robotics in automation

8/7/2019 ROBOTICS IN AUTOMATION

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ROBOTICS

IN

AUTOMATION

ANIL [email protected]

SIVA [email protected]

BY

DEPARTMENT OF MECHANICAL ENGINEERING

QIS COLLEGE OF ENGG & TECH

ONGOLE


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CONTENTS

1.Abstract.2.Introduction.3.System Overview.

4.Human/Machine Interaction.5.An Imaginary Example.6.Discussion and Conclusion.7.References.


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AbstractAbstract

Only a few decades ago computers were being praised solely onOnly a few decades ago computers were being praised solely ontheir ability to tackle complex mathematical problems with littletheir ability to tackle complex mathematical problems with little

discussion of future applications.discussion of future applications.

Current robotics research may result in the extension of robotics intoCurrent robotics research may result in the extension of robotics intothe lives of ordinary people in a manner.the lives of ordinary people in a manner.

The objective of this work is that Internet communications can beThe objective of this work is that Internet communications can beexploited to achieve greater productivity from machines with localexploited to achieve greater productivity from machines with local

intelligence.intelligence.

This paper describes an exploration in InternetThis paper describes an exploration in Internet--based control ofbased control of

robots.robots.


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IntroductionIntroduction

The Internet creates many technologicalThe Internet creates many technological

opportunities, one of which is the ability to useopportunities, one of which is the ability to usea standard network infrastructure to control robots from aa standard network infrastructure to control robots from a

remote locationremote location

It is possible to control robots over the InternetIt is possible to control robots over the Internet

The robot sometimes may ask help.The robot sometimes may ask help.


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System OverviewSystem Overview

The system consists a robotic arm, two cameras, a PC controller,The system consists a robotic arm, two cameras, a PC controller,

and a Web server.and a Web server.

1.1.Robot & controllerRobot & controllerThe robot had been retrofit for openThe robot had been retrofit for open--architecture control.architecture control.

The robot had five degrees of freedom in a serial kinematicThe robot had five degrees of freedom in a serial kinematic

chainchain


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5 CGI (Common Gateway Interface) scripts5 CGI (Common Gateway Interface) scripts

The Web server initiated robot operation by invoking a CGIThe Web server initiated robot operation by invoking a CGIscript that ran at the Web server sidescript that ran at the Web server side


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66 Vision AnalysisVision Analysis

AMatrix card can be used as the image frame grabber.AMatrix card can be used as the image frame grabber.

The Matrox card has a driver for Windows NT but no driver for QNX.The Matrox card has a driver for Windows NT but no driver for QNX.

The Matrix card is to be connected to a gray-scale camera, which wasmounted on the robots gripper. The camera and frame grabber

provided 512 x 480 frame with pixel intensities in the 0 to 255 range.


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7 User Interface (UI) presentation7 User Interface (UI) presentation

The Web interface can be written in HTML. The interfaceThe Web interface can be written in HTML. The interface

had feedback buttons for a user to transmit commands to the Web.had feedback buttons for a user to transmit commands to the Web.

The frame grabber took a snapshot of the robots view andThe frame grabber took a snapshot of the robots view and

the Web server encoded the saved image as part of the HTMLthe Web server encoded the saved image as part of the HTMLdisplay.display.

The user coordinates were delivered to the Web server andThe user coordinates were delivered to the Web server and

a CGI script relayed the data from the web server to the robota CGI script relayed the data from the web server to the robot

controller.controller.

ImageImage--space coordinates were translated into robotspace coordinates were translated into robot--spacespace

coordinates, transparent to the operator, to command the robot tocoordinates, transparent to the operator, to command the robot to

move to the selected location.move to the selected location.


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8 Web Cam8 Web Cam

The buttons and the servo control were the input elements;The buttons and the servo control were the input elements;

however the user also needed feedback from the system.however the user also needed feedback from the system.

There were two forms of feedback:There were two forms of feedback:

Images from the robots viewpoint (with the gripperImages from the robots viewpoint (with the gripper

mounted camera) and a widermounted camera) and a wider--angle side view from a Webangle side view from a Web

camera (a Web Cam).camera (a Web Cam).

To display the video stream, the client can use a JavaTo display the video stream, the client can use a Java

applet, i.e., a Java byte code executable that was dynamicallyapplet, i.e., a Java byte code executable that was dynamically

downloaded into a browser over the Internet.downloaded into a browser over the Internet.


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9 Client site9 Client site

The human supervisor interacted exclusively with theThe human supervisor interacted exclusively with the

Apache Web server and with the web cam video server.Apache Web server and with the web cam video server.

The operator could use any of the commerciallyThe operator could use any of the commercially

available Web browsers to supervise the robot and downloadavailable Web browsers to supervise the robot and download

video streams.video streams.

When the user clicked on a button or selected anWhen the user clicked on a button or selected an

option from a dropoption from a drop--down menu, the user choice was sent todown menu, the user choice was sent to

the Web server in a standard HTTP request.the Web server in a standard HTTP request.

The client site can use such as JavaThe client site can use such as Java--enabled Webenabled Web

browsers, so that the human interface to the robot requiredbrowsers, so that the human interface to the robot required

no specialized software or hardware beyond what is alreadyno specialized software or hardware beyond what is already

commonly available.commonly available.


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Human / Machine interaction :Human / Machine interaction :

InternetInternet--based control makes it possible for a remotebased control makes it possible for a remoteuser to direct robot operations from a remote location.user to direct robot operations from a remote location.

Direct tele operation, as described in, requires low latencyDirect tele operation, as described in, requires low latencyto be safe and effective.to be safe and effective.

In contrast, if most of the control communication is in theIn contrast, if most of the control communication is in theform of lowform of low--level commands, such as unidirectional movements .level commands, such as unidirectional movements .


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An Imaginary ExampleAn Imaginary Example

The imaginary example is laundry sorting.The imaginary example is laundry sorting.

It illustrates the potential for networkIt illustrates the potential for network--basedbased

supervisory control of semisupervisory control of semi--autonomous systems.autonomous systems.

Let us take three baskets with three types of washcloths:Let us take three baskets with three types of washcloths:

bleachable, non bleachable, and ambiguousbleachable, non bleachable, and ambiguous..


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Conclu

sionConclu

sion

ThisThis system is discussed with the concept of humansystem is discussed with the concept of humanassisted internetassisted internet--controlled robotics.controlled robotics.

This is very useful economically and with out any strainThis is very useful economically and with out any strain toto

human bodies.human bodies.

we have tried to implement a sophisticated softwarewe have tried to implement a sophisticated softwareplatform that is based on mobile intelligent agents and on localplatform that is based on mobile intelligent agents and on local

controls and lowcontrols and low--level intelligence for performing force controlledlevel intelligence for performing force controlledcontact operations.contact operations.


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REFERENCESREFERENCES

Book:Book: Craig, J.J. "Introduction to Robotics,Craig, J.J. "Introduction to Robotics,Mechanics and Control," Addison WesleyMechanics and Control," Addison Wesley

Magazine:Magazine: Nagchaudhuri, A., Thint, M.,Nagchaudhuri, A., Thint, M.,and Garg, D.P., Cameraand Garg, D.P., Camera-- Robot TransformRobot Transformfor Vision Guided Tracking, Journal offor Vision Guided Tracking, Journal ofIntelligent and Robotic Systems : TheoryIntelligent and Robotic Systems : Theoryand Applications.and Applications.


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THANK

Q

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robotics in automation

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