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

CS 545: Introduction to Robotics � Instructor: Prof. Hadi Moradi, moradi@usc.edu d d � 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 1

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 2

Practical issues � Class list: use blackboard.usc.edu Class list: use blackboard usc edu � Login with your USC username and password Administrative Issues � Midterm: Midterm: 7 /26/09 11:00 7 /26/09 11:00 - 12:40pm 12:40pm � Final: 8 /10/10 11:00 - 12:40pm See also the class web page: http://blackboard usc edu/ http://blackboard.usc.edu/ 3

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 4

Industrial Automation � Programmable automation Programmable automation � Low-to-midium batches of different types Industrial Automation � Flexible automation Flexible automation � Different types, different batches 5

Robots � Industrial robots: � Industrial robots: � Tasks: � Palleting � Pick up and place � Mill and machine tooling � Packaging � Welding � Mechanical structure � Actuators � Sensors � Control system 6

Robot examples � PUMA arm PUMA arm � K6 Symbolic Representation of Joints 7

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 8

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. 9

Linear vs. rotational link Wirst Structure 10

Articulated Manipulator (RRR) Workspace of RRR 11

Parallelogram Linkage � What is the h i h advantage of putting the actuation on the first link? SCARA Manipulator (RRP) Selective Compliant Articulated Robot for Assembly 12

Cartesian Manipulator (PPP) Workspace Comparison 13

Parallel Manipulators A Typical Problem 14

Coordinate Frames Forward Kinematics 15

Inverse Kinematics Inverse Kinematics: Joint angles 16

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 17

Path planning and Trajectory Planning Independent Joint Control 18

Other issues � Dynamics Dynamics � Multivariable control: � Force control: � Computer Vision � Vision-based control Vi i b d t l Issues in industrial robots � Design Design � Kinematics � Inverse kinematics � Dynamics � Inverse dynamics I d i 19