Robotics: Evolution, Technology and Applications By: Prof. Hamid D. Taghirad Visiting Professor Center for Intelligent Machines McGill University
Advance Robotic & Automated Systems (ARAS) Department of Electrical Engineering – K.N.Toosi U. of Tech.
Outline • Robotic Application
• Introduction z z z
Robotics: a human dream Robotic evolution Robot definition
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• Robot Classification z z z
Kinematics Arm configuration End effector
• MECH 573 Contents z z z
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Space Industrial Medical Parallel Manipulators
Course contents Textbooks Marking Scheme
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Introduction • Human Dream: Build a human clown z z
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Æ Æ Æ Human Eye Æ Hand-eye task Æ Listen and talk Æ Think and decide Æ … Human Arm Human Leg
Robot manipulator Mobile robot Legged robot Machine vision Visual servoing Sound recognition Artificial intelligence
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Introduction • Dream coming to true starting with z z
Robots as workers: Manipulators Manipulator Æ Worker arm
• Robot Definition: A motorized computer-controlled machine that can be programmed to do a variety of tasks especially repeatable and tiresome ones.
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Introduction • Robot Evolution z
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1921: Robota introduced in Karel Capek theatre, as a slave performing compulsory tasks 1962: 1st Generation Robot, Unimation Inc. pneumatically driven 1975-1997: 2nd Generation Robot, programmable robots in a well known environment (servo-controlled, PLC) 1990- current: 3rd Generation Robot, Intelligent robot in an unstructured environment (Artificial intelligent) MECH 573: Mechanics for Robotic Systems By: Prof. Hamid D. Taghirad
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Introduction • Why Robots z z z z
Strong Tireless Accurate and repeatable Well-immune Labor saving, improvement of working condition, increasing flexibility, productivity, quality, etc
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Introduction • Manipulator components z z z z z z
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Arm Æ Links and joints Hand Æ End effector Actuators and drive Sensors and transducers Computer and Electronics Education via software
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Introduction • Robot Subsystems
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Robot Classification • Arm Configuration z
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Articulated or serial joint-links
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Robot Classification • Articulated
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Robot Classification • Arm Configuration z
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Cylindrical Robot
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Robot Classification • Cylindrical Robot
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Robot Classification • Arm Configuration z
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Spherical Robot
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Robot Classification • Spherical Robot
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Robot Classification • Arm Configuration z
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Cartesian Robot
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Robot Classification • Cartesian Robot
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Robot Classification • Arm Configuration z
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SCARA Robot
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Robot Classification • SCARA Robot
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Robot Classification • Arm Configuration z
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Parallel Robot
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Robot Classification • Arm Configuration z
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Parallel Robot
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Robot Classification • Arm Configuration z
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Parallel Robot
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Robot Classification • End effector
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Robot Classification • End effector
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Robot Classification • End effector
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Robotic Applications • Space Robotics: z
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International Space Station
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Robotic Applications • Space Robotics: z
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International Space Station
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Robotic Applications • Space Robotics: z
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Space Station Remote Manipulator System (SSRMS)
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Robotic Applications • Space Robotics: z
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Special Purpose Dexterous Manipulator (SPDM)
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Robotic Applications • Industrial Applications z
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General Purpose Manipulators
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Robotic Applications • Industrial Applications z
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Welding Robots
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Robotic Applications • Industrial Applications z
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Painting Robots
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Robotic Applications • Industrial Applications z
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Assembly Robots
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Robotic Applications • Medical Robot z z z
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Operating Room Tele-operated Surgery Micro Surgery
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Robotic Applications • Parallel Robots: z
Machine Centers (Variax)
Manufacturer: Giddings & Lewis Application: 5-axis machining Architecture: Standard GoughStewart platform Workspace: 630×630×630 mm ±25° about A/B-axis Accuracy: 11 µm (volumetric)
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Robotic Applications • Parallel Robots: z
Milling Machines (Metrom)
Manufacturer: METROM Application: 5-side machining Architecture: a pentapod with variable-length struts Workspace: 800×800×500 mm ±25° about A axis Accuracy: 15 µm (volumetric)
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Robotic Applications • Parallel Robots: z
Flight Simulators (CAE)
Manufacturer: CAE Electronics Application: Flight Simulator Architecture: Standard GoughStewart platform Workspace: 950×900×900 mm ±30° about A/B/Caxis
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Robotic Applications • Parallel Robots: z
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6-DOF Statically-Balanced Hybrid Parallel Manipulator
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Robotic Applications • Parallel Robots: z
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The Agile Eye (a Spherical Parallel Mechanism)
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Robotic Applications • Parallel Robots: z
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The Agile Eye (a Spherical Parallel Mechanism)
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Robotic Applications • Parallel Robots: z
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The Agile Eye (a Spherical Parallel Mechanism)
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MECH 573: Course Content • Introduction: z z z z z
Robot classification Kinematic chains Grubler criterion Loop mobility criterion Description of position and orientation • • •
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Rotation matrix Screw-axis representation Euler angle representations MECH 573: Mechanics for Robotic Systems By: Prof. Hamid D. Taghirad
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MECH 573: Course Content • Kinematics: z
Kinematics analysis of Serial manipulators • • • •
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Kinematics analysis of parallel manipulators • • • •
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Denavit-Hartenberg convention Forward Kinematics Successive screws Inverse Kinematics of 6R Manipulator (By Jorge Angeles) Vector loop equations 3RRR manipulator Spatial orientation manipulator Stewart Gough manipulator MECH 573: Mechanics for Robotic Systems By: Prof. Hamid D. Taghirad
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MECH 573: Course Content • Jacobian: z z z z
Angular and linear velocity Jacobian matrices Singularity conditions Conventional Jacobians • • •
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3RRR manipulator, Spatial orientation manipulator Stewart Gough manipulator
Screw-based Jacobians MECH 573: Mechanics for Robotic Systems By: Prof. Hamid D. Taghirad
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MECH 573: Course Content • Stiffness Analysis: z z
Force-moment relations Principle of virtual work • 3RRR manipulator
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Stiffness analysis of parallel manipulators • Stiffness analysis of Stewart-Gough platform
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MECH 573: Course Content • Dynamics: z z
Dynamics analysis of parallel manipulators Newton-Euler formulation • Dynamic analysis of Stewart-Gough platform.
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Principle of virtual work, Lagrange formulation, • Dynamic analysis of CKCM Robot.
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General Dynamic equations • Properties of dynamics equations
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MECH 573: Course Content • Control: z z
Introduction to control of parallel manipulators Position control topologies • Inverse dynamics control • Robust inverse dynamics control
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Force control topologies • • •
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Stiffness control Direct force control Impedance control MECH 573: Mechanics for Robotic Systems By: Prof. Hamid D. Taghirad
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MECH 573: Course Content • Textbooks and References: z
Lung-Wen Tsai, “Robot analysis: the mechanics of serial and parallel manipulators”, New York, Wiley, 1999. (Available at Bookstore)
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Jorge Angeles, “Fundamentals of robotic mechanical systems: theory, methods, and algorithms”, New York, Springer, 2nd edition 2006. (A printed version can be purchased from Irene)
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M. W. Spong, S. Hutchinson, M. Vidyasagar, “Robot Modeling and Control”, New York, Wiley, November 2005. L. Sciavicco, B. Siciliano, “Modelling and Control of Robot Manipulators” , Springer Verlag 2nd ed. 2001 Selected papers. MECH 573: Mechanics for Robotic Systems By: Prof. Hamid D. Taghirad
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MECH 573: Course Content • Marking Scheme: z
Assignments:
20%
• 6 assignments z
Mid-term Exam:
40%
• Tentative date 28/02/05 z
Term Project: • • •
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40%
Kinematics and stiffness analysis Dynamics analysis Control MECH 573: Mechanics for Robotic Systems By: Prof. Hamid D. Taghirad
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MECH 573: Course Content Hamid D. Taghirad • Office location: z
McConnell Eng. Bldg. Room 423
• Office hours: z
Tuesday 14:00-15:00
• Email: z
[email protected]
• URL: z
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http://cim.mcgill.ca/~hamid MECH 573: Mechanics for Robotic Systems By: Prof. Hamid D. Taghirad
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Thank You
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