lectures on robotics -...
TRANSCRIPT
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Lectures on Robotics
Outline of the class
1. Introduction: the state of the art in robotics
2. Forward kinematics: homogeneous transformation and DH representation
3. Inverse kinematics and velocity kinematics
4. Analytical mechanics I: constraints and the principle of virtual work
5. Analytical mechanics II: Lagrangian formulation
6. Analytical mechanics III: Hamiltonian mechanics
7. Independent joint control
8. Multivariable control (Lyapunov stability)
9. Task space control
10. Force control
11. Feedback linearization control
12. Other advanced control techniques (sliding mode control, adaptive control)
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http://www.es.u-tokai.ac.jp/es_hp/stu/class/yamamoto/KMITLrobotics/Lectures_on_Robotics.html
Lectures based on lecture notes which are available as PDF filesvia Internet.
No textbook will be used in this class.
List of recommended books on robotics
• “Robot Modeling and Control”, M.W.Spong, S.Hutchinson and M.Vidyasagar, John Wiley, 2006. Recently revised from previous “Robot Dynamics and Control”, M.W.Spong and M.Vidyasagar, John Wiley, 1989
• “Foundations of Robotics”, Tsuneo Yoshikawa, MIT Press, 1990
Mathematically challenging, but good books (more on control)
• “A Mathematical Introduction to Robotic Manipulation”, R.M.Murray, Z.Li, S.S.Sastry, CRC Press, 1994
• “Applied Nonlinear Control”, J-J.Slotine, W.Li, Prentice Hall, 1991
• “Nonlinear Control Systems”, 3rd ed. A.Isidori, Springer, 1995
• “Nonlinear Dynamical Control Systems”, H.Nijmeijer, A.v.d.Schaft, Springer, 1993
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Robot Related Technologies
I Element technology III Environmental recognition・ Sensor ・ Computer vision・ Actuator ・ Speech recognition・ Mechanism ・ Tactile sensing・ Material ・ Artificial intelligence
II Control technology IV Robot systems・ Manipulator ・ Autonomous system・ Hand ・ Communication・ Mobility ・ Power resource・ Sensor applications ・ Reliability, safety,
maintenance
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Element Technology (Sensors)
Interoceptive sensorsPosition/angle sensor (encoder, potentiometer)Angular velocity sensor (Tachometer, rate gyro)Accelerometer (piezoelectric, semiconductive)Inclinometer, declinometer
Exteroceptive sensors
Vision sensor (panoramic, stereo, active vision)Tactile sensor (conductive rubber, pneumatic,
semiconductive, photosensitive)Force sensor (strain gauge)Proximity sensor (infrared, eddy current, laser, capacity)Sonar sensor
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Element Technology (Actuators)
Electric actuators
Hydraulic actuators
Pneumatic actuators
Others
DC servo motorAC servo motorStepping motor
Hydraulic motor, hydraulic cylinder
Ultrasound motor, shape memory alloy, piezoelectric element, mechanochemical,Micro-organism, magnetostrictive element
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Element Technology (Mechanism)
Motion transmission mechanism
Reduction mechanism
Joint mechanism
Micro mechanism
gear, ball screw, timing belt, timing chain,lever, link, cam, traction, fluid transmission
harmonic drive, non-backlash gear
revolute joint, prismatic joint, universal joint
hinge mechanism, bimorph micro drive, micro machining via photolithography
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Element Technology (Material)
For robot use
For sensor use
Structural materialLight weight materialHigh stiffness materialVibration-proof material
MetalSemiconductorOrganic InorganicComposite material
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Classification of industrial robots via structure
Cartesian Cylindrical Spherical
ArticulatedSCARA Parallel
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Cartesian robotGantry robotOrthogonal robotRectangular robot
P-P-P
Schematic Skeleton Workspace
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Cylindrical robot
R-P-P
Schematic Skeleton Workspace
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Spherical robotPolar robot
R-R-P
Schematic Skeleton Workspace
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SCARA
Selective Compliance Articulated Robot Arm
R-R-P
Skeleton WorkspaceSchematic
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Articulated robot
R-R-R
Schematic Skeleton Workspace
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Parallel robot
Schematic Skeleton Workspace
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Degree of freedom (DOF)
Number of independent variables needed to determine the configuration of a system of interest
How many DOF does aplanar mobile robot have?
Position 2 DOF X, YOrientation 1 DOF φTotal 3 DOF
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How many DOF does a body in 3D space have?
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This implies that a robot equipped with at least six independent joints (motors) can achieve an arbitrary position and orientation of the end effector within its workspace. A robot with less than six DOF, however, always is subjected to a constrained motion along a certain direction. Given the hand and the shoulder relatively fixed, how can one move his elbow?
Human body is very redundant!
Hand fixed on the object
Shoulder fixed on the body
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Forward kinematics
Joint spacevariables
Task spacevariables
Inverse kinematics
2-DOF serial manipulator
・Joint space variable q q1, q2 (joint angles)
・Task space variable p X, Y (tip position)