MEAM 520

MEAM 520

Introduction to Robotics Introduction to Robotics

Outline u What is a robot? u History u Anatomy of a robot u Trends in robot automation u Robot industry in the U.S. and in the world u Applications

Vijay Kumar University of Pennsylvania Philadelphia, PA

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manufacturing automation service industry

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What is a robot? u

History

Webster

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An automatic apparatus or device that performs functions ordinarily ascribed to humans or operates with what appears to be almost human intelligence. u

Origin of the word “robot” l l l

Robotics Institute of America

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A robot is a reprogrammable multifunctional manipulator designed to move material, parts, tools or specialized devices through variable programmed motions for the performance of a variety of tasks.

Czech word “robotnik” 1920 play by Karel Capek 1940s - Isaac Asimov’s science fiction

History of automation l l

Industrial revolution (late 18th century) Mechanical looms t t

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Crane with motorized grippers (1892) Mechanical arm for spray painting (1938) Telecheric/teleoperators (World War II) University of Pennsylvania

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History

History

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Eniac (University of Pennsylvania) Whirlwind (MIT)

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Numerically controlled machine tool (1952) Robot with playback memory (1954) First industrial robot (1962)

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Walking robots

First large scale electronic computer (1946) l

Jacquard looms Programmable looms

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Advent of computers u

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Ralph Moser’s walking machine (1967) Odetics’ Hexapod (1983) Adaptive Suspension Vehicle (1985) Ambler (1993) Humanoid (1997)

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The Honda Humanoid

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The Honda Humanoid

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The Honda Humanoid

What is a robot? Definition of a robot revisited l

manipulate objects in the physical world

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sense information about the physical world make decisions based on available information or ask for additional information interface in a “friendly”manner with humans mimic humans reprogrammable by humans safe

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Asimov’s laws of robotics

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Definition of a robot

Anatomy of a robot

The robot is a computer-controlled device that combines the technology of digital computers with the technology of servocontrol of articulated chains. It should be easily reprogrammed to perform a variety of tasks, and must have sensors that enable it to react and adapt to changing conditions. l Do

compare this to a PC manipulating data

industrial robots satisfy this definition? robots?

Basic components u the mechanical linkage u actuators and transmissions u sensors u controllers u user interface u power conversion unit

l Service

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Anatomy of a robot

The Seiko RT33

Manipulator linkage The manipulator consists of a set of rigid links connected by joints. The joints are typically rotary or sliding. The last link or the most distal link is called the end effector because it is this link to which a gripper or a tool is attached. Sometimes one distinguishes between this last link and the end effector that is mounted to this link at the tool mounting plate or the tool flange. The manipulator can generally be divided into a l regional structure l orientational structure

An industrial robot with a spherical workspace

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The Stanford Arm

SCARA Manipulator The Adept 1850 Palletizer

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Cylindrical workspace Applications in assembly, palletizing

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1 Axes 4, 5, 6 Research prototype developed by Stanford University (1960’s) University of Pennsylvania

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Anatomy of a robot

Transmissions ELBOW J OINT

Actuators u linear or rotary u electric, hydraulic, pneumatic

PASS IVE J OINTS

Transmissions u to convert rotary to linear motion or linear to rotary motion. u to convert the actuator output into a form that is suitable for driving the robot linkage. u to locate actuators away from the joints.

ACTUATOR FO R THE ELBOW S HOULDER J O INT

BAS E S WIVEL

The regional structure for the Cincinnati Milacron T-3 robot

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Parallel robot manipulators

Parallel robot manipulators (continued)

The Stewart Platform l l l

Planar parallel manipulators

flight simulators, test rigs NIST high-performance manufacturing cell Ingersoll-Rand machine

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END EFFECTOR Leg 5 Leg 4

capable of movements in the horizontal plane high strength to inertia ratio high stiffness END-E FFE CTOR limited workspace more complicated

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ACTUATORS

Leg 6 Leg 3

Leg 2

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Leg 1

BASE

Leg i S

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Anatomy of a robot

Anatomy of a robot manipulator Controller

Sensors u to know the position of each joint in the mechanical linkage l

potentiometers, encoders

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to measure the velocity and/or acceleration at each joint

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to measure the forces and moments exerted by the end effector or the torques/forces exerted by each actuator to detect objects or features in the environment

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The controller provides the intelligence that is necessary to control the manipulator system. l memory to store the control program and the state of the robot system obtained from the sensors l a computational unit (CPU) that computes the control commands l the appropriate hardware to interface with the external world (sensors and actuators) l the hardware for a user interface

tachometers, accelerometers

vision sensors (cameras, laser range finders), accoustic sensors (ultrasonic ranging systems), touch sensors

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MEAM 520 A rotary joint actuated by a DC motor

Anatomy of a robot manipulator The user interface This interface allows use a human operator to monitor or control the operation of the robot. It must have a display that shows the status of the system. It must also have an input device that allows the human to enter commands to the robot.

The power conversion unit The power conversion unit takes the commands issued by the controller which may be low power and even digital signals and converts them into high power analog signals that can be used to drive the actuators.

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Controller

A linear, electropneumatic actuator

Example

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Stock of industrial robots by year-end in 1992 Country Australia Austria Benelux Czechoslovakia Cyprus Denmark Finland France Germany Hungary Italy Japan New Zealand Norway Poland Republic of Korea Singapore Spain* Sweden Switzerland Taiwan Former USSR * United Kingdom United States Slovakia Czech Rep. Slovenia Total

1989 1,350 895 1,340 7,007 3 402 671 7,063 22,395 138 10,000 219,700 493 506 1,459 1,752 3,463

1990 1,490 1,186 1,715 7,160 3 489 825 8,551 28,240 199 12,500 274,210 70 527 532

965 62,339 5,717 37,000

1,625 2,224 3,791 1,525 1,293 64,204 6,227 40,000

384,658

458,586

1991 1,644 1,465 1,975 7,211 3 579 955 9,808 34,140 229 14,700 324,895 80 555 630 4, 080 1,906 2,632 4,099 1,700 1,688 65,000 6,974 44,000

530,948

Trends in robot automation

1992

4 584 1,051 10,821 39,390 237 17,097 349,458 90 576 627 4,900 2,090 3,200 4,550 2,050 2,217 65,000 7,598 47,000 589 6,622 118

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U.S. sales

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Dramatic increase in sales in Asia (excluding Japan) for the first half of 1997 - 6,275 robots, $548 million Market for robots and accessories is estimated at $1.5 billion annual

Annual sales in Japan is 36,000, while the same in U.S.A., U.K., Germany, France and Italy is 23,000.

571,886 27

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Trends in U.S. robot automation

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U.S. is the second largest robot user behind Japan Japan installed more robots annually in 1990-1992 than the total that U.S. installed in the 32 years from 1962-1992 Annual sales of robots peaked at 80,000 in 1990 and then fell to 56,000 in 1993 Annual growth rate in 1995-2000 was around 15%

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1,762 1,693 2,562

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Robot sales in the U.S.

First industrial robot was installed by Unimation in 1961 Many big companies (e.g., Westinghouse, General Motors, Cincinnati Milacron and General Electric) entered the robotics business Today, the only industrial robot manufacturer is Adept Although the U.S. is a distant second to Japan in using robots, it is catching up l

The main cause is labor shortage

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Application of Robotics in the U.S.

Robot industry in Japan u u

The Japanese robot industry was $3.6 billion in 1991 and estimated to grow to $11.9 billion by 2000 Japanese robot manufacturers

Manufacturer Matsushita Electric Industry (MEI) Fuji Machine Manufacturing Fanuc Yasakawa Electric Manufacturing Kawasaki Heavy Industries

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Labor growth in Japan is estimated to be 0.4% annually from 1994 to 2000. In 2000, 15% of the work force will be over 65.

Robots are extensively used in the manufacturing of automobiles, electronic goods and semiconductors. l l l l

“...service robotics will surely outstrip industrial robotics” - J. Engelberger, 1990 u Space robotics Human operators on earth can control partially autonomous vehicles and manipulators on distant planets u

shorter production lines lower capital cost per unit product more flexibility save labor costs

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Hazardous environments l l l l

dismantling radioactive or toxic equipment/weapons manufacture of chemicals, explosives subsea exploration, salvage demining

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New applications in robotics (continued)

Virtual reality

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Robot technology allows the user/operator to feel the virtual environment and exert forces on it. u

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Military Applications l

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Cars are being equipped with increasingly sophisticated sensors, navigation systems and controllers

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airborne (drones) land based HUMMERS

Go where no man (human) can go t t

Medical Robotics l

Unmanned vehicles t

Highways l

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New applications in robotics (continued) u

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New applications of robotics

The major reasons for growth in this industry are a Japanese labor shortage and strong investment by industry and the government. l

8.3 5.4 5.3 3.4

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Japanese robot industry u

Percentage of Japanese production 16.5

urban environments ground based attacks

the surgeon directs the robot to make controlled, high-precision incisions laproscopic surgery involves inserting a micro-robot through a small incision in the body and teleoperate it to perform surgery, suturing, etc.

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Military applications in robotics (continued)

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Military applications in robotics (continued)

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vocational assistants for paraplegics personal assistant at home

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Domestic companions

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Entertainment robots

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Personal Robots?

Personal care for disabled people l

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New applications for robotics u

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Honda Humanoid http://www.personalrobots.com

Disney theme parks, Universal studios Motion pictures Ford uses robot to sell cars (salesrobots)

Custodian robots Robot attendants at gas stations

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Domestic Companions?

Domestic Companions?

Kismet, MIT AI Lab University of Pennsylvania

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Cog, MIT AI Lab 41

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The Honda Humanoid

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