ME 562

• LECTURE 2
• JAN 28,1997

THEMES

• ROBOTIC RESEARCH AREAS VARY
• UNDERSTANDING ROBOTIC SUBSYSTEMS
• RESERVING CLASS TIME TO COVER MATERIAL THAT IS MOST DIFFICULT TO LEARN INDEPENDENTLY

AGENDA 2-1

• NOTES ON THE INTERNET
• FINALIZE ORLANDO TRIP PLANS
• AREAS OF ROBOTICS RESEARCH
• HOMEWORK REPORTS :TWO CLASSES AT CMI
• KNOWLEDGE PROCESSES
• REVIEW FIG 9.1-- NOT SYNTHESIS AND EVALUATION

AGENDA LECT 2 -2

• CHAPTER 2
  • SUBSYSTEMS
  • VEHICLES
  • MANIPULATOR ARMS
  • WRISTS
  • ACTUATORS
  • TRANSMISSION ELEMENTS
  • MATERIALS, SENSORS, CONTROLLERS
  • DESIGN

RESEARCH AREAS

• AUTONOMOUS SYSTEMS
• ENVIRONMENT AND CONSTRUCTION
• INTELLIGENT DECISION SYSTEMS
• MANIPULATION
• MANUFACTURING
• MEDICAL ROBOTS
• SPACE ROBOTS
• VIRTUAL REALITY
• VISION AND FORCE SENSING
• ENABLE STUDENTS TO PARTICIPATE IN ALL AREAS

REVIEW OF FIG 9.1

• SYSTEM LEVEL
• TASK LEVEL
• ACTION LEVEL
• ROBOT LEVEL
• JOINT LEVEL
• PHYSICAL LEVEL
• HOW DOES ONE KNOW WHAT IS POSSIBLE?
• CAN ONLY REPLICATE PAST UNLESS DEEPER KNOWLEDGE
• SEVERAL_ WAYS TO LOOK AT KNOWLEDGE PROCESSES
• ANALYSIS AND SYNTHESIS_ AND EVALUATION_

WHY KNOWLEDGE

• KNOWLEDGE AND LEARNING ARE CENTRAL TO THE NEXT GENERATION OF ROBOTICS -- SPEED & ACCURACY
• ARTIFICIAL INTELLIGENCE & NEURAL NETWORKS ARE NEXT FRONTIER OF ROBOTICS
• AI MIMICS COGNITIVE PSYCHOLOGY PROCESSES IN THE BRAIN
• NEURAL NETWORKS MIMICS THE BIOLOGY OF THE BRAIN
• NEED TO BEGIN TO THINK ABOUT IT NOW

KNOWLEDGE PROCESS

• KNOWLEDGE - FACTS VERBATIM
• COMPREHENSION - NOT VERBATIM
• APPLICATION - ABSTRACT MODELS
• ANALYSIS - INTO PARTS TO SOLVE
• SYNTHESIS -PUTTING PARTS TOGETHER
• EVALUATION -JUDGMENT_, VALUE
• $$$$
• BLOOM

APPLICATION TAXONOMY

• KNOWLEDGE
• APPLY KNOWLEDGE TO A DISCIPLINE
• APPLY KNOWLEDGE BETWEEN DISCIPLINES
• APPLICATION TO REAL-WORLD PREDICTABLE PROBLEM
• APPLICATION TO A REAL-WORLD UNPREDICTABLE PROBLEM

INTELLIGENT BEHAVIOR

• PAGE 16 TEXT ESSENTIAL ABILITIES -1
• TO RESPOND TO SITUATIONS VERY FLEXIBLY_;
• TO TAKE ADVANTAGE OF FORTUITOUS SITUATION;
• TO MAKE SENSE OUT OF AMBIGUOUS OF CONTRADICTORY MESSAGES;
• TO RECOGNIZE THE RELATIVE IMPORTANCE OF DIFFERENT ELEMENTS OF A SITUATION;

DEFINITION OF ROBOTS

• MANIPULATION, PERCEPTION, COGNITION (CMI)
• ONE ARMED IMBECILE_
• ANY OF THE MANLIKE MECHANICAL BEINGS MANUFACTURED BY ROSSUM IN KARL CAPEK'S PLAY "R.U.R." (WEBSTER_)

DEFINITIONS -2

• ANY DEVICE WHICH REPLACES HUMAN LABOR (JAPANESE)

A ROBOT IS A MACHINE WHICH CAN BE PROGRAMMED TO DO A VARIETY OF TASKS, IN THE SAME WAY THAT A COMPUTER IS AN ELECTRONIC CIRCUIT WHICH CAN BE PROGRAMMED TO DO A VARIETY OF TASKS; (MCKERROW P 8)

DEFINITIONS -3

A PROGRAMMABLE MULTI-FUNCTION MANIPULATOR DESIGNED TO MOVE MATERIAL, PARTS, OR SPECIALIZED DEVICES THROUGH VARIABLE PROGRAMMED MOTIONS FOR THE PERFORMANCE OF A VARIETY OF TASK. (ROBOT INSTITUTE OF AMERICA)

DEFINITIONS -4

A MECHANICAL SYSTEM WHICH HAS FLEXIBLE MOTIONS FUNCTION ANALOGOUS_ TO THE MOTION FUNCTIONS OF LIVING ORGANISMS OR COMBINES SUCH MOTION FUNCTIONS WITH INTELLIGENT FUNCTIONS, AND WHICH ACTS IN RESPONSE TO THE HUMAN WILL. IN THIS CONTEXT, INTELLIGENT FUNCTIONS MEAN THE ABILITY TO PERFORM AT LEAST ONE OF THE FOLLOWING: JUDGMENT_, RECOGNITION, ADAPTION, OR LEARNING. (JAPANESE INDUSTRIAL STANDARD JIS B0134-1979)

CHAPTER 2

• THIS LECTURE -- FOCUS ON COMPONENTS
• MANY KEY DESIGN DECISIONS MUST BE MADE BEFORE ONE HAS A VIABLE ROBOT
• ALL REVOLUTE ROBOTS ARE NOT THE SAME

SUBSYSTEMS FIG2.1

• MECHANICAL
• ELECTRICAL
• PROCESS
• SENSOR
• CONTROL
• PLANNING

VEHICLES

• WHEELED VEHICLES
• LEGGED VEHICLES
• TRACKED VEHICLES
• FLEXIBLE MANUFACTURING SYSTEMS
• AUTOMATED GUIDED VEHICLES

FIG 2.2

• PHYSICAL PARTS OF A ROBOT SYSTEM

WHEELED VEHICLES FIG 2.4

• SIMPLE TO CONTROL_
• STABILITY
• ENERGY USE
• SPEED POSSIBLE
• NUMBER OF WHEELS
• CONFIGURATION OF WHEELS
• BOBCAT

LEGGED VEHICLES

• STEP OVER OBSTACLES
• UP AND DOWN STAIRS
• OVER TRENCHES
• ROUGH GROUND
• STABILITY
• PO GO STICK HOPPING

TRACKED VEHICLES

• MILITARY
• ROUGH TERRAIN

LINKS AND JOINTS

• ROTATIONAL OR REVOLUTE
• LINEAR OR PRISMATIC
• RANGE OF MOVEMENT DEFINES THE WORKSPACE
• DEGREES OF FREEDOM
• 3 PROXIMAL LINKS (ARM)
• 3 DISTAL LINKS (WRIST)

MANIPULATOR ARMS FIG 2.25

• CARTESIAN
• CYLINDRICAL_
• POLAR
• REVOLUTE
• SKETCHES
• WORK SPACE
• ADVANTAGES/DISADVANTAGES

COORDINATES

• FRAMES OF REFERENCE
• MOTOR COORDINATES (MICROBOT)
• JOINT COORDINATES
• WORLD COORDINATES
• TOOL COORDINATES_
• DEGREES OF FREEDOM

COMPARISON TAB2.1

WRISTS

• LIKE HUMAN HAND (ROLL, PITCH, YAW)
• GEARING
• LOCATION OF MOTORS
• DESIGN IS A COMPLEX TASK

FEATURES OF WRISTS -1

• SMALL
• AXES CLOSE TOGETHER
• TOOL PLATE CLOSE
• SOLUBLE MATH MODEL
• NO SINGULARITES
• BACK DRIVABLE FOR TEACHING

FEATURES OF WRISTS -2

• DECOUPLING OF MOTION OF EACH AXIS
• MOTORS LOCATED AWAY
• PATH FOR CABLING
• POWER FOR TASK
• RUGGED HOUSING

END EFFECTORS

• END OF ARM TOOLING (EOAT)
• GRIPPERS
• FINGERS
• MICRO MANIPULATORS

ACTUATORS OR MOTORS

• PNEUMATIC, HYDRAULIC, ELECTRICAL
• SERVO VALVES
• COMPRESSIBILITY
• SAFETY
• POWER TO WEIGHT RATIO
• LOCATION

ELECTRIC MOTORS

• STABILITY,PRECISION,CONTROL
• STEPPER
  • VARIABLE RELUCTANCE : LOW TORQUE, LOW INERTIA,RAPID ACCEL (SLEW RATE)
  • PERMANENT MAGNET; LOWER TORQUE, SLOWER ACCEL, ECONOMICAL
• DC MOTORS
  • COMMON, TORQUE= CURRENT
• BRUSHLESS DC MOTORS
  • COMPLEX, ELECT COMMUTATED

TRANSMISSION ELEMENTS

• GEARS, TENDONS, LINKAGES
• DIRECT DRIVE
• TRADE-OFFS
• DYNAMIC RESPONSE, WEIGHT, FINE POSITIONING, BACKLASH, BACK DRIVING, FRICTION, WEAR

SENSORS

• ENTIRE CHAPTER
• INTERNAL
• EXTERNAL
• CHAPTER 10

CONTROLLERS

CLASSIFICATION