CS 545: Introduction to Robotics Instructor: Prof. Hadi Moradi, - - PDF document

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CS 545: Introduction to Robotics

Instructor: Prof. Hadi Moradi,

d d moradi@usc.edu

Lectures: M-Th 11:00-12:40, GFS118 Office hours: MW 2:30 – 4:00 pm,

SAL310,

Or by appointment

Or by appointment

TAs: Jeong-Yoon Lee

jeongyol@usc.edu Office: SAL 112 Office hours: TTH 1:00-2:30PM

CS 545: Introduction to Robotics

Course web page:

Course web page:

http:/ / www-scf.usc.edu/ ~ csci545 Up to date information, lecture notes Relevant dates, links, etc.

Course material: Course material:

Robot Modeling and Control by Spong,

Hutchinson, and Vidyasagar

Class format: two sections of 45 minutes

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CS 545: Introduction to Robotics

Course overview: fundamentals of robotics

Course overview: fundamentals of robotics

including kinematics, dynamics, motion planning and localization.

Prerequisites: CS 455x, i.e.,

programming principles, discrete mathematics

p g g p p , for computing, software design and software engineering concepts. Some knowledge of C/C+ + for some programming assignments.

CS 545: Introduction to Robotics

Grading:

Grading: 25% for midterm 25% for final 50% for homeworks and projects

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Practical issues

Class list: use blackboard usc edu

Class list: use blackboard.usc.edu

Login with your USC username and

password

Administrative Issues

Midterm: 7/26/09 11:00

12:40pm

Midterm:

7/26/09 11:00 - 12:40pm

Final: 8/10/10 11:00 - 12:40pm

See also the class web page: http://blackboard usc edu/ http://blackboard.usc.edu/

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History

Robot: slave

Robot: slave

Coined in 1921: Playwright by Karel Capek

Issac Asimov laws:

A robot may not … A robot must … A robot must … A robot must …

Industrial Automation

Rigid automation

Rigid automation

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Industrial Automation

Programmable automation

Programmable automation

Low-to-midium batches of different types

Industrial Automation

Flexible automation

Flexible automation

Different types, different batches

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Robots

Industrial robots: Industrial robots:

Tasks:

Palleting Pick up and place Mill and machine tooling Packaging Welding

Mechanical structure Actuators Sensors Control system

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Robot examples

PUMA arm

PUMA arm K6

Symbolic Representation of Joints

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Definitions:

Configuration: Configuration:

Configuration space:

Set of all possible configurations

State Space:

Configuration + velocities

Workspace

Reachable workspace Dexterous workspace (subspace of reachable)

Classification of Robotic Manipulators

Power source: Power source:

Hydraulic: Electric: Pneumatic:

Method of control:

Open-loop Closed-loop Closed loop

Application area:

Assembly Non-assembly

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Robotic System Accuracy vs. Repeatability

Accuracy: How close to a given point

Accuracy: How close to a given point Repeatability: How close to previously

taught point.

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Linear vs. rotational link Wirst Structure

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Articulated Manipulator (RRR) Workspace of RRR

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Parallelogram Linkage

h i h

What is the

advantage of putting the actuation on the first link?

SCARA Manipulator (RRP)

Selective Compliant Articulated Robot for Assembly

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Cartesian Manipulator (PPP)

Workspace Comparison

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Parallel Manipulators A Typical Problem

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Coordinate Frames Forward Kinematics

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Inverse Kinematics Inverse Kinematics: Joint angles

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Velocity Kinematics

Speed of tool based on the speed of

Speed of tool based on the speed of

joints

Singular Configuration

Reduction in DOF Reduction in DOF

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Path planning and Trajectory Planning Independent Joint Control

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Other issues

Dynamics

Dynamics Multivariable control: Force control: Computer Vision

Vi i b d t l

Vision-based control

Issues in industrial robots

Design

Design Kinematics Inverse kinematics Dynamics

I d i

Inverse dynamics