(机器人学)ppt课件

1、Modeling and Control of Robot ManipulatorsJianbo SuDepartment of Automation: : 34204276 .Lecture 1: Introduction.Robotics.History of Robotics.Three Laws of Robotics: * Law Zero: A robot may not injure humanity, or, through inaction, allow humanity to come to harm. * Law One: A robot may

2、not injure a human being, or, through inaction, allow a human being to come to harm, unless this would violate a higher order law. * Law Two: A robot must obey orders given it by human beings, except where such orders would conflict with a higher order law. * Law Three: A robot must protect its own

3、existence as long as such protection does not conflict with a higher order law.History of Robotics.History of Roboticsearly robots (1940s - 50s) Grey Walters Elsie the tortoise Shakey Stanford Research Institute in the 1960s. The General Electric Walking Truck the first legged vehicle with a compute

4、r-brain, by Ralph Moser at General Electric Corp. in the 1960s. .History of RoboticsThe first modern industrial robots were probably the Unimates, created by George Devol and Joe Engleberger in the 1950s and 60s. Engleberger started the first robotics company, called Unimation, and has been called t

5、he father of robotics. .Isaac Asimov and Joe Engleberger (image from Robotics Society of America web site) History of Robotics.History of RoboticsEXPLORATION People are interested in places that are sometimes full of danger, like outer space, or the deep ocean. But when they can not go there themsel

6、ves, they make robots that can go there. The robots are able to carry cameras and other instruments so that they can collect information and send it back to their human operators.History of RoboticsINDUSTRY When doing a job, robots can do many things faster than humans. Robots do not need to be paid

7、, eat, drink, or go to the bathroom like people. They can do repeatative work that is absolutely boring to people and they will not stop, slow down, or fall to sleep like a human.History of RoboticsMEDICINE Sometimes when operating, doctors have to use a robot instead. A human would not be able to m

8、ake a hole exactly one 100th of a inch wide and long. When making medicines, robots can do the job much faster and more accurately than a human can. Also, a robot can be more delicate than a human.History of RoboticsMEDICINE Some doctors and engineers are also developing prosthetic (bionic) limbs th

9、at use robotic mechanisms.History of RoboticsMILITARY and POLICE Police need certain types of robots for bomb-disposal and for bringing video cameras and microphones into dangerous areas, where a human policeman might get hurt or killed. The military also uses robots for (1) locating and destroying

10、mines on land and in water, (2) entering enemy bases to gather information, and (3) spying on enemy troops.TOYS The new robot technology is making interesting types of toys that children will like to play with. One is the LEGO MINDSTORMS robot construction kit. These kits, which were developed by th

11、e LEGO company with M.I.T. scientists, let kids create and program their own robots. Another is Aibo - Sony Corporations robotic dog.History of Robotics.General Framework of RoboticsRobotics is the science studying the intelligent connection of perception to action Action: mechanical system (locomot

12、ion & manipulation) Perception: sensory system (proprioceptive & heteroceptive) Connection: control systemRobotics is an interdisciplinary subject concerning mechanics, electronics, information theory, automation theory.Classification of Robotics. Class 1: Manual Handling Device Class2: Fixed-Sequen

13、ce Robot *Class3: Variable Sequence Robot Class4: Playback Robot Class5: Numerical Control Robot *Class6: Intelligent RobotJIRA:Japanese Industrial Robot Association RIA: The Robotics Institute of AmericaClassification of Robotics. Type A: Handling Devices with manual control Type B: Automatic Handl

14、ing Devices with predetermined cycles Type C: Programmable, servo controlled robots Type D: Type C with interactive with the environmentAFR: The Association Francaise de Robotique Classification of Robotics.Industrial Robot.Rigid ( or Fixed ) Automation High initial investment for custom-engineered

15、equipment High production rates Relatively inflexible in accommodating product varietyTypes of Automated Manufacturing Systems.Types of Automated Manufacturing SystemsProgrammable Automation High investment in general purpose equipment Lower production rates than fixed automation Flexibility to deal

16、 with variations and changes in product configuration Most suitable for batch production.Flexible Automation High investment for a custom-engineered system Continuous production of variable mixtures of products Medium Production Rates Flexibility to deal with product design variationsTypes of Automa

17、ted Manufacturing Systems.Automation Application .Hierarchical Structure of Automation.Definition of an Industrial RobotA robot is a re-programmable multifunctional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for the performance of

18、a variety of tasks.Robot Institute of America(Group within Society of Manufacturing Engineers).Industrial Robot Examples.World Supply of Robots.World Supply of Robots.Typical Applications.Advantages of Robots Robotics and automation can, in many situation, increase productivity, safety, efficiency,

19、quality, and consistency of products Robots can work in hazardous environments Robots need no environmental comfort Robots work continuously without any humanity needs and illnesses Robots have repeatable precision at all times Robots can be much more accurate than humans, they may have mili or micr

20、o inch accuracy. Robots and their sensors can have capabilities beyond that of humans Robots can process multiple stimuli or tasks simultaneously, humans can only one. Robots replace human workers who can create economic problems.Current Industrial Robots are not creative or innovative, no capabilit

21、y to think independently, cannot make complicated decisions, do not learn from mistakes cannot adapt quickly to changes in their surroundings We must depend on real people for these abilities! .Components of Industrial Robot.Manipulator Structures.Mechanical Components.“Degrees of Freedom自在度.Types o

22、f Joints.Prismatic JointsLink 1Link 2.Link 1Link 2Relative Motion provided by Revolute Joint.Mechanical ConfigurationsIndustrial robots are categorized by the first three joint types Five different robot configurations: Cartesian (or Rectangular)直角坐标Cylindrical, 圆柱坐标Spherical (or Polar),球坐标) Jointed

23、 (or Revolute), and SCARA.Cartesian ConfigurationAll three joints are prismatic (PPP) Commonly used for positioning tools, such as dispensers, cutters, drivers, and routers.Cartesian ConfigurationOften highly customizable, with options for X, Y, Z lengths Payloads and speeds vary based on axis lengt

24、h and support structures Simple kinematic equations.Robot Workspace任务空间Workspace is the volume of space reachable by the end-effector末端执行器Everywhere a robot reaches must be within this space Tool orientation and size also important!.Cartesian WorkspaceEasiest workspace to compute and visualizeGenera

25、lly a simple “box with width (X travel), depth (Y travel), and height (Z travel) .Gantry RobotA gantry robot is a special type of Cartesian robotXYZ.Gantry RobotVary widely in size, workspaces from “breadloaf size to several cubic meters.Characteristics of Cartesian RobotsAdvantages: easy to visuali

26、ze have better inherent accuracy than most other types easy to program off-line highly configurable - get the size needed Disadvantages: not space efficient external frame can be massive Z axis “post frequently in the way Axes hard to seal Can only reach in front of itself.Cylindrical ConfigurationF

27、irst joint is revolute (rotation) Next two joints are prismatic (RPP) .Cylindrical ConfigurationVertical Z axis is located inside the base Compact end-of-arm design that allows the robot to reach into tight work envelopes without sacrificing speed or repeatability.Cylindrical Design Robot.Cylindrica

28、l WorkspaceAnother “easy workspace to compute and visualize.Characteristics of Cylindrical RobotsAdvantages: large workspace for size easily computed kinematics can reach all around itself reach and height axes rigid Disadvantages: cannot reach above itself horizontal axis frequently in the way larg

29、ely fallen “out of favor and not common in new designs.Spherical ConfigurationFirst two joints are revolute (rotation) Last joint is prismatic (RRP) .One of the earliest common robot designs (original UniMate) Used in a variety of industrial tasks such as welding and material handlingSpherical Confi

30、guration.Spherical Design Robots .Spherical WorkspaceWorkspace shaped like parts of “orange peel Harder to compute and visualize.Spherical Workspace.Characteristics of Spherical RobotsAdvantages: large workspace for size easily computed kinematics Disadvantages: has short vertical reach horizontal a

31、xis frequently in the way also fallen “out of favor and not common in new designs.Anthropomorphic ConfigurationFirst three joints are revolute or rotational (RRR)Easily the most common type of modern robot.Anthropomorphic ConfigurationSuitable for a wide variety of industrial tasks, ranging from wel

32、ding to assemblyOften called an anthropomorphic arm because it resembles a human arm .Anthropomorphic ConfigurationAnthropomorphic association extends to names of the links & jointsJoint 1 - “WaistJoint 2 - “ShoulderJoint 3 - “Elbow.Anthropomorphic association extends to names of the links & jointsL

33、ink 1 - “TrunkLink 2 - “Upper ArmLink 3 - “ForearmAnthropomorphic Configuration.Very hard to compute and visualizeAnthropomorphic Configuration.Characteristics of Anthropomorphic RobotsAdvantages:excellent reach for sizecan reach above or below obstacles characteristics similar to human arm large wo

34、rkspace for size Disadvantages:complicated kinematics difficult to program off-line workspace difficult to visualize & compute small errors in first few joints are amplified at end-effector.Kuka KR6/2Payload: 13 lb (6 kg)Max Reach: 62 in (1570 mm)Repeatability: 0.004 in ( 0.1 mm)Weight: 450 lb (205

35、kg) .SCARA ConfigurationFirst two links are revolute, last link is prismatic (RRP)SCARA stands for Selective Compliance Assembly Robot Arm.SCARA ConfigurationRigid in the vertical direction Compliant in the horizontal direction Used for assembly in a vertical direction circuit board component insert

36、ion .SCARA WorkspaceWorkspace shaped somewhat like a donut maximum outer radius minimum inner radius uniform height .Nimbl Junior 500Payload: 11 lb (5 kg)Max Reach: 20 in (500 mm) Repeatability: 0.001 in ( 0.025 mm)Weight: ? lb (? kg).Characteristics of SCARA RobotsAdvantages: fast cycle times excellent repe