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Introduction to Robotics(ECE 5463)
Yuan F. ZhengElectrical and Computer
Engineering
ECE5463 Introduction
What is a Robot? A robot is a mechanical device
which is controlled by a computer and behaves like a human being– conventional definition
A robot is any device which has certain intelligence – modern definition
Programmable is a key attribute
Hubo Robot
ECE5463 Introduction
Started with Robot Manipulators – Industrial Robots
Robot manipulators originally designed and targeted for industrial automation - Four largest robot manufacturers
ABB Robot
FANUC Robot
KUKA Robot
Yaskawa Robot
ECE5463 Introduction
Applications of Industrial Robots Assembly – automobile, electronics Welding – automobile Painting – automobile Material and objects handling – general
applications in factories, research laboratories (biology and pharmaceutical screen), etc.
ECE5463 Introduction
History of Industrial Robots
First industrial robot was developed in the United States by Joseph Engelberger- called the Father of Robotics
Stanford University carried out much fundamental research in late 60-70s -
Stanford Arm
ECE5463 Introduction
Basic Structure of a Robotic System
Robot ComputerController
Sensors
End – Effector (hand)Interface
Programmer
(Wheels or legs)
ECE5463 Introduction
Mechanical ModelingSix degrees of freedomThree for translationThree for rotation
Kinematics/Inverse kinematics:
From the position-orientation of the hand to the positions of joints and vice versa
Dynamic equation:
D(q)q+H(q, q)+G(q) = T
q: Joint anglesX: Hand position/orientationT: Input torques
.. .
ECE5463 Introduction
Key Components
Servo motor - needs to be reliable and powerful (25% of the cost)
Speed reducer (35% of the cost) Mechanical linkages - arms, waist, hands
(20% of the cost) Controller – hardware and software (15% of
the cost) Others – sensor, cables, cabinets, etc. (5% of
the cost)
U.S. does not make many of them nowadays
FANUC Servo Motor
ECE5463 Introduction
Scope of Robots Today (1)
Jiao Tong Mobile Robots (SJTU)
Honda - ASIMOSONY - QRIO
iRobot Roomba®
ECE5463 Introduction
SARCOS, USAHonda, Japan
Toyota, Japan AIST, JapanToyota, Japan
ECE5463 Introduction
Further Expansion
Mars Rover UAV
Anti-Terrorists Robot
Mobile Robots
Wheeled Mobile Robots
Schaft Two-Legged Robot (won DARPA Robotics Grand
Challenge Trials 2013)
KAIST Hybrid Robot (won DARPA Robotics Grand Challenge 2015)
ECE5463 Introduction
Intelligent Service Robots
Intelligent service robots will represent future of robotics technology
It combines manipulation and mobility of robots plus sensing and computing technologies
South Korea has put emphasis on the development of intelligent service robots
South Korea ETRI Robot Guider
This Course In this semester we will go through some
fundamentals of robotics including kinematics, dynamics, control, components, and sensing, etc.
The knowledge will be useful for your future career in the application (programming and integration), design, and research of robots, or in marketing and education, etc.
Homeworks and projects will be assigned for you to practice for strengthening your learning
You are encouraged to work together with graduate (undergraduate) students in joint projects
ECE5463 Introduction