Introduction
Robotics
Introduction
Vladimír Smutný
Center for Machine Perception
Czech Technical University in Prague
ROBOTICS: Vladimír Smutný
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Slide 1, Page 1
Robotics
Introductory course about controlled mechanical systems including
manipulators, robot arms, manufacturing, and other machines.
Robot Just young Rossum got an idea to make from
it live and intelligent machines (Karel Čapek,
R.U.R., prelude).
ROBOTICS: Vladimír Smutný
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Slide 2, Page 2
Bonding
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Note, that the cost of the robot is just one, sometimes
small, part of the production cell cost. The parts to be machined, assembled, inspected,. . . shall be somehow grasped or
fixed in the place and when different products are produ-
ROBOTICS: Vladimír Smutný
ced on the same line, sometimes whole fixtures are prepared
for each type or size of the product. Programming the robot
and cooperating machines, fencing, safety measures are other
parts of the cell cost.
Slide 10, Page 3
Axle Assembly
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ROBOTICS: Vladimír Smutný
Slide 11, Page 4
FrontEnd Assembly
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Slide 12, Page 5
Clopema robot
https://www.youtube.com/watch?v=
mrh4TJK1gdQ
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Clopema gripper has two fingers and three degrees of fre- plies when pushed from top or bottom, and one can control
edom. It can open close, it can slide fingers relatively, it com- the compliance force.
ROBOTICS: Vladimír Smutný
Slide 13, Page 6
Grippers
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Standard grippers used in industry. Vacuum gripper and
ROBOTICS: Vladimír Smutný
magnetic grippers are used very often.
Slide 14, Page 7
Grippers II
Versaball: http://www.youtube.com/embed/bOuzbOLA7fY
Schunk dexterous hand: https://www.youtube.com/watch?v=hPtSbPzROrs
Schunk SDH-2: https://www.youtube.com/watch?v=4QvShViUceM
Researchers from Cornell university developed the universal gripper which could grasp various objects. Shadowhand is
an unsuccesfull attempt to simulate the human hand. Three
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fingers Schunk dexterous hand is already commercially available.
Slide 15, Page 8
Parts of robotics and other subjects
Theoretical robotics: searches for principles, potentials and
constraints
(biology, psychology, etology, mathematics, physics).
Experimental robotics: checks principles, builds toy devices
(cybernetics, artificial intelligence, combination of engineering
disciplines).
Industrial robotics: Designs, builds and uses robots
(control engineering theory and instrumentation, electronics,
machine engineering, production automation).
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Slide 16, Page 9
THREE LAWS OF ROBOTICS
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(Isaac Asimov, The caves of steel , Galaxy No. 13, 1950.)
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, except where such
protection would conflict with the First and Second Law.
Comment: One has to understand that contemporary
robots cannot reason how to apply robotic laws but designer shall implement the laws explicitly (e.g. using fences, light curtains, emergency circuits,. . .). E.g. Mitsubishi
control unit is able online check whether tool center is within restricted convex area.
Safety norms for robot applications could be found e.g. here (list made by Kuka):
73/23/EEC
89/336/EEC
97/23/EC
98/37/EC
ROBOTICS: Vladimír Smutný
Low Voltage Directive: Council
Directive of 19 February 1973 on
the harmonization of the laws of
Member States relating to electrical equipment designed for use within certain voltage limits
EMC Directive: Council Directive
of 3 May 1989 on the approximation of the laws of the Member
States relating to electromagnetic
compatibility
Pressure Equipment Directive: Directive of the European Parliament
and of the Council of 29 May 1997
on the approximation of the laws
of the Member States concerning
pressure equipment
Machinery Directive: Directive of
the European Parliament and of
the Council of 22 June 1998 on the
approximation of the laws of the
Member States relating to machinery
1993
1993
1997
1998
Slide 17, Page 10
Safety in real world
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EN 418
EN 563
EN 614-1
EN 775
EN 954-1
EN 55011
EN 60204-1
Safety of machinery: EMERGENCY
STOP
equipment,
functional aspects; principles for
design
Safety of machinery: Temperatures
of touchable surfaces - Ergonomics
data to establish temperature limit
values for hot surfaces
Safety of machinery: Ergonomic
design principles - Part 1: Terms
and general principles
Industrial robots: Safety
Safety of machinery: Safety-related
parts of control systems - Part 1:
General principles for design
Industrial, scientific and medical
(ISM) radio-frequency equipment
- Radio disturbance characteristics
- Limits and methods of measurement
Safety of machinery: Electrical
equipment of machines - Part 1:
General requirements
1993
EN 61000-4-4
2000
EN 61000-4-5
1995
EN 61000-6-2
1993
1997
EN 61000-6-4
2003
EN 61800-3
1998
EN ISO 12100-1
EN ISO 12100-2
ROBOTICS: Vladimír Smutný
Electromagnetic
compatibility
(EMC): Part 4-4: Testing and measurement techniques - Electrical
fast transient/burst immunity test
Electromagnetic
compatibility
(EMC): Part 4-5: Testing and
measurement techniques; Surge
immunity test
Electromagnetic
compatibility
(EMC): Part 6-2: Generic standards - Immunity for industrial
environments
Electromagnetic
compatibility
(EMC): Part 6-4: Generic standards; Emission standard for
industrial environments
Adjustable speed electrical power
drive systems: Part 3: EMC product standard including specific
test methods
Safety of machinery: Basic concepts, general principles for design
- Part 1: Basic terminology, methodology
Safety of machinery: Basic concepts, general principles for design
- Part 2: Technical principles
2002
2001
2002
2002
2001
2004
2004
Slide 18, Page 11
PRODUCTION AND AUTOMATION
Decrease of human presence in production.
Shortening of production time.
Increase of performance and productivity of labour.
Increase of the product quality.
Technical, economic and social viewpoints.
Automation decreases the influence of human factor to
production quality.
The qualification structure of the work force is changed.
Introduction of mechanisation, automation and robotisation:
The number of workers decreases. At least sometimes.
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Slide 19, Page 12