in the form of unemployment and
social unrest.
• Science fiction ‘-
• Asimov, among others glorified the term ‘robotics’, particularly in I, Robot, and
early films such as Metropolis (1927) paired robots with a dystopic society
• Formal definition (Robot Institute of America):
• "A reprogrammable, multifunctional manipulator designed to move material,
parts, tools, or specialized devices through various programmed motions for
the performance of a variety of tasks".
1

Robots in everyday use and popular culture

• 100s of movies
• Chances are, something you
eat, wear, or was made by a
robot
‘-
http://www.robotuprising.com/
Roomba: $142M in sales for 2005
2

Common applications
• Industrial
• Robotic assembly Picture of Roomba
• Commercial
• Household chores
• Military
‘-
• Medical
• Robot-assisted surgery
3

Common applications Department of Instrumentation and Control Engineering
• Planetary Exploration
• Fast, Cheap, and Out of Control
• Mars rover
• Undersea exploration
‘-
JHUROV; Johns Hopkins
4

Industrial robots
• High precision and repetitive tasks
– Pick and place, painting, etc
• Hazardous environments
‘-
5

Representations
• For the majority of this class, we will consider robotic manipulators as open or closed
chains of links and joints
• Two types of joints: revolute (q) and prismatic (d)
‘-
6

Definitions
• End-effector/Tool
• Device that is in direct contact with the environment. Usually very task-specific
• Configuration
• Complete specification of every point on a manipulator ‘-
• set of all possible configurations is the configuration space
• For rigid links, it is sufficient to specify the configuration space by the joint angles
• State space q = q1 ... qn 
T
q2
• Current configuration (joint positions q) and velocities
• Work space
• The reachable space the tool can achieve
- Reachable workspace
- Dextrous workspace
7

Common configurations: wrists

• Many manipulators will be a sequential chain of links and joints
forming the ‘arm’ with multiple DOFs concentrated at the ‘wrist’
‘-
8

Example end-effector: Grippers

• Anthropomorphic or task-specific
– Force control v. position control
‘-
Utah MIT hand
9

Common configurations: elbow manipulator

• Anthropomorphic arm: ABB IRB1400
• Very similar to the lab arm (RRR)
‘-
10

Workspace: elbow manipulator
‘-
11

Common configurations: Stanford arm (RRP)

• Spherical manipulator (workspace forms a set of concentric
spheres)
‘-
12

Common configurations: SCARA (RRP)
‘-
Adept Cobra Smart600 SCARA robot
13

Common configurations: cylindrical robot (RPP)

• workspace forms a cylinder
‘-
Seiko RT3300 Robot
14

Common configurations: Cartesian robot (PPP)

• Increased structural rigidity, higher precision
– Pick and place operations
‘-
15

Workspace comparison
(a) spherical
(b) SCARA
(c) cylindrical
(d) Cartesian
‘-
16

Parallel manipulators
• some of the links will form a closed chain with ground
• Advantages:
– Motors can be proximal: less powerful, higher bandwidth, easier to control
• Disadvantages:
– Generally less motion, kinematics can be challenging
‘-
6DOF Stewart platform ABB IRB6400 ABB IRB940 Tricept
17

Simple example: control of a 2DOF planar manipulator

• Move from ‘home’ position and follow the path AB with a constant contact force F
all using visual feedback
‘-
18

Coordinate frames & forward kinematics

• Three coordinate frames: 0 1 2
• Positions:
 x1  a1 cos(q1 )
 y  =  a sin(q )  2
 1  1 1 
 x2  a1 cos(q1 ) + a2 cos(q1 + q 2 )  x 

 y  =  a sin(q ) + a sin(q + q )    y  ‘-
 2  1 1 2 1 2   t
• Orientation of the tool frame:
0 1
1 0
xˆ 0 =  , yˆ 0 =  
0 1
cos(q1 + q 2 ) − sin(q1 + q 2 )
xˆ 2 =  ˆ =
 2  cos(q + q ) 
, y
 sin(q1 + q 2 )   1 2 
 xˆ  xˆ yˆ 2  xˆ 0  cos(q1 + q 2 ) − sin(q1 + q 2 )
R20 =  2 0  = 
 xˆ 2  yˆ 0 yˆ 2  yˆ 0   sin(q1 + q 2 ) cos(q1 + q 2 ) 
19

Inverse kinematics
• Find the joint angles for a desired tool position
xt2 + y t2 − a12 − a22
cos(q 2 ) =  D  sin(q 2 ) =  1 − D 2
2a1a2

−1 1 − D 2  q = tan−1 y  − tan−1 a2 sin(q 2 ) 
q 2 = tan     a + a cos(q ) 
 
1
 D   x  1 2 2 
‘-
• Two solutions!: elbow up and elbow down
20

Path planning
• In general, move tool from position A to position B while avoiding
singularities and collisions
– This generates a path in the work space which can be used to solve
for joint angles as a function of time (usually polynomials)
– Many methods: e.g. potential fields
‘-
• Can apply to mobile agents or a manipulator configuration
21

Joint control
• Once a path is generated, we can create a desired tool path/velocity
– Use inverse kinematics and Jacobian to create desired joint trajectories
desired trajectory
error controller system dynamics
‘-
measured trajectory (w/ sensor noise) actual trajectory
22

Other control methods

• Force control or impedance control (or a hybrid of both)
• Requires force/torque sensor on the end-effector
• Visual servoing
‘-
• Using visual cues to attain local or global pose information
• Common controller architectures:
• PID
• Adaptive
• Repetitive
• Challenges:
• Underactuation
• Nonholonomy (mobile agents)
• nonlinearity
23

General multivariable control overview
joint
controllers motor
manipulator
dynamics dynamics
desired ‘- state
joint estimation
torques sensors
inverse estimated
kinematics, configuration
Jacobian desired
trajectory
24

Sensors and actuators

• sensors
• Motor encoders (internal)
• Inertial Measurement Units Basic quantities for
• Vision (external) ‘-
both:
• Contact and force sensors • Bandwidth
• motors/actuators • Dynamic range
• Electromagnetic • sensitivity
• Pneumatic/hydraulic
• electroactive
- Electrostatic
- Piezoelectric
25

Mobile Agents and SLAM
• For untethered and autonomous applications, the performance of

a robotic system (P), whether defined by capability or robustness,
can be related to an agent’s intelligence (I), mobility (M), and
multiplicity (N):
P  I  M  f (N ), ‘-
I  (0,1), M  (0,1), N  0,1,2,..., f : N → n  R +
MicroBat; UCLA
Whegs; CWRU RHex; Michigan
26

Mobile Agents and SLAM
• Monte Carlo localization
‘-
• SLAM: ‘Simultaneous locomotion and Map-building’

27

Computer Vision
• Simplest form: estimating the position and orientation of

yourself or object in your environment using visual cues
• Usually a statistical process
• Ex: finding lines using the Hough space
‘-
• More complex: guessing what the object in your

environment are
• Biomimetic computer vision: how do animals accomplish
these tasks:
• Obstacle avoidance
- Optical flow?
• Object recognition
- Template matching?
28

MEMS and Microrobotics
• Difficult definition(s):
• Robotic systems with feature sizes < 1mm
• Robotic systems dominated by micro-scale physics
• MEMS: Micro ElectroMechanical Systems
• Modified IC processes to use ‘silicon as a mechanical
material’
‘-
Fearing; Berkeley Donald; Dartmouth
Pister; Berkeley
29

Surgical robotics
• Minimally invasive surgery

• Minimize trauma to the patient
• Potentially increase surgeon’s
capabilities
• Force feedback necessary, tactile ‘-
feedback desirable
30

Biomimetic Robots
• Using biological principles to reduce design space
‘-
BigDog; Boston Dynamics MFI; Harvard & Berkeley Ayers; Northeastern
31

Humanoid robots
• For robots to efficiently interact with humans, should they be

anthropomorphic?
‘-
QRIO Sony
Asimo; Honda
32

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Kalasalingam Academy of Research and Education

School of Electronics and Electrical Engineering

School of Electronics and Electrical Engineering

Robots in everyday use and popular culture

Roomba: $142M in sales for 2005

School of Electronics and Electrical Engineering

School of Electronics and Electrical Engineering

JHUROV; Johns Hopkins

School of Electronics and Electrical Engineering

School of Electronics and Electrical Engineering

School of Electronics and Electrical Engineering

School of Electronics and Electrical Engineering

Common configurations: wrists

School of Electronics and Electrical Engineering

Example end-effector: Grippers

Utah MIT hand

School of Electronics and Electrical Engineering

Common configurations: elbow manipulator

School of Electronics and Electrical Engineering

Workspace: elbow manipulator

School of Electronics and Electrical Engineering

Common configurations: Stanford arm (RRP)

School of Electronics and Electrical Engineering

Common configurations: SCARA (RRP)

Adept Cobra Smart600 SCARA robot

School of Electronics and Electrical Engineering

Common configurations: cylindrical robot (RPP)

Seiko RT3300 Robot

School of Electronics and Electrical Engineering

Common configurations: Cartesian robot (PPP)

School of Electronics and Electrical Engineering

School of Electronics and Electrical Engineering

6DOF Stewart platform ABB IRB6400 ABB IRB940 Tricept

School of Electronics and Electrical Engineering

Simple example: control of a 2DOF planar manipulator

School of Electronics and Electrical Engineering

Coordinate frames & forward kinematics

 x2  a1 cos(q1 ) + a2 cos(q1 + q 2 )  x 

School of Electronics and Electrical Engineering

School of Electronics and Electrical Engineering

• Can apply to mobile agents or a manipulator configuration

School of Electronics and Electrical Engineering

measured trajectory (w/ sensor noise) actual trajectory

School of Electronics and Electrical Engineering

Other control methods

School of Electronics and Electrical Engineering

School of Electronics and Electrical Engineering

Sensors and actuators

School of Electronics and Electrical Engineering

Mobile Agents and SLAM

• For untethered and autonomous applications, the performance of

School of Electronics and Electrical Engineering

• Monte Carlo localization

• SLAM: ‘Simultaneous locomotion and Map-building’

School of Electronics and Electrical Engineering

• Simplest form: estimating the position and orientation of

• More complex: guessing what the object in your

School of Electronics and Electrical Engineering