MEAM 520
MEAM 520
Introduction to Robotics
Introduction to Robotics
Outline
u What is a robot?
u History
u Anatomy of a robot
u Trends in robot automation
u Robot industry in the U.S. and in the world
u Applications
Vijay Kumar
University of Pennsylvania
Philadelphia, PA
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University of Pennsylvania
manufacturing automation
service industry
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What is a robot?
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History
Webster
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An automatic apparatus or device that performs functions ordinarily
ascribed to humans or operates with what appears to be almost human
intelligence.
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Origin of the word “robot”
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Robotics Institute of America
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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.
Czech word “robotnik”
1920 play by Karel Capek
1940s - Isaac Asimov’s science fiction
History of automation
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Industrial revolution (late 18th century)
Mechanical looms
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Crane with motorized grippers (1892)
Mechanical arm for spray painting (1938)
Telecheric/teleoperators (World War II)
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History
History
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Eniac (University of Pennsylvania)
Whirlwind (MIT)
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Numerically controlled machine tool (1952)
Robot with playback memory (1954)
First industrial robot (1962)
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Walking robots
First large scale electronic computer (1946)
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Jacquard looms
Programmable looms
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Advent of computers
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Ralph Moser’s walking machine (1967)
Odetics’ Hexapod (1983)
Adaptive Suspension Vehicle (1985)
Ambler (1993)
Humanoid (1997)
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The Honda Humanoid
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The Honda Humanoid
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The Honda Humanoid
What is a robot?
Definition of a robot revisited
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manipulate objects in the physical world
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sense information about the physical world
make decisions based on available information or ask for additional
information
interface in a “friendly”manner with humans
mimic humans
reprogrammable by humans
safe
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Asimov’s laws of robotics
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Definition of a robot
Anatomy of a robot
The robot is a computer-controlled device that combines the
technology of digital computers with the technology of servocontrol of articulated chains. It should be easily reprogrammed to
perform a variety of tasks, and must have sensors that enable it to
react and adapt to changing conditions.
l Do
compare this to a PC manipulating data
industrial robots satisfy this definition?
robots?
Basic components
u the mechanical linkage
u actuators and transmissions
u sensors
u controllers
u user interface
u power conversion unit
l Service
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Anatomy of a robot
The Seiko RT33
Manipulator linkage
The manipulator consists of a set of rigid links connected by joints. The joints
are typically rotary or sliding. The last link or the most distal link is called the
end effector because it is this link to which a gripper or a tool is attached.
Sometimes one distinguishes between this last link and the end effector that is
mounted to this link at the tool mounting plate or the tool flange.
The manipulator can generally be divided into a
l regional structure
l orientational structure
An industrial robot with a spherical workspace
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The Stanford Arm
SCARA Manipulator
The Adept 1850 Palletizer
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Cylindrical workspace
Applications in assembly, palletizing
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Axes 4, 5, 6
Research prototype developed by Stanford University (1960’s)
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Anatomy of a robot
Transmissions
ELBOW
J OINT
Actuators
u linear or rotary
u electric, hydraulic, pneumatic
PASS IVE
J OINTS
Transmissions
u to convert rotary to linear motion or linear to rotary motion.
u to convert the actuator output into a form that is suitable for
driving the robot linkage.
u to locate actuators away from the joints.
ACTUATOR
FO R THE ELBOW
S HOULDER
J O INT
BAS E
S WIVEL
The regional structure for the Cincinnati Milacron T-3 robot
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Parallel robot manipulators
Parallel robot manipulators (continued)
The Stewart Platform
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Planar parallel manipulators
flight simulators, test rigs
NIST high-performance manufacturing cell
Ingersoll-Rand machine
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END EFFECTOR
Leg 5
Leg 4
capable of movements in the horizontal plane
high strength to inertia ratio
high stiffness
END-E FFE CTOR
limited workspace
more complicated
S
ACTUATORS
Leg 6
Leg 3
Leg 2
P
Leg 1
BASE
Leg i
S
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Anatomy of a robot
Anatomy of a robot manipulator
Controller
Sensors
u to know the position of each joint in the mechanical linkage
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potentiometers, encoders
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to measure the velocity and/or acceleration at each joint
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to measure the forces and moments exerted by the end
effector or the torques/forces exerted by each actuator
to detect objects or features in the environment
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The controller provides the intelligence that is necessary to control the
manipulator system.
l memory to store the control program and the state of the robot system
obtained from the sensors
l a computational unit (CPU) that computes the control commands
l the appropriate hardware to interface with the external world (sensors and
actuators)
l the hardware for a user interface
tachometers, accelerometers
vision sensors (cameras, laser range finders), accoustic sensors
(ultrasonic ranging systems), touch sensors
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A rotary joint actuated by a DC motor
Anatomy of a robot manipulator
The user interface
This interface allows use a human operator to monitor or control the operation of
the robot. It must have a display that shows the status of the system. It must also
have an input device that allows the human to enter commands to the robot.
The power conversion unit
The power conversion unit takes the commands issued by the controller which
may be low power and even digital signals and converts them into high power
analog signals that can be used to drive the actuators.
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Controller
A linear, electropneumatic actuator
Example
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Stock of industrial robots by year-end in 1992
Country
Australia
Austria
Benelux
Czechoslovakia
Cyprus
Denmark
Finland
France
Germany
Hungary
Italy
Japan
New Zealand
Norway
Poland
Republic of Korea
Singapore
Spain*
Sweden
Switzerland
Taiwan
Former USSR *
United Kingdom
United States
Slovakia
Czech Rep.
Slovenia
Total
1989
1,350
895
1,340
7,007
3
402
671
7,063
22,395
138
10,000
219,700
493
506
1,459
1,752
3,463
1990
1,490
1,186
1,715
7,160
3
489
825
8,551
28,240
199
12,500
274,210
70
527
532
965
62,339
5,717
37,000
1,625
2,224
3,791
1,525
1,293
64,204
6,227
40,000
384,658
458,586
1991
1,644
1,465
1,975
7,211
3
579
955
9,808
34,140
229
14,700
324,895
80
555
630
4, 080
1,906
2,632
4,099
1,700
1,688
65,000
6,974
44,000
530,948
Trends in robot automation
1992
4
584
1,051
10,821
39,390
237
17,097
349,458
90
576
627
4,900
2,090
3,200
4,550
2,050
2,217
65,000
7,598
47,000
589
6,622
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U.S. sales
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Dramatic increase in sales in Asia (excluding Japan)
for the first half of 1997 - 6,275 robots, $548 million
Market for robots and accessories is estimated at $1.5 billion annual
Annual sales in Japan is 36,000, while the same in U.S.A., U.K.,
Germany, France and Italy is 23,000.
571,886
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Trends in U.S. robot automation
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U.S. is the second largest robot user behind Japan
Japan installed more robots annually in 1990-1992 than the total
that U.S. installed in the 32 years from 1962-1992
Annual sales of robots peaked at 80,000 in 1990 and then fell to
56,000 in 1993
Annual growth rate in 1995-2000 was around 15%
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Robot sales in the U.S.
First industrial robot was installed by Unimation in 1961
Many big companies (e.g., Westinghouse, General Motors,
Cincinnati Milacron and General Electric) entered the robotics
business
Today, the only industrial robot manufacturer is Adept
Although the U.S. is a distant second to Japan in using robots, it is
catching up
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The main cause is labor shortage
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Application of Robotics in the U.S.
Robot industry in Japan
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The Japanese robot industry was $3.6 billion in 1991 and estimated
to grow to $11.9 billion by 2000
Japanese robot manufacturers
Manufacturer
Matsushita Electric Industry
(MEI)
Fuji Machine Manufacturing
Fanuc
Yasakawa Electric Manufacturing
Kawasaki Heavy Industries
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Labor growth in Japan is estimated to be 0.4% annually from 1994 to 2000.
In 2000, 15% of the work force will be over 65.
Robots are extensively used in the manufacturing of automobiles,
electronic goods and semiconductors.
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“...service robotics will surely outstrip industrial robotics”
- J. Engelberger, 1990
u Space robotics
Human operators on earth can control partially autonomous vehicles and
manipulators on distant planets
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shorter production lines
lower capital cost per unit product
more flexibility
save labor costs
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Hazardous environments
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dismantling radioactive or toxic equipment/weapons
manufacture of chemicals, explosives
subsea exploration, salvage
demining
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New applications in robotics (continued)
Virtual reality
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Robot technology allows the user/operator to feel the virtual
environment and exert forces on it.
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Military Applications
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Cars are being equipped with increasingly sophisticated sensors,
navigation systems and controllers
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airborne (drones)
land based HUMMERS
Go where no man (human) can go
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Medical Robotics
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Unmanned vehicles
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Highways
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New applications in robotics (continued)
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New applications of robotics
The major reasons for growth in this industry are a Japanese labor
shortage and strong investment by industry and the government.
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8.3
5.4
5.3
3.4
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Japanese robot industry
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Percentage of
Japanese
production
16.5
urban environments
ground based attacks
the surgeon directs the robot to make controlled, high-precision
incisions
laproscopic surgery involves inserting a micro-robot through a small
incision in the body and teleoperate it to perform surgery, suturing,
etc.
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Military applications in robotics (continued)
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Military applications in robotics (continued)
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vocational assistants for paraplegics
personal assistant at home
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Domestic companions
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Entertainment robots
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Personal Robots?
Personal care for disabled people
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New applications for robotics
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Honda Humanoid
http://www.personalrobots.com
Disney theme parks, Universal studios
Motion pictures
Ford uses robot to sell cars (salesrobots)
Custodian robots
Robot attendants at gas stations
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Domestic Companions?
Domestic Companions?
Kismet, MIT AI Lab
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Cog, MIT AI Lab
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The Honda Humanoid
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