Robots

o.Univ.Prof. Dipl.-Ing. Dr.techn. Dr.h.c.mult. P. Kopacek Institute of Handling Devices and Robotics (IHRT) Vienna University of Technology

Anzahl

Industrial robots worldwide (IFR 2001)

1.100.000 1.000.000 900.000 800.000 700.000 600.000 500.000 400.000 300.000 200.000 100.000 0

825.200

1999 2000 2001 2002 2003 2004

742.500

892.200

1.032.400

757.600

776.700

Yearly installations of industrial robots (IFR 2001)

Anzahl

140.000 120.000 100.000 80.000 60.000 40.000 20.000 0

1999 2000 2001 2002 2003 2004

106.400

119.900

81.500

86.900

95.300

121.700

Brief history of robotics

BC 300 : "Automatic altar" 18th Century : Duck " of Jaques de Vaucanson Mechanics consisting of more than 100 parts.: The duck can eat and excrement. 18th Century : "Androiden" of Pierre Jaquet-Droz and other Writer" Figure of a writing child; Movement of eyes, wrist, elbow, arm; controlled by springs and camshaft "Robot" unresting working artificial man": Karel Capek; RUR (Rossums Universal Robots") Isaak Asimov: Three laws of robotics"

Brief history of robotics (cont.)

1923: Robots for Expo Chicago 1927: Robot "Televox", Pittsburg controlled water tank in a multi-story building and pumps are turn on according to requirement; capable to turn on each device 1930: Robot "Sabor II", Switzerland as an attraction in circus, cabaret, and department store; controlled by wireless commands movement of each limb; Speech 1933: Robot "Mr. Ohm Kilowatt" 1951: Robot "Dynamo Joe", Bristol cycling robot. 1954: G.C.Devol - Patent for programmable machine 1956: Devol and J.Engelberger founded UNIMATION Inc. 1959: first well functioning industrial robots

Manipulator
Mainpulators

Manually Controlled

Program controlled
Fixed programmed Variable programmed

Teleoperators

Handling devices pick and place

Industrial robots

Definition of multi purpose manipulating Industrial robot

Manipulating industrial robots as defined by ISO 8373: An Automatically controlled, reprogrammable, multipurpose manipulator programmable in three or more axes, which may be either fixed in place or mobile for use in industrial automation applications

KUKA - Germany

Payload : 180 Kg

Payload : 500 Kg

ABB - Sweden

Payload : 500 Kg

Payload : 1 Kg Repeatability : 0.1 mm

Components of a robot system

Mechanical Arm: Robot joint, wrist, base; sufficient structural stability by the payload Drive systems: Motor, Hydraulic, Pneumatic Drive, Gear, Break Control system: Interface to operator; Control of robots joint End-effector, End-of-Arm Tooling (EOAT): Special Tools; adapted to the application; Gripper, etc. Programming tool: Teach-Panel, Movement of joints, Record of points, Generation of Programs, Not-Stop, and others.

Block diagram of IR-System

Industrial robot system
Encoder

Environment
Program Setpoint value Cl l Position controller Drive Gears Gripper

Control Unit
Sensors

Robot Configurations (cont.)

Basic types of the robot

Stationary robot systems Robot systems with external Axis Mobile robot systems Service work in dangerous area Investigation of foreign planets, underwater Transport Service area Automatic Guided Vehicles in Production (AGVs)
Navigation along Inductive lines Navigation using Lighting signals Navigation along colored lines Free Navigation

Drive system of an industrial robot

Advantages
Uniform and simple components

Disadvantages
Small Force and Torque Expensive explosion protection

Electric

Signal transfer without delay Getting energy is easy explosion protection Many possibilities for the combination

Finite transmission line Energy source will be lost. Energy source should be clean. Energy source should be generated. Noise Generation of heat Pollution of the environment in case of leakage

Pneumatic

cheap

Large Force and Torque

Hydraulic

Gripper
Interface between IR and work piece Gripper = Part of a handling device which to grasp an object, usually the work part, and hold it during the robot work cycle. Holding method: mechanical (for example, finger), suction cups, magnets, hook, etc. In praxis special solutions for few distinct applications Flexibility of whole system reduced

Grippers

3-Finger-Centric gripper

2-Finger-Angle gripper

Stiftgreifer

Gripper changing system (cont.)

Pivoting head

Gripper changing system

Gripper changing system

Pivoting arrangement

Control of industrial robot

Transformation of user program into corresponding movement of robot arms and fulfillment of the belonging functions Movement Control of joints movement to reach programmed point and to move along the programmed path Synchronization with peripheral events Generation appropriate action according to the sensory information. Monitor the movements Programming Preparation of commands and functions in order to generate, correct and test the movement Preparation of SW to store, to read and write as well as to document the program

Type of control
Point-to-Point (PTP) Starting and end point are given by the controller. After starting movement each joint moves independently. In general joints are moving synchronously. Multi point (MP) The position values are provided in predefined tact as the setpoint value to joint. (programming of setpoint value: sequential programming) Disadvantage : memory intensive, The path can be hardly corrected. Continous path The path from starting point and end point is calculated with linear, circular, spline interpolation spatially. The calculation of setpoint value is carried out on-line (in millisecond interval)

Tasks of the control computer

Coordinate transformation Path calculation Speed and acceleration calculation Position control Hierarchical structure

Position control (1)

Exact and reproducable (0,01 mm to 2 mm) High positioning speed High accuracy Large speed range Not overshooting in the end position

Position control (2)

x x1 x0
V =x

Vmax

t a=x amax t - amax

Time-optimal positioning from x0 to x1

Programming Methods
Programming Methods

Manual programming

Teach in

Textual programming

Hardware Controlled

Software controlled

Direct

Indirect

Adjusting methods

- Optical - mecahnical - tactile

Functional keys (commands related to control)

Explicit programming (manual data input)

Implicit programming (object models)

External sensors
Sensors

Tactile

Visual

Acoustic

Proximity

Force & Torque

Touch

Slippage

Presence

Range

Binary

Analog

Application areas of robots

Robots Conventional Applications Classical Industrial robots Disassembly robots Assembly robots Service robots Microrobots Advanced

Advanced

Application of IR with tool guidance

Gas shielded welding Coating Torch cutting Plasma cutting Deburring Laser cutting, -welding Water jet cutting Gluing Spot welding Grinding Polishing Milling

From Industrial to Servicerobots

Manipulation
Factory Environment
Industrial Robots Advanced Industrial Robots Service Robots
(Fixed Base)

Public and Home Environment

(Pick & Place)

External Sensors

(Assembly)
Human-Robot Interaction

(Fueling)

Service Robots
(mobile Manipulators)

AGVs

Intelligent AGVs

Service Robots
(Mobile Platforms)

(Fetch & Carry)

Networking

Locomotion

(Transportation)

(flexible (Intell. Wheelchair, Helpmate) Transportation)

Stability

TeleRobotics

External Sensors

Walking Mechanisms

Multiped Walking M.

Biped Walking M.

Humanoid Robots

Number of Servicerobots
Worldwide 1518 1999
792 924 396 2970 Domestic robots Underwater robots Medical robots All other Cleaning robots

Forecast 2003

11000 5000

5800 11000

43000

Parts of a Mobile Robot

s e n s o r-s ys te m ( n a v ig a tio n ) u s e r-p a n e l c o m p u te r-ra c k p o w e r s u p p ly s e n s o r-s ys te m (c o llis io n a v o id a n c e ) a c tiv e d riv e d riv in g u n it

p a s s iv e re a r d riv e

HELPMATE

CYBERMOTION

Robotic Solar Mower

Fraunhofer Cleaning Robot

IS Robotics
Military and Underwater Robots

Robug

Underwater robots
AUSI Chelsea Instruments

NASA JPL

Sojourner

Atacama Desert Trek

Carnegie Mellon University

Mobile Robot Platforms at IHRT

MaxiFander (DBI Int.) Nomad 200 (Nomad Techn.)

Technical Data "MaxiFander

Size (HxLxW) Weight Payload Maximum Speed Sensors (mm x mm x mm) kg daN m/s 450 x 680 x 480 15 25 0,75 Rotating 1-head sonar transducer 3 Infrared proximity detectors (= "Touch sensors") 2 Microphones (= Ears) Optical line followers 486 DX PC, 33 MHz

On-board control system

Technical Data "Nomad 200"

Size (Hx ) Weight Payload Maximum Speed Sensors (mm x mm) kg daN m/s 970 x 530 59 23 0,5 16 tactile sensors Fixed 16 channel sonar system Speech synthesis module Vision system Pentium 133 Mhz, 32 MB RAM

On-board control system

Peripheral Systems and Tools

D o c s ta (p o w e c o n s u k in g t io n r m p t io n ) C o m m u n ic a t io n M o d u le s M A S A rm s < 3 D O F . e . g . lif t s g r I p p e r s

T o o l c h a n g in g s y s te m C o n v . to o ls S p e c ia l t o o ls C o n tro l P L C

M o b ile P la tf o r m

R o b o ts > 3 D O F .

to o ls S to ra g e d e v ic e s ( e .g . H e lp m a te ) In te rfa c e s A d d S e n s o rs (If n o t In te g ra te d )

O T H E R S

C L E A N I N G

A G R I C U L T U R E

H E L T H C A R E

H a rd w a re

S o ftw a re

Types of entertainment robots

Sports Assistants Toy Robots Promotion and PR robots Competition Robots Personal Robots Humanoid Robots

Itelecady

IROBOT

Robot VehiclesDarin in Blount Cruiser

Robot Vehicles Highway Patrol

Robosaurus

Theatre group Ullanta

Robot for Entertaining

Atlas Interactive Robotics

Robot at Exhibitions

AIBO (Lady Wauzi & Sir Wuffi)

Specification
4-legged Autonomous Robot CPU, Memory : MIPS 64 Bit RISC Processor; 8MB DRAM Operation system : Real time Operation system (Aperios) Video Input : CCD Color Video Camera (1/5 inch, 180,000 pixels) Joints : 16 DOF (4 Legs with 3 DOF, 1 Head with 3 DOF 1 tail with 1 DOF ) Velocity : 5 m/min. Weight : 1.25 kg (with Battery) Size : 132 x 250 x 235 mm ( Width, Height, Length, without tail) Installed Application Modules Movements-/at standstill : Walk, sit, sleep, different movements Image processor : Colors Area recognition, Movement recognition, etc.

2. Generation of AIBO

ComponentsHead touch sensor Body, Head, Tail, Leg x 4, "Removable" Program Storage Medium image sensor) Camera (CMOS Memory Stick for AIBO Movable Parts Stereo microphone Mouth: 1 degree of freedom, Head: 3 degrees of freedom, Legs: 3 degrees of freedom x 4 legs Ears: 1 degree of freedom x 2 ears, Tail: 2 degrees of freedom Speaker Chin touch sensor Total: 20 degrees of freedom Pause button Chest light Back touch sensor Input/Output PC Card slot Type2 In/Out, Memory Stick slot In/Out AC IN Power Supply connector Input Acceleration sensor "Memory Stick" slot for AIBO Image Input CMOS Image sensor Lithium ion battery pack Audio Input Miniature Microphones PC card slot Audio Output Miniature Speaker Tail (equipped with LEDs) LCD Display Time, Volume, Battery condition Joints (20 "degrees of freedom") Built-in Sensors Temperature Sensor, Infrared Distance Sensor Weights (inclusing a battery and a memory stick) : Approx. 1.5kg (Approx.3.3lb) Acceleration Sensor, Pressure Sensors (Head, the Back, Chin & Legs) Dimensions (W/H/D) (not including ears and tail) : Approx. 152 xSensor 250 mm (Approx. 5.98 x Vibration 281 x 11.06 x 9.84 inches) Built-in Clock Date & Time Power Consumption Approx. 9W (tentative) Standard operation in autonomous mode Operating Time Approx. 1.5Hours (tentative) Standard operation in autonomous mode Charging Time Approx. 2 hours ( with a supplied AC Power Adaptor and the "Lithium Ion Battery pack" ERA-201B1) Dimensions(W/H/D) (not including ears and tail) Approx. 152 x 281 x 250 mm (Approx. 5.98 x 11.06 x 9.84 inches)

2. Generation - AIBO ERS-210

Weights(including a battery and a memory stick) Color Supplied Accessories Operating Temperature Operating Humidity

Approx. 1.5kg (Approx.3.3lb) Gold/Silver/Black AC Adapter, Lithium Ion Battery Pack ERA-201B1(1), Ball, Documentation, etc 41 F to 95 F (5C to 35C) 10% to 80%

I-cybie

Robot soccer

AUSTRO & IHRT

Robot soccer

Research robot COG

ASIMO (Advanced Step in Innovative Mobility)

Humanoid Robot

Honda P2

Honda P3

ASIMO (Advanced Step in Innovative Mobility)

First Robot Generation 2010

Mobile, human-sized intelligent universal service robots, Able to perform everyday routine work such as cleaning floors, remove garbage or dust furniture, Required computing power approximately 5 Mips

Second Robot Generation 2020

Assist humans in their everyday activities, perform janitorial services, or simply entertain them, Computing power about 100,000 Mips, Intelligence level of the mouse.

Third Robot Generation 2030

Computing power approximately to 5 million Mips, Intelligence of a monkey

Forth Robot Generation 2040

Capable of abstracting and generalizing problems like a human, Tasks that require preparation and planning as well, Companies, without human.

AGENTEN - HOLONS - FRAKTALE

Software Technik Production Automation Fabrik der Zukunft

A II A
AGENTEN HOLONS FRAKTALE

Multi Agenten System

Holonische Fertigung

Fraktale Fabrik