Dr. S. Sanyal, Associate Professor,Mechanical Engineering Department, NIT Raipur 1 Contents Brief history Few clips Areas of application Robotic Manipulator Robot Configurations Robot Kinematics Basics of Forward & Inverse Kinematics Coordinate transformation 2 ~ 322 B.C. The Greek philosopher Aristotle writes... If every tool, when ordered, or even of its own accord, could do the work that befits it... then there would be no need either of apprentices for the master workers or of slaves for the lords. ...hinting how nice it would be to have a few robots around. 3 Greek philosopher Aristotle 1920 - Word Robot was coined by a CzechnovelistKarelCapekina 1920 play titled Rossums Universal Robots (RUR). RobotainCzechisawordfor worker or servant. After this play, electromechanical automatons were referred to as robots. 4 Brief history Karel Capek Isaac Asimov (1920-1992), the author, who in his lifetime wrote over 500 books that enlightened, entertained, and spanned the realm of human knowledge. 1941: Isaac Asimov first uses the term 'robotics' to describe the technology of robots. He predicted the rise of the robot industry. 5 Issac Asimov's most important contribution to the history of the robot is the creation of his Three Laws of Robotics Three Laws of Robotics 1. A robot may not injure a human being, or, through inaction, allow a human being to come to harm. 2. A robot must obey the orders given to it by human beings except where such orders would conflict with the First Law. 3. A robot must protect its own existence as long as such protection does not conflict with the First or Second Law. Asimov later adds a "zeroth law" to the list: Zeroth law: A robot may not injure humanity, or, through inaction, allow humanity to come to harm. 6 1956 - Aided by a grant from the Rockefeller Foundation John McCarthy, Marvin Minsky , Nat Rochester and Claude Shenon organize The Dartmouth Summer Research Project on Artificial Intelligence at Dartmouth College. The term "artificial intelligence" is coined as a result of this conference. 1959 - John McCarthy and Marvin Minsky start the Artificial Intelligence Laboratory at the Massachusetts Institute of Technology (MIT). 7 John McCarthy Marvin Minsky 1954:Thefirstindustrialrobot:UNIMATE robot is designed by George Devol. 1962: General Motors installs the first industrial robot on a production line. It is a Unimate robot and is used in a car factory run by General Motors in Trenton, New Jersey. The robot lifted hot pieces of metal from a die-casting machine and stacked them. 8 Unimate robot 1963: John McCarthy leaves MIT to start the Artificial Intelligence Laboratory at Stanford University. 1966 - The Stanford Research Institute creates Shakey the first mobile robot to know and react to its own actions. 9 Shakey 1969 - Victor Scheinman, a Mechanical Engineering student working in the Stanford Artificial Intelligence Lab (SAIL) creates the Stanford Arm. The arm's design becomes a standard and is still influencing the design of robot arms today. 1974 - Victor Scheinman forms his own company and starts marketing the Silver Arm. It is capable of assembling small parts together using touch sensors. 10 Victor Scheinman 1967 Richard Greenblatt writes, MacHack, a program that plays chess, in response to a article written by Hurbert Dreyfus where he suggests, as a critique to efforts in artificial intelligence, that a computer program could never beat him in a game of chess. When Dreyfus is invited to play the computer, he ultimately loses in the end in a close match. Greenblatt's program would be the foundation for many future chess programs, ultimately culminating in Big Blue the chess program by IBM that beats chess Grand Master Gary Kasparov. 11 12 1968 Stanley Kubrick makes Arthur C. Clarks 2001: A Space Odyssey into a movie. It features HAL, an onboard computer that decides it doesn't need its human counterparts any longer.1970 In the winter of 1970, the Soviet Union explores the surface of the moon with the lunar vehicle Lunokhod 1, the first roving remote-controlled robot to land on another world. German based company KUKA built the world's first industrial robot with six electromechanically driven axes, known as FAMULUS. Clip 1 - starwars 13 1977 Star Wars is released. George Lucas movie about a universe governed by the force. The movie creates the strongest image of a human future with robots since the 1960's and inspires a generation of researchers. The Empire Strikes Back , Return of the Jedi. 1977 Deep space explorer Voyagers 1 and 2 launch from the Kennedy Space Flight Center. 14 1978-ThePumaProgrammableUniversalMachinefor AssemblyrobotisdevelopedbyUnimationwithaGeneral Motors design support 15 1986 LEGO and the MIT Media Lab collaborate to bring the first LEGO based educational products to market.LOGO is used by in the classrooms of thousands of elementary school teachers. 1986 Honda begins a robot research program that starts with the promise that the robot"should coexist and cooperate with human beings,by doing what a person cannot do andby cultivating a new dimension in mobility to ultimately benefit society." 16 1992 Dr. John Adler came up with the concept of the Cyber Knife a robot that images the patient with x-rays to look for a tumor and delivering a pre-planned dose of radiation to the tumor when found. CyberKnife System FDA Clearance August 2001 To provide treatment planning and image-guided radio surgery and precision radiotherapy for lesions, tumors, and conditions anywhere in the body when radiation treatment is indicated. 17 Synchrony camera Treatment couch Linear accelerator Manipulator Image detectors X-ray sources Targeting System Robotic Delivery System 18 Cyber Knife 19 1993 Dante an 8-legged walking robot developed at Carnegie Mellon University descends into Mt. Erebus,Antarctica. Its mission was to collect data from a harsh environment similar to what we might find on another planet. The mission fails when, after a short 20 foot decent, Dante's tether snaps dropping it into the crater. 1994 Dante II, a more robust version of its predecessor, descends into the crater of Alaskan volcano Mt. Spurr. The mission is considered a success. Dante II 1996 A Robo Tuna is designed and built by David Barrett for his doctoral thesis at MIT. It is used to study the way fish swim. 1997 The first node of the International Space Station is placed in orbit. Over the next several years more components will join it, including a Robotic Arm CANADAARM designed by Canadian company MD Robotics. 1997 The Pathfinder Mission lands on Mars. Its robotic rover Sojourner, rolls down a ramp and onto Martian soil in early July. It continues to broadcast data from the Martian surface until September. 2003 June 10th - NASA launches the MER-A "Spirit" rover destined for Mars. July 7th - NASA launches the MER-B "Opportunity". 20 Mars Pathfinder panorama of landing site taken by IMPSojourner rover on MarsPathfinder and Sojourner21 1999 SONY releases the AIBO robotic pet. 2000 Honda debuts new humanoid robot ASIMO. 2002 Honda's ASIMO robot rings the opening bell at the New York Stock Exchange. 2003 SONY releases the AIBO ERS-7 it's 3rd generation robotic pet. 22 What is a Robot ? 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. Robot Institute of America, 1979 23 Robot Subsystems 24 Manipulators components Robotic arms, industrial robot Rigid bodies (links) connected by joints Joints: revolute or prismatic Drive: electric or hydraulic End-effector (tool) mounted on a flange or plate secured to the wrist joint of robot Actuators and drive Sensors and transducers Computer and Electronics Education via software 25 Whydo we use robots? They perform tasks in 4D environments 4D: Dangerous, Dirty, Dull, Difficult 26 Dangerous - Cleaning pump housingin thenuclear power plant Welding Robot Difficult,Dull-Repetitivejobs thatareboring,stressful,or labor-intensive for humans Decontaminating Robot The SCRUBMATE Robot Dirty- Menialtasks thathuman dontwant to do Applications Automotive industry Assembly Medical laboratories Medicine Nuclear energy Agriculture Spatial exploration Underwater inspection Customer service Arts and entertainment 27 Types of robots Wheeled RobotLegged Robot 28 Types of robots Unmanned Aerial VehicleAutonomous Underwater Vehicle 29 Types of robots Manipulator 30 NASA Space Station Robots in Space 31

The Shuttle Remote Manipulator System (SRMS), Canadarm (Canadarm 1), is a mechanical arm used on the Space Shuttle to maneuver a payload from the payload bay of the orbiter to its deployment position and then release it. First used on the second Space Shuttle mission STS-2, launched November 13, 1981. Since the destruction ofSpace Shuttle Columbia during STS-107, NASA has outfitted the Canadarm with the Orbiter Boom Sensor System, a boom containing instruments to inspect the exterior of the shuttle for damage to the thermal protection system. Robotic Arm in Space 32 33 Canadarm1 viewed from the window of space shuttle Canadarm 34 CANADAARM Mission Example: Hubble Space Telescope Repair (Dec 1993) TROVinAntarctica operating under water HAZBOToperatingin atmospherescontaining combustible gasesRobots in Hazardous Environments 35 Roboticassistantfor micro surgery MedicalRobots 36 Sony Aibo Sony SDR-3X Entertainment Robot Robots at Home 37 Robot Classification 38 Arm Configuration Cartesian Robot (PPP): Has three linear axes of motion. The work envelope is a cuboid. Simpler controls. High degree of mechanical rigidity, accuracy, and repeatability. Can carry heavy loads. Maintenance more difficult with overhead drive mechanisms and control equipment. 39 CYLINDRICAL (RPP): Has two linear motions and one rotary motion. Results in a larger work envelope than a rectangular robot manipulator. Suited for pick-and-place operations. It can reach into tight areas without sacrificing speed or repeatability. Capable of carrying large payloads. Vertical structure conserves floor space. Mechanical rigidity is lower Repeatability and accuracy are also lower in the direction of rotary motion. Their configuration requires a more sophisticated control system than the rectangular robots. 40 Spherical Robots Has one linear motion and two rotary motions. The work volume is like a section of sphere. A spherical-coordinated robots provides a larger work envelope than the rectilinear or cylindrical robot. Advantages and disadvantages same as cylindrical-coordinated design. 41 Articulated Arm Robot Articulated arm robots have at least three rotary joints. They are frequently called an anthropomorphic arm because they closely resemble a human arm.42 SCARA Robots SCARA robots, or Selective Compliance Assembly RobotArm, are a combination of the articulated arm and the cylindrical robot. 43 Parallel Robots Parallel Robots consist of a fixed base to a platform by means of a number of legs.This is used to create realistic flight simulators or rides in amusement parks. Emil Decker, 2009 44 45 Robot Kinematics (Kinematics - studies the motionof bodies) Robot::Body Typically defined as a graph of links and joints: A link is a part, a shape with physical properties. A joint is a constraint on the spatial relations of two or more links. Types of Joints Respectively, a ball joint, which allows rotation around x, y, and z, a hinge joint, which allows rotation around z, and a slider joint, which allows translation along x. These are just a few examples Degrees of Freedom Joints constraint free movement, measured in Degrees of Freedom (DOFs). Links start with 6 DOFs, translations androtations around three axes. Joints reduce the number of DOFs by constraining some translations or rotations. Robots classified by total number of DOFs Degrees of Freedom The PUMA 560 has SIX revolute joints 1 2 3 4 There are two more joints on the end effector (the gripper) 49 DOF- Other basic joints Spherical Joint 3 DOF ( Variables - Y1, Y2, Y3) Revolute Joint 1 DOF ( Variable - Y) Prismatic Joint 1 DOF (linear) (Variables - d)50 Forward Kinematics 51 52 Forward Kinematics ? Forward kinematics Given joint variables End- effector position and orientation, -Formula?(x,y,z-position, n,o,a-normal, orientation, approach) ) , , , , , , (6 5 4 3 2 1 nq q q q q q q q =) , , , , , ( a o n z y x Y =xyzThe Situation: A robotic arm that starts out aligned with the xo-axis. the first link moves by Y1 and the second link moves by Y2. The Quest: What is the position of the end of the robotic arm? Solution: 1.Geometric Approach For robots with more links and whose arm extends into 3 dimensions the geometry gets much more tedious.2. Algebraic ApproachInvolves coordinate transformations. Forward kinematics53 54 Inverse Kinematics IK End effectors position and orientation Joint variables-Formula? ) , , , , , , (6 5 4 3 2 1 nq q q q q q q q =) , , , , , ( a o n z y xxyzY2 Y1 (x , y) l2 l1 IK Problem 2 link planar manipulator Given:l1, l2 , x , y Find: Y1, Y2 Redundancy: A unique solution to this problem does not exist. Notice, that two solutions are possible. Sometimes no solution is possible. (x , y) Inverse Kinematics55 The Geometric Solution of IK l1 l2 Y2 Y1 o (x , y) Using the Law of Cosines: ||.|

\| += += = + = + + =2 122212 22 122212 22 122212 22 2 22arccos 2) cos() cos( ) 180 cos() 180 cos( 2 ) (cos 2l ll l y xl ll l y xl l l l y xC ab b a c222 22Using the Law of sines: |.|

\|=+ =+=+==xy2 arctan y x) sin(y x) sin(180 sinsin sin1 12 222 2221lcCbB|.|

\|+||.|

\|+=xy2 arctany x) sin(arcsin 2 22 21lRedundancy causedsince u2 has two possible values 56 ( ) ( )( )||.|

\| += + + =+ + + =+ + + + + == + = ++ ++ + + +2 122212 222 2 122212 1 1 2 1 1 2 122212 1 1 2 122 1222121 2 1 1 2 122 12221212 2 2 22y xarccos c 2) (sin s ) (c c 2) (sin s 2 ) (sin s ) (c c 2 ) (c cy x ) 2 ( (1)l ll ll l l ll l l ll l l l l l l lThe Algebraic Solution for IK l1 l2 Y2 Y1 Y (x , y) ) ( cos ccos c(3) (2) sin s y(1) c c x1 2 2 11 12 12 1 2 1 12 1 2 1 1+ ==+ =+ =+ =+++l ll lOnly Unknown ) )(sin (cos ) )(sin (cos ) sin() )(sin (sin ) )(cos (cos ) cos(:a b b a b ab a b a b aNote++++==57 58 Preliminary Robot Reference Frames World frame Joint frame Tool frame xyzxzyW R P T 59 60 Preliminary Mutually perpendicular Unit vectors Properties of orthonormal coordinate frame 000= = = j kk ij i 1 | |1 | |1 | |===kjiProperties: Dot ProductLet and be arbitrary vectors in and be the angle from to, then 3Ruu cos y x y x = xyxy61 Coordinate Transformation Reference coordinate frame OXYZ Body-attached frame Ouvw Point represented in OXYZ Point represented in Ouvw w v uk j iw v u uvwp p p P + + =z y xk j iz y x xyzp p p P + + =xyzPuvwO, O z w y v x up p p p p p = = =Tz y x xyzp p p P ] , , [ =Two frames coincide ==> 62 Coordinate Transformation Rotation only w v uk j iw v u uvwp p p P + + =z y xk j iz y x xyzp p p P + + =uvw xyzRP P =How to relate the coordinate in these two frames?wxyzPuvCoordinate Transformation 63 Basic Rotation ,,and represent the projections of onto OX, OY, OZ axes, respectively Since xpPypzpw v u xp p p P pw x v x u x xk i j i i i i + + = =w v u yp p p P pw y v y u y yk j j j i j j + + = =w v u zp p p P pw z v z u z zk k j k i k k + + = =w v uk j iw v up p p P + + =Coordinate Transformation 64 Basic Rotation Matrix Rotation about x-axis with ((((

((((

=((((

wvuzyxppppppw z v z u zw y v y u yw x v x u xk k j k i kk j j j i jk i j i i ixzyvwPuu((((

=u uu u uC SS C x Rot000 0 1) , (u65 Rotation about axis Rotation about x axis with u uu uu uu ucos sinsin coscos sin 0sin cos 00 0 1w v zw v yu xwvuzyxp p pp p pp ppppppp+ = ==((((

((((

=((((

xzyvwPuuu66 Basic Rotation Matrices Rotation about x-axis with Rotation about y-axis with Rotation about z-axis with uvw xyzRP P =((((

=u uu u uC SS C x Rot000 0 1) , ( 00 1 00) , (((((

=u uu uuC SS Cy Rot((((

=1 0 000) , ( u uu uu C SS Cz Rotuuu67 Preliminary Basic Rotation Matrix Obtain the coordinate of from the coordinate ofuvw xyzRP P =((((

=w z v z u zw y v y u yw x v x u xk k j k i kk j j j i jk i j i i iRxyz uvwQP P =TR R Q = =131I R R R R QRT= = =uvwPxyzP