Creative Advanced Robotics

Creative Advanced Robotics

Min Cheol Lee
Professor, School of Mechanical Engineering
Pusan National University, Korea
Office: RIMT 418
Phone: 051-510-2439
Email: mclee@pusan.ac.kr
Home Page: http://mclab.me.pusan.ac.kr
1/55

Main Reference Text

Creative Advanced Robotics

Introduction to

Robotics

Analysis, Systems, and Applications

Saeed B. Niku, Prentice Hall, 2001

Robotics

Control, Sensing, Vision,

and Intelligence
K. S. Fu, R.C. Gonzalez, C. S. G. Lee
McGraw-Hill, Inc, 1995.
Saeed B. Niku, Prentice Hall, 2001
, , SciTech, 2001

2/55

Creative Advanced Robotics

What is Creative Advanced Robot ?

Engineering design is a creative activity whose goal is to
conceive and plan the form, structure, manufacture, and
operation of object, a machine, or other product.
It involves artistic as well as engineering, scientific, and
mathematical skills.
Creative Thinking
The creative thinking occurs in the right brain and is
associated with randomness, synthesis, nonjudgmental
scrutiny, irregularity, sensuality, imagination, visualization.

Mechanism Design + Control Theory + IT + Economics +

+ Creative Thinking ?
3/55

Robotics

Creative Advanced Robotics

Analysis, Systems, and Applications

Control, Sensing, Vision, and Intelligence

Contents
(1)Robot Arm Kinematics(chap2)
- Direct(Forward) Kinematics : Denavit-Hartenberg Representation.
i determine a position and an orientation of end-effector
- Inverse Kinematics : Give a position and an orientation of endeffector determine i

(2) Robot Arm Dynamics (chap 3)

q3
q2

(3) The Trajectory Planning (chap. 4)

(4) The Motion Control (chap. 5)

q1

(5) Robot Sensing (chap. 6, Chap. 7)

4/55

Creative Advanced Robotics

Chapter 1 Fundamentals
1. Introduction

A Kuhnezug truck-mounted
crane

Cincinnati
Milacron T3

Unimation
PUMA 560
5/55

Creative Advanced Robotics

Industrial Robot

Fanuc S-500
Performing seam-sealing
on a truck.

FANUC
R-2000ia

SAMSUNG
SCARA robot
6/55

Creative Advanced Robotics

Industrial Robot
What is Creativeness ?

7/55

Creative Advanced Robotics

Mobile and Humanoid Robot

What is Creativeness ?
8/55

Creative Advanced Robotics

How classify robots?

- JIRA (Japanese Industrial Robot Association)
Class1: Manual-Handling Device
Class2: Fixed Sequence Robot
Class3: Variable Sequence Robot
Class4: Playback Robot
Class5: Numerical Control Robot
Class6: Intelligent Robot

- RIA (Robotics Institute of America)

Variable Sequence Robot(Class3)
Playback Robot(Class4)
Numerical Control Robot(Class5)
Intelligent Robot(Class6)
9/55

Creative Advanced Robotics

Classification of Robots
- AFR (Association Franaise de Robotique)
Type A: Manual Handling Devices/ telerobotics
Type B: Automatic Handling Devices/ predetermined cycles
Type C: Programmable, Servo controlled robot,
continuous point-to-point trajectories
Type D: Same type with C, but it can acquire information.

10/55

Creative Advanced Robotics

History of Robotics
1922: Karel apeks novel, Rossums Universal Robots, word Robota
(worker)
1952: NC machine (MIT)
1955: Denavit-Hartenberg Homogeneous Transformation
1967: Mark II (Unimation Inc.)
1968: Shakey (SRI) - intelligent robot
1973: T3 (Cincinnati Milacron Inc.)
1978: PUMA (Unimation Inc.)
1983: Robotics Courses
21C: Walking Robots, Mobile Robots, Humanoid Robots

Domestic(Korea):
1996: SCARA type FARAMAN SM5(Samsung Electronics)
1998: Vertical multi articulated robot AM1, AS1, FARAMAN SD1
Dual Arm
structure(Samsung Electronics)
2003 ~: HX1, HX 165, HR1 and intelligent multi articulated robot
(HHI, Hyundae Heavy Industry )
11/55

Creative Advanced Robotics

Type of Industrial robot (HHI)

HX300
HR006

HX130/165

HD165

HR015

HX165S

HR100P

12/55

Creative Advanced Robotics

Robot Structure of HA165

A1-PART

W1 - PART

V-Link
&
Hinge

A2 - PART

S1 - PART

HA165 Model

HX165 Model
13/55

Creative Advanced Robotics

Spot Welding

HX165

HR120
14/55

Creative Advanced Robotics

Advantages VS. Disadvantages of Robots

Robots increase productivity, safety, efficiency, quality, and consistency of
products.
Robots can work in hazardous environments without the need.
Robots need no environmental comfort.
Robots work continuously without experiencing fatigue of problem.
Robots have repeatable precision at all times.
Robots can be much more accurate than human.
Robots replace human workers creating economic problems.
Robots can process multiple stimuli or tasks simultaneously.
Robots lack capability to respond in emergencies.
Robots, although superior in certain senses, have limited capabilities in
Degree of freedom, Dexterity, Sensors, Vision system, real time
response.
Robots are costly, due to Initial cost of equipment, Installation costs, Need
for Peripherals, Need for training, Need for programming.

15/55

Creative Advanced Robotics

Domestic Research Trend

Vision System based on collision detection -- Dajin System (2002)
OOBB (Object-Oriented Bounding Box) which is collision detection algorithm is applied to
automatic welding system.
Selecting each plate detection and recognizing welding position

Effect : Increase of productivity and reduction to equipment cost

< Simulation >

Source : the Korean Intellectual Property Office, an applicant for a patent Dajin System Company,
Register date 11/01/2003

16/55

Creative Advanced Robotics

Overseas Research Trend

ABBs MultiMove Robot Controller IRC5

Integrated control technology for

positioner of 36 axis robot
Dependent and independent
motion control for each axis

Higher tact time ,

Minimizing waiting cycle
Higher welding quality

Flexpendant with touch screen

function

Effect : flexibility and optimization

Sourse ABBs MultiMove fires the imagination, Industrial Robot : An International Journal Vol.31 No.5 2004
pp.401-404
ABB( Asea Brown Boveri)

17/55

Creative Advanced Robotics

Overseas Research Trend

Estimation of position of industrial robot(ABB IRB1400)

accelerometer data based extended Kalman filter (EKF) and the particle filter
(solving the Bayesian estimation problem) =>Increase of positioning accuracy

< The ABB IRB1400 robot with the accelerometer. >

Source Sensor fusion for position estimation of an industrial robot, Technical reports from the Control &
Communication group in Link oping
http://www.control.isy.liu.se/publications.

18/55

FANUC - Factory Automation by Robot

Creative Advanced Robotics

Machining (Milling) Factory

Servo Motor Factory

< Robot Factory >

19/55

Creative Advanced Robotics

YASKAWA - Factory Automation by Robot

20/55

Creative Advanced Robotics

Overseas Research Trend

Turboscara SR4/6/8 Bosch Rexroth (2002 Yr)

Increase of processing time of robot control

Internet connection for transferring data
Remote maintenance
Robotvision image processing system

Effect : Support of variable function for satisfying users needs

Source Robots make a show at the UK automation and machine tool exhibitions, Industrial Robot : An
International Journal Vol.29 No.6 2002 pp.511-516

21/55

Creative Advanced Robotics

Overseas Research Trend

Bin picking FANUC Robotics
2D Vision sensing Parts Recognition

3D Vision sensing Measurement of

position and orientation
Teach Pendant
Communication between vision
systems
Reliablity - verified performance history
Effect : Flexibility in application environment,
easier teaching plan , high reliability of
controller
Source Robots make a show at the UK automation and machine tool exhibitions, Industrial Robot : An
International Journal Vol.29 No.6 2002 pp.511-516
&
http://www.fanucrobotics.com

22/55

Creative Advanced Robotics

Overseas Research Trend

Robot controller, 8-axis KR C2 KUKA
Safety fieldbus interface- peripheral safety monitoring devices, limit switches

Effect : reduction of error rate due to keeping safety

Source Robots make a show at the UK automation and machine tool exhibitions, Industrial Robot : An
International Journal Vol.29 No.6 2002 pp.511-516

23/55

Creative Advanced Robotics

Robot Application in the world

Painting Robot in Motor Company

Assembly Robot in Electronic Company

24/55

Creative Advanced Robotics

Change of Paradigm
Industrial Society to Intelligent Based Society via Information Society

Classic Robot

Substitution of labor
Repetitive work
Increase of productivity

Intelligent Robot

Environment change
Innovation of
technology
Change of
society needs

Coexistence with human

Self motion
Incerase of life quality

25/55

Creative Advanced Robotics

Developing to Intelligent Robot

Intelligent Robot
- Voice recognition,
Artificial vision
- Learning, inference
- Autonomous mobile
robot
- Personal service robot
- Ultimate environment

Advanced Intelligent Robot

- Bio-mimic

- Co-existance environment
with human.

Robot for simple work

- Simple sensor and controller

After 2015

- Repetitive industrial robot

2005
1990

26/55

Creative Advanced Robotics

Definition of Intelligent Robot and Classification

Perception of environment
Self cognition
Autonomous Mobility & Manipulation

Intelligent robot includes network based

service robot with IT technology

Service Robot

Classification

Service Robot for

Personal Use

Service Robot for Professional

Use

Industrial Robot

Source : IFR (International Federation of Robot]

27/55

Creative Advanced Robotics

Classification of Intelligent Robot

IFR(International Federation of Robotics) Robot Classification
Classification of
Specific Classification by Application Areas
Robot
Industrial Robot

Manufacturing

Field, Cleaning, Inspection

Expert Service Robot Construction, Logistics, Medical, Military,
Rescue, Security, Underwater, Humanoid
Personal Service

Home tasks, Entertainment

Robot

(toy, hobby), Handicap Assistance

28/55

Creative Advanced Robotics

Robot in the world

Wearable Robotic Arm and Tele-Operated Robot (KIST)

29/55

Creative Advanced Robotics

Robot for Production Manufacture

Japan , YASKAWA

USA, AGV Products

Automated guided vehicles

30/55

Creative Advanced Robotics

Robot for Production Manufacture

HX165

HR120
31/55

Creative Advanced Robotics

Home Service Robot

iRobot

Vacuum robot

Guide and
Security robot

Coffee delivery

Tutor for education, Pet, Silver robot

32/55

Creative Advanced Robotics

Entertainment Robot

Sony (AIBO) Toy robot

33/55

Creative Advanced Robotics

Entertainment & Humanoid(biped) Robot

Cat robot

ASIMO

34/55

 Biped Robot

HONDA (ASIMO) - 2002

Creative Advanced Robotics

Hubo II 2010

35/55

Creative Advanced Robotics

Biped robot: SDR 4X (Surfing robot)

36/55

Creative Advanced Robotics

Surgical Robot
Laparoscope
Holder

CAD/CAM
Arthrobot

Surgical
Robot

AESOP

RoboDoc

daVinci

Hip joint surgical robot

Laparoscopic
Surgical robot

Laparoscopic
Surgical Instrument
with camera assistance

37
37/55

Creative Advanced Robotics

Surgical Robot

38/55

Creative Advanced Robotics

Healthcare Robot

Rehabilitation and walking assistance

intelligent wheel chair robot

Human interface based intelligent

wheel chair

39/55

Creative Advanced Robotics

Welfare Robot

40/55

Creative Advanced Robotics

Importance of Intelligent Robot Industry

Future STAR Industry
Reading
Industry

1 robot / one house in 2020

( Japan Robot Society)

Higher value-added business

Advanced Fusion Technology

Robot Convergence
Technology
Innovation

(Sensor fusion technology:

Computer -> Automobile -> Intelligent robot)

Extension of Information space- Ubiquitous network fusion

Realization of Welfare Society

Social
Reduction of birth rate, Preparation for aging society
Stabilization
Stable economy through creation of jobs
41/55

Creative Advanced Robotics

Market Size of Intelligence Robot

Market Forcasting
World market size in 2013: 2,00 Billion dollors( 500 Billion, 2020 )
Robot Market size in Japan in 2013: 19.8 Trillion Yen

13 Japan domestic market 19.8 Trilion Yen

Independent
Robot
3.5 Tri Yen

Robot
application S/W,
Service
contents,
12. Tri Yen
Network based
Robotic
Appliance,
4.3 Tri Yen
Independent
Robot
3.5 Tri Yen

( , , , 03)

42/55

Creative Advanced Robotics

Market Forecasting of Intelligence Robot

Market size forecasting
2018 Yr World Market Size: 100 Billion USD
2022 Yr Domestic Market Size: 2.45 Trillion Won (2.4 Billion USD)

43/55

Creative Advanced Robotics

Robot Components

Manipulator or Rover: Main body of robot

(Links, Joints, other structural element of the robot)

End Effector: The part that is connected to the last joint(hand) of a

manipulator

Actuators: Muscles of the manipulators

(servomotor, stepper motor, pneumatic and hydraulic cylinder)
Sensors: To collect information about the internal state of the robot or
To communicate with the outside environment
Controller: Similar to cerebellum.
It controls and coordinates the motion of the actuators.
Processor: The brain of the robot.
It calculates the motions and the velocity of the robots joints, etc.
Software: Operating system, robotic software and
the collection of routines.

Fig. 1.2

44/55

Creative Advanced Robotics

Structure of Industrial Robot

Teach device
terminal
or
pendent

External
Power Unit.

Robot
Computer
Controller

Robot
mechanical
arm

Permanent
Program
Storage

End-of-arm
tooling

PROM,disk,tape

D/A
Host
Computer

Controller
(Micro -processor,
DSP,8086 ....)

AMP

A/D
Counter

......
Trajectory Planning.
Data Comunication

PID
Sliding Mode Control
Adaptation Conrol

Acturator (DC,AC,BLDC)
Sensor(Resolver,Encoder,
Potentiometer)

45/55

Creative Advanced Robotics

Robot Degree of Freedom

Consider what is the degree of Fig. 3

1 D.O.F.

2 D.O.F.

3 D.O.F.

Fig. 1.3 A Fanuc P-15 robot.

Reprinted with permission from Fanuc Robotics, North America, Inc.

46/55

Creative Advanced Robotics

Robot Joints
Prismatic Joint: Linear, No rotation involved.
(Hydraulic or pneumatic cylinder)

Revolute Joint: Rotary,

(electrically driven with stepper motor, servo motor)

47/55

Creative Advanced Robotics

Robot Coordinates
Cartesian/rectangular/gantry (3P) : 3 cylinders joint
Cylindrical (R2P) : 2 Prismatic joint and 1 revolute joint

Spherical (2RP) : 1 Prismatic joint and 2 revolute joint

Articulated/anthropomorphic (3R) : All revolute(Human arm)
Selective Compliance Assembly Robot Arm (SCARA):
2 paralleled revolute joint
and
1 additional prismatic joint

Fig. 1.4

48/55

Creative Advanced Robotics

Robot Reference Frames

Fig. 1.6 A robots World, Joint, and Tool reference frames.

Most robots may be programmed to move relative to
either of these reference frames.

49/55

Creative Advanced Robotics

Programming Modes
Physical Setup: PLC
Lead Through/ Teach Mode: Teaching Pendant/ Playback, p-to-p
Continuous Walk-Through Mode: Simultaneous joint-movement
Software Mode: Use of feedback information

Robot Characteristics
Payload: Fanuc Robotics LR Mate (6.6/ 86 lbs), M- 16i (35/ 594 lbs)
Reach: The maximum distance a robot can reach within its work envelope.
Precision (validity): defined as how accurately a specified point
can be reached 0.001 inch or better.
Repeatability (variability): how accurately the same position can be
reached if the motion is repeated many times.

50/55

Creative Advanced Robotics

Robot Workspace

Fig. 1.7 Typical workspaces for common robot configurations

51/55

Creative Advanced Robotics

Robot Languages
Microcomputer Machine Language Level:

the most basic and

very efficient but difficult to understand to follow.

Point-to-Point Level:

Funky Cincinnati Milacrons T3

It lacks branching, sensory information.

Primitive Motion Level:

VAL by Unimation
Interpreter based language.

Structured Programming Level:

Task-Oriented Level:

This is a compiler based

but more difficult to learn.

Not exist yet and proposed IBM in the 1980s.

52/55

Creative Advanced Robotics

Robot Application
Machine loading:
Pick and place operations:

Welding:
Painting:
Inspection:
Sampling:

Assembly operation:
Manufacturing:
Surveillance:
Medical applications:
Assisting disabled individuals:
Hazardous environments:
Underwater, space, and remote locations:
53/55

Creative Advanced Robotics

Robot Application
Machine loading

Fig. 1.8 A Staubli robot loading and unloading

Welding

Fig. 1.10 An AM120 Fanuc robot

Pick and place operations

Fig. 1.9 Staubli robot placing dishwasher tubs

Painting

Fig. 1.11 A P200 Fanuc painting automobile bodies

54/55

Creative Advanced Robotics

Robot Application
Inspection

Fig. 1.12 Staubli RX FRAMS robot in a BMW

Remote locations

Fig. 1.14 The Arm, a 6 DOF bilateral forcefeedback manipulator

Manufacturing

Fig. 1.13 A Fanuc LR Mate 200i robot removal operation

Medical applications

Medical Robot of German

55/55