ROBOTICS 01PEEQW Basilio Bona DAUIN Politecnico di Torino What - - PDF document

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ROBOTICS 01PEEQW

Basilio Bona DAUIN – Politecnico di Torino What is Robotics?

Robotics studies robots

For history and definitions see the 2013 slides

http://www.ladispe.polito.it/corsi/meccatronica/01PEEQW/2014-15/Slides/Robotics_2013_01_A_brief_history.pdf http://www.ladispe.polito.it/corsi/meccatronica/01PEEQW/2014-15/Slides/Robotics_2013_02_Introduction.pdf

Robots can be used in different contexts and are classified as 1. Industrial robots 2. Humanoid & biomimetic robots 3. Service robots 4. Exploration robots 5. Service & exploration robots can be a) wheeled (rovers) b) flying (UAS,UAV, Quadcopters, etc.) c) legged There is a partial overlapping of these classes

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Industrial robots

Similar to a human arm with a wrist and a final “hand” for holding tools Rigid mechanical structure to guarantee accuracy and precision (repeatability) 5-6 (rarely 7) dof Internal (proprioceptive) joint sensors

• nly *recent developments include vision sensors

High payloads Reduction gears Well known and quasi-static environment Strict safety requirements Externally supplied power

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Humanoid robots

Similar to human body with a torso, two arms, two legs, 2-5 fingered hands Complex mechanical structure to guarantee stable bipedal motion Many dofs Internal and external sensors Low payloads Reduction gears or direct drives Unknown and changing environment: land only Limited autonomy Safety requirements TBD HMI and social acceptance issues

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Examples from DRC 2013

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Lots of onboard sensors

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Examples

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Biomimetic robots

Similar to animals, insects, fishes, birds, etc. May have more than two legs, no legs at all, wings, fins; can walk, crawl, swim, fly Internal and external sensors Low – medium payloads, depending on structure No safety requirements Unknown and changing environment: sea, air, land

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Service robots

May have different motion structures: mostly wheeled (differential drives or 4-wheels), but UAVs are becoming popular Mechanical structure is important, but software is a critical issue Internal and external sensors Cameras (single, stereo 3D, ToF, omnidirectional) Laser scanners and Lidars Proximity sensors Special purpose, e.g., thermo-cameras Low to medium size payloads (according to use) HMI is important Unknown and changing environment: indoor (flat), outdoor (land, air, underwater) Privacy and legal issues important

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UAVs

Unmanned Aerial (or Autonomous) Vehicles are known due to their use as military drones, but now “quadcopters” are very common Civil applications are becoming important surveillance and patrolling of large structures and sites disaster area analysis; search and rescue (SAR) agricultural and environmental remote sensing leisure: commercial and filmmaking material transport Mainly outdoor, but indoor use is gaining interest Unknown environment Limited payload Limited autonomy (battery life is critical) and often tele-operated Mostly vision sensors (lightweight) Privacy and legal issues important

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Examples

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Exploration robots

Used for planetary or deep space exploration e.g., Spirit, Opportunity, Curiosity, future Moon and Mars rovers Some used for underwater or harsh environments (volcanoes, Antarctica exploration, etc.) Usually tele-operated, but partial autonomy necessary due to long time delays between Earth and Mars

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Course content – 1

Kinematic Chains: constitutive elements; KC types: open, closed; KC dofs: redundant, non redundant chains Industrial robot types: arms and wrists Kinematic chains: algorithms for fast computation of direct and inverse position and velocity kinematic functions Denavit-Hartenberg conventions and DH parameters Homogeneous matrices Jacobian matrices Statics: kineto-static relations Dynamics: Lagrange equations, general form for control Control algorithms: independent joints linear control, MIMO nonlinear control

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Course content – 2

Wheeled rovers structures, differential drive kinematics non-holonomy

• dometry issues

Onboard sensors: some types will be briefly analyzed Mapping, localization and SLAM issues Path planning

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