Advanced Robotics for Autonomous Manipulation

Advanced Robotics for Autonomous ManipulationGiacomo Marani

Autonomous Systems Laboratory, University of Hawaii

Department of Mechanical Engineering ME 696 – Advanced Topics in Mechanical Engineering

http://www2.hawaii.edu/~marani

Course Objectives

Autonomous Robotics, a challenging technology milestone, refers to the capability of a robot system that performs intervention tasks requiring physical contacts with unstructured environments without continuous human supervision.Such a robot system underlies several emerging markets and applications, including security and rescue operations, space and underwater applications, military applications, and the health-care industry.

Course Objectives

This course intends to provide graduate students with advanced methods in robotics suitable for autonomous operation, such as task prioritization, auto-calibration and target interaction.

Advanced Robotics for Autonomous Manipulation will offers to the students the unique possibility of interacting with a sophisticated autonomous robotic system (the SAUVIM Autonomous Underwater Vehicle-Manipulator system), to perform individual and group experimental activities as part of the course.

IntroductionAutonomous Underwater Intervention

The SAUVIM Project

SAUVIM has been jointly developed by the Autonomous Systems Laboratory (ASL) of the University of Hawaii, Marine Autonomous Systems Engineering (MASE), Inc. in Hawaii, and Naval Undersea Warfare Center Division Newport (NUWC) in Rhode Island.SAUVIM’s main goal is to perform autonomous underwater intervention tasks.

Research key points:• Autonomous Navigation• Vehicle localization• Autonomous Manipulation• Target localization

ContentsIntroduction1. SAUVIM Design2. Aut. Manipulation3. Maris 7080 Robot4. Target Localization5. Course Topics6. RDS7. Course Organiz.Examples

SAUVIMSemi-Autonomous Underwater Vehicle for Intervention

Missions

SAUVIMSemi-Autonomous Underwater Vehicle for Intervention

Missions

Autonomous Underwater InterventionIntroduction

Semi-Autonomous ConceptAutonomy Level:• The level of autonomy is related to the level

of information needed by the system in performing the particular intervention.

• The user provides only few high level decisional commands

• The management of lower level functions (i.e. driving the motors to achieve a particular task) is left to the onboard system.

• This concept requires the system being capable of acting and reacting to the environment with the extensive use of sensor data processing.

SAUVIM Manipulation Subsystem

Sauvim Explorer User interface:

• Sensor Data monitoring system• VR underwater scene

reconstruction• Actuators power control• Arm Programming Language

console• Teleoperation or autonomous mode• Simulation mode

Maris 7080 Underwater Manipulator

• Manufacturer: Ansaldo DNU, Italy• 7+1 degrees of freedom• Designed for underwater

applications at high depths (oil filled with compensating system)

• Brushless motor with reduction unit

• Two resolvers for each joint (motor and joint)

• JR3 Force/Torque sensor• High positioning accuracy and

repeatability Actuators power control

xBus Communication

Subsystem(Client/Serverarchitecture)

MARIS 7080 Robotic ManipulatorMARIS 7080 specifications

Specifications• Manufacturer: Ansaldo DNU, Italy• 7+1 degrees of freedom• Designed for underwater applications at

high depths1 (oil filled with compensating system)

• Brushless motor with reduction unit (harmonic drive)

• Two resolvers for each joint (motor and joint)

• JR3 Force/Torque sensor• High positioning accuracy and

repeatability

1 The manipulator theoretical working depth is 4000m, calculated on the basis of characteristics of sealing components.

MARIS 7080 Robotic Manipulator MARIS 7080 kinematics

MARIS 7080 kinematics

Writing `Welcome`SD010

Sensor fusionLocating the target:

• Long range: sidescan sonar, imaging sonar

• Medium/short range: DIDSON• Short range: motion trackers,

camera, JR3 force sensor

Extensive use of the sensor data within the arm programming language environment

xBus Communication

Subsystem

Scan Sonar

Didson Sonar

CameraMotion tracker

TARGET

PrecisionDistance

Target localizationMotion Trackers

Target localization with Motion trackers

• High Accuracy and short distance• Ultrasonic 6 DOF tracker

Test Tube with Ultrasonic TrackerSD012

Underwater Demo #2Deploying an object

Localizing a chessboard

• The arm picks the object to deploy from the vehicle

• The arm the arm scans around in order to look for the chessboard

• Once the chessboard is detected, the arm deploys the object over it.

Chessboard Tracker (Demo 02, 2005.09.30)SD020

Underwater Demo #3Cutting the cable

Localizing and cutting a cable

• The arm scans around in order to look for the ball

• Once the ball is detected, the arm attempts to position the gripper about 5 inches over the ball.

• When no movement is detected from the camera-arm system, the arm proceeds cutting the cable (open gripper, move forward of 2 inches, close gripper).

Cable Cutting (Demo 03, 2005.10.20)SD021

• The arm scans around in order to look for the target• Once the target is detected, the arm attempts to clamp the hook (tied to a cable) in between the 2 spheres.

Demo SD023: Target Recovery [October 2006]

Cable Hooking, Hi-Res (Demo 05, 2006.10.26)SD023

• The vehicle deploys the arm and scans the area in search for the target• Once the target is detected, the whole vehicle-manipulation system attempts to lock the target and point the end-effector to it

Demo SD025: Target Tracking [July 2008]

In search for the the targetSD025

ME696- Advanced RoboticsTopics

Course Topics

1. Geometry and kinematics of robotics structures: a generalized approach for multi-body systems.

2. Task space controller: Task Projection method and prioritization in autonomous systems.

3. Robotics advanced dynamics: Lagrange equation for quasi-coordinates.

4. Identification of system dynamics.5. Dynamic control of manipulators.6. Methods for target identification and tracking.7. Target interaction and force control.8. Autonomous Calibration of robotic systems.9. Experimental activities with the RDS simulation tool and

with the SAUVIM robotic manipulator.

Simulation Environment Simulink and RDS

The Simulation Environment:Combined use of Simulink® and Robotics

Developer Studio1

High-level language, with a minimum amount of manual coding.

Automatic use of a symbolic processor for evaluating any relation referring any kinematical and/or dynamical quantity (transformation matrixes, jacobians…) .

Automatic code optimization for real-time operation.

.1 G. Marani: “ROBOSIM: Un programma per la Simulazione di Strutture Meccaniche Robotizzate”, Master thesis (in Italian), University of Pisa, Italy, February 1997

Simulation Environment Robotics Developer Studio

Simulation EnvironmentRobotics Developer Studio

RDS: main featuresKinematic and dynamic modeling of any

generic mechanical systems (open and branched chains).

Fully integrated in the Matlab™/Simulink™ environment.

Automatic C code generation, highly optimized and ready to download on a external hardware device.

Easy-to-use graphical interface, developed for Windows NT-2000-XP™ operating systems.

Holonomic joints up to 6 degrees of freedom.Run-time specification of physical parameters

(mass, lengths …), useful for systems identification.

High-level expression editor for creating user defined Simulink blocks.

RDS: Simple application example

5 Degrees of freedom linear chain.

Link 1

Link 2

Link 3

Joint 1

Joint 2

Joint 3

Link 5

Joint 5

RDS: Expression EditorHigh-level interface useful to create blocks

which input-output relation is definable by the user.

The relation may involve any kinematical or dynamical matrix of the system, such as transformation matrixes, jacobians etc.

Example: a block that computes the generalized velocity of the end-effector of a 4-links structure:

p0,0,05,10,1 J

RDS: Vehicle SimulationRDS can model more general mechanical

systems than robots.The following example is an overall simulation of the vehicle with the arm, in empty space and without gravity.

ME696- Advanced RoboticsOrganization

Course Organization

Course Schedule: Tue-Thu, 3:00 PM – 4:15 PMInstructor: Dr. Giacomo MaraniOffice: Holmes 202Office Hours: Mon-Fri, 3:00 PM – 5:00 PMTel.: 956-2863e-mail: marani@hawaii.eduWeb: http://www2.hawaii.edu/~maraniCredits: 3, letter gradePrerequisites: MATH 407, and ME452; or consentTextbook: Course notesGrade Evaluation:

Homework Assignments: 70% Project: 30%

ExamplesVideo clips of SAUVIM Demos

SAUVIM DemosSD001 - SD024SD001

MOM Maximization Disabled

(Sim.Demo)

MOM Maximization Enabled

(Sim.Demo)

Collision Detection (Simulative Demo)

Task Position Priority (Sim.Demo)

Vehicle Navigation (Old Sim. Demo)

Arm Drawing, 2001 Demo (Simulation)

Arm Drawing, 2001 Demo

SAUVIM Extraction (Unpainted Fairing)

Writing `Welcome` (Extended)

Writing `Welcome`

Test Tube with Ultras. Tracker (Ex)

Test Tube with Ultrasonic Tracker

Particular of Docking Sequence

Particular of Undocking Sequence

Drawing `Smiley` (Internship Prog.)

First Navigation

2005 Internship Presentation

Underwater Plug, Ex. (Demo 01, 2004.05)

Underwater Plug (Demo 01, 2004.05)

Chessboard Tracker (D02, 2005.09.30)

Cable Cutting (D03, 2005.10.20).

Cable Hooking (D04, 2006.04.26)

Cable Hooking, Hi-R (D05, 2006.10.26)

Auton. Navigation (D06, 2007.07)

MOM Maximization Disabled (Simulative Demo)SD001

MOM Maximization Enabled (Simulative Demo)SD002

Collision Detection (Simulative Demo)SD003

Task Position Priority (Simulative Demo)SD004

Arm Drawing, 2001 DemoSD007

Writing `Welcome`SD010

Test Tube with Ultrasonic TrackerSD012

Drawing `Smiley` (Internship Program)SD015

2005 Internship PresentationSD017

Underwater Plug (Demo 01, 2004.05)SD019

Underwater Demo #2Deploying an object

Localizing a chessboard

• The arm picks the object to deploy from the vehicle

• The arm the arm scans around in order to look for the chessboard

• Once the chessboard is detected, the arm deploys the object over it.

Chessboard Tracker (Demo 02, 2005.09.30)SD020

Underwater Demo #3Cutting the cable

Localizing and cutting a cable

• The arm scans around in order to look for the ball

• Once the ball is detected, the arm attempts to position the gripper about 5 inches over the ball.

• When no movement is detected from the camera-arm system, the arm proceeds cutting the cable (open gripper, move forward of 2 inches, close gripper).

Cable Cutting (Demo 03, 2005.10.20)SD021

Cable Hooking (Demo 04, 2006.04.26)SD022

Target recovery

• The arm scans around in order to look for the target

• Once the target is detected, the arm attempts to clamp the hook (tied to a cable) in between the 2 spheres.

Underwater Demos #4-5:Recovery operation

(October 2006)

Cable Hooking, Hi-Res (Demo 05, 2006.10.26)SD023

Autonomous Navigation (Demo 06, 2007.07)SD024

End of presentation

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Advanced Robotics for Autonomous Manipulation

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