Current & Future Trends in Robotics

Current & Future Trends in
Robotics
Dr. Lilantha Samaranayake
Department of Electrical & Electronic Engineering
Faculty of Engineering
University of Peradeniya
lilantha@ee.pdn.ac.lk, +94812393426
In this lecture, we will talk about
• Manipulators,
• Robots in industry,
• Vision based control of robots,
• Computer vision techniques.
Next lecture…
• Mobile robots
Manipulators
• High precision and repetitive tasks
– Pick and place, painting, etc
• Hazardous environments
Representations
 For the majority of this class, we will consider robotic
manipulators as open or closed chains of links and joints
 Two types of joints: revolute () and prismatic (d)
Definitions
 End-effector/Tool
 Device that is in direct contact with the environment. Usually very task-specific
 Configuration
 Complete specification of every point on a manipulator
 set of all possible configurations is the configuration space
 For rigid links, it is sufficient to specify the configuration space by the joint angles

 State space
 Set of variables that together with manipulator’s dynamics and future inputs is sufficient to
determine the future time response of the manipulator q= q T
 Current configuration (joint positions q) and velocities q̇

[1 2 q . .. q n]
 Work space
 The reachable space the tool can achieve
 Constrained by the geometry & mechanical limits of the joints
 Reachable workspace – entire set of points reachable by manipulator
 Dextrous workspace – consists of points that manipulator can reach with an arbitrary
orientation of the end effector.

Workspace: elbow manipulator
Degrees Of Freedom (DOF)
• Minimum number of parameters required to specify a given manipulator
configuration
• Number of DOF is equal to the dimensions of the configuration space.
• For a Robot manipulator the number of joints determine the DOF
• Example:
• A rigid body in 3D space has 6 DOF: 3 for positioning & 3 for orientation.
• Therefore a manipulator should typically posses at least 6 independent
DOF.
• With less than 6 DOF, the arm can not reach every point in the work
space with arbitrary orientation.
• Kinematically redundant if DOF > 6
Robots as Mechanical Devices
• Lot of physical aspects of robotic manipulators will not necessarily
consider when developing our mathematical models.
• These include mechanical aspects (e.g., how are the joints actually
implemented), accuracy, repeatability, and the tooling attached at the
end effector.
Classification of robotic manipulators
• Power source
• Hydraulic - Fast, high torque output, leaky, requires a lot of accessories (pumps,
etc), noisy
• Pneumatic – Lighter pay loads, simple, needs frequent maintenance, can not
control precisely
• Electric – Intermediate pay loads, cheaper, cleaner and quieter
• Methods of Control
• Servo (closed loop)
• Point-to-point using Teach Pendant
• Continuous path
• Nonservo (open loop)
Classification contd..
• Application area
• Assembly – Usually small & electrically driven
• Nonassembly robots – Welding spray painting, material handling, loading &
unloading.
• Geometry
• Serial link robots: Classification based on the first 3 joints of the arm: Articulated
(RRR), Spherical (RRP), SCARA (RRP), Cylindrical (RPP) & Cartesian (PPP)
• Parallel robots
Industrial Robots: Common configurations
• ABB IRB1400
• Configuration RRR
Industrial Robots : Stanford arm (RRP)
• Spherical manipulator (workspace forms a set of concentric spheres)
Industrial Robots : SCARA (RRP)
(Selective Compliant Assembly Robot Arm)
Industrial Robots : cylindrical robot (RPP)
• Workspace forms a cylinder
Industrial Robots : Cartesian robot (PPP)
• Increased structural rigidity, higher precision
– Pick and place operations
Workspace comparison
(a) Spherical
(b) SCARA
(c) Cylindrical
(d) Cartesian
Parallel manipulators
• Some of the links will form a closed chain with ground
• Advantages:
– Motors can be proximal: less powerful, higher bandwidth, easier to
control
• Disadvantages:
– Generally less motion, kinematics can be
challenging
6DOF Stewart platform

Vision Based Control of Robots
Vision Based Control Problem
• Visual Servoing: The process of minimizing a visually specified task by
using visual feedback for motion control of a robot.
• Is it difficult? Yes.
– Controlling 6D pose of the end-effector from 2D image features.
– Nonlinear projection, degenerate features, etc.
• Is it important? Of course.
– Vision is a versatile sensor.
– Many applications: industrial, health, service, space, humanoids, etc.
From Vision to Action: Principles
Image-Based Visual Servoing (IBVS)
• sd : Desired image feature

• s(t): Visually-tracked image feature
Image-Based Control Law
Position-Based Visual Servoing (PBVS)
• Wd : Desired relative pose (end-effector to object)

• Ŵ(t): Estimated relative pose
Position-Based: Frames
Position-Based Visual Servoing (PBVS)
• Wd : Desired relative pose (end-effector to object)

• Ŵ(t): Estimated relative pose
• EKF: Extended Kalman Filter
Position-Based: EKF-Based Pose Tracking
EKC
Implementation

Current & Future Trends in Robotics

Uploaded by

Copyright:

Available Formats

Current & Future Trends in Robotics

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Current & Future Trends in Robotics

Uploaded by

Copyright:

Available Formats

Current & Future Trends in

 Current configuration (joint positions q) and velocities q̇

orientation of the end effector.

6DOF Stewart platform

• sd : Desired image feature

• Wd : Desired relative pose (end-effector to object)

• Wd : Desired relative pose (end-effector to object)

You might also like