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Industrial Robotics

C. Melchiorri (DEI) Industrial Robotics 1

INDUSTRIAL ROBOTICS

Claudio Melchiorri

Dipartimento di Ingegneria dell’Energia Elettrica e dell’Informazione (DEI) Università di Bologna

Email: [email protected]

Industrial Robotics


Introduction

•  The first “modern” robots have been developed for teleoperation (radioactive material, in the 50’s) and prosthetic applications.

•  Robots have been used in production plants since the 70’s.

•  Initially, they have been almost exclusively used in industrial environments in tasks such as painting, welding, manipulation, assembly, and so on.

•  More recently, they are more and more often used also in other fields:

¤  Medicine ¤  Entertainment ¤  Training & Education ¤  Social services ¤  Surveillance & Military applications

¤  Space & Underwater tasks ¤  Construction ¤  Agriculture ¤  Domotics ¤  ….

Industrial Robotics


Robots

Industrial Robotics


Entertainment robots AIBO - Sony

ASIMO - Honda http://www.honda.co.jp/ASIMO/

http://www.aibo.com/

NAO, Aldebaran Robotics since 2008, replaces AIBO quadrupeds in RoboCup standard league

Q-RIO – Sony (2003) First robot able to balance on a surf

Industrial Robotics


Entertainment robots

C3PO – Star Wars Lego – MindStorm www.lego.com

Industrial Robotics


Service robots

Robomow RL500 Automatic gardener

iRobot-LE Mobile robot for surveillance (home, office, etc). It can be tele-controlled.

Dyson-DC06 Home-robot. Vacuum cleaner & washes floors, autonomously.

Automower autonomous robot by Husqvarna (Sweden)

Industrial Robotics


Service robots

Robots for safety missions

Other robots: http://www.21stcentury.co.uk/robotics/ http://ranier.oact.hq.nasa.gov/telerobotics_page/realrobots.html

Other examples: •  Mall cleaning robots (USA) •  Swimming pools cleaners •  …

Skywash cleans civil airplane bodies and is “the largest robot worldwide” (AEG/Dornier/FhG-IPA/Putzmeister)

A robot prototype for cleaning large glass windows of civil buildings

Industrial Robotics


Legged robots

MIT Leg Laboratory Since the 80’s

Industrial Robotics


Legged robots

Dante II – For active vulcanoes exploration

Legged robots: http://www.fzi.de/divisions/ipt/WMC/walking_machines_katalog/walking_machines_katalog.html Big Dog – Boston Dynamics

Cheetah – Boston Dynamics (45.54 km/h)

Industrial Robotics


Anthorpomorphic upper limbs

Justin has 7+7+3 degrees of freedom + many dofs in the two hands (DLR, Germany)

Robot developed in a German national project on humanoids

Industrial Robotics


Anthorpomorphic upper limbs iCub IIT, Genova

Justin 45 degrees of freedom (DLR, Germany)

Industrial Robotics


Space applications

ISS International Space Station Canadarm 2 delivering Destiny Lab from Space Shuttle Atlantis

Canadian Arm Space Shuttle

Industrial Robotics

C. Melchiorri (DEI) Industrial Robotics 13 Claudio Melchiorri

Space applications

NASA-JPL Pathfinder (1997)

Industrial Robotics


Space applications

NASA-JPL Spirit & Opportunity on Mars since 2004 Spirit silent since May 2011 Opportunity still working (Feb. 2014)

DLR – Germany / 1993 ROTEX catching floating objects on the Space Shuttle

Industrial Robotics


Underwater robotics •  Typically actuated by thrusters (directional forces on the tail) •  Cannot translate sideways (“maneuvers” are necessary)

Odin-II Univ. of Hawaii (omnidirectional)

TRIDENT: Underwater autonoumous activities (@UNIBO)

Industrial Robotics


Underwater robotics

Ansaldo underwater arm – SAUVIM project Cable hook task

Aqua robot amphibious robotic vehicle (Mac Gill University, Montreal, Canada) •  size and weight: 50x65x13 cm, 18 kg •  locomotion: through six independently

actuated flippers •  maximum depth: 37 m •  sensors: two cameras (front/back), acoustic

sensor for localization •  (sonar), tri-ocular sensor (structured light) •  power source: 48V lithium battery

Robots Work to Stop Leak of Oil in Gulf … BP - which is responsible under federal law for the clean-up - said it was using four submersible vehicles, equipped with cameras and remote-controlled arms, to try to activate a blow-out preventer - a series of pipes and valves that could stop the leak ...

Industrial Robotics


Underwater robotics

Mariana Trench - 10,971 m (35,994 ft) (NOAA/National Geographic)

The Swiss-designed, Italian-built, United States Navy bathyscaphe Trieste reached the bottom at 1:06 p.m. on January 23, 1960, with U.S. Navy Lieutenant Don Walsh and Jacques Piccard on board. Iron shot was used for ballast, with gasoline for buoyancy. At the bottom, Walsh and Piccard were surprised to discover sole or flounder about 30 cm (1 ft) long, as well as a shrimp. According to Piccard, "The bottom appeared light and clear, a waste of firm diatomaceous ooze”. Only three descents have ever been achieved: 1.  The manned descent by Trieste in 1960. 2.  The unmanned ROVs Kaikō in 1996 3.  The unmanned ROV Nereus in 2009

Industrial Robotics


Outdoor exploration

LAMA robot at CNRS-LAAS (Toulouse) A french-russian cooperation

RoboVolc On the surface of the Etna volcano: wheeled and tracked robots (University of Catania, 2003)

NIFTi - Earthquacke in Mirandola 2012

Industrial Robotics


Outdoor exploration

SHERPA (@UNIBO) Robotic system for search and rescue operations in alpine environment

AIROBOTS (@UNIBO) Unmanned aerial vehicle (AUV) for surveillance and monitoring

Industrial Robotics


Mine exploration

Groundhog (Carnegie Mellon) •  750 kg •  Movable SICK lasers •  Gas and immersion sensors •  SLAM algorithm (simultaneous •  Localization and mapping)

Industrial Robotics


DARPA Grand Challange

Competition for fully autonomous vehicles on a long mixed-type track $2 Million Cash Prize

The Ghostrider

The 2005 winning VW Touareg “Stanley”

Urban Grand Challange

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RoboCup

RoboCup World-wide robot soccer competition Since 1997 Different Leagues: •  Humanoid •  Middle Size •  Simulation •  Small Size •  Standard platform

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Micro/Nano robotics

Not a robot: cyborg insects

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Exoscheleton – power amplifiers Great interest for

•  Military purposes •  Rehabilitation •  Disable persons

Industrial Robotics


Medicine - Prosthetics

Along with telemanipulaiton, this is the first “application” field for robotic technologies

• commercialized by Ossur (Iceland) • a prosthesis sensorized at the knee (angle and force), capable of processing sensor data and of extracting a gait model of the user, so as to adapt its dynamical behavior (knee motion and stiffness) • made famous by the paralympic sprinter Oscar Pistorius

Industrial Robotics


Medicine - Rehabilitation

• "RUPERT" Robotic Upper Extremity Repetitive Therapy, (Arizona State University + Kinetic Muscles, Inc.) • Sustains the human arm with pneumatic muscles (McKibben actuators) • It can be programmed for the execution of cyclic exercises of rehabilitation

The stroke rehabilitation robot helps patients get movement back in their shoulders and arms.

Industrial Robotics


Medicine - Surgery http://www.intuitivesurgical.com/

•  Minimally invasive surgery •  Articulated wrist/tools •  3D computer vision •  Navigation helps

Next generation: Trough the natural orifices

Industrial Robotics


Human – Robot interaction

Industrial Robotics

C. Melchiorri (DEI) Industrial Robotics 29 Claudio Melchiorri

Articulated hands

University of Bologna: UB Hand II, III and IV DEIS-DIEM

Industrial Robotics


Study of human behavior

Kismet

COG

MIT Prof. R. Brooks

http://www.ai.mit.edu/projects/humanoid-robotics-group/ angry

disgusted happy interested sorrow

surprised

Industrial Robotics


Agriculture robots / Construction robots

•  Several prototypes have been developed for agricultural applications

•  Poor diffusion

•  One of the main reasons: low cost of human work Similar considerations for construction…

Industrial Robotics


Robotic on the web (educational)

• Telegarden: http://cwis.usc.edu/dept/garden/ •  Interaction with a remote garden •  Plant seeds, water, monitor the progress

Industrial Robotics


Robotic on the web (educational)

• Australia: http://telerobot.mech.uwa.edu.au/ •  Object manipulation •  “Augmented reality”

Industrial Robotics


Robotics on the web (educational)

• University Jaume I, Spain: http://ciclop.act.uji.es/rmarin/research/ •  Object manipulation •  Different control modalities (voice, keyboard, …) •  “Augmented reality”

Industrial Robotics


Robots …

List of non-industrial application of robots could go on … forever!

Industrial Robotics


Diffusion of service robots

Service robots for professional use: 76,600 units sold up to the end of 2009 1)  With 23,200 units the service robots in defense applications, accounted for

30% of the total number of service robots for professional use sold up to the end of 2009.

2)  Thereafter follow field robots (mainly milking robots) with 25% 3)   Cleaning robots and medical robots with 8% each 4)   Underwater systems with 7%

In 2010: + 4% units compared to 2009; +15% in terms of value (3.2 USD Billion).

Source: IFR – International Federation of Robotics -- www.ifr.org

Industrial Robotics


Diffusion of service robots

Service robots for personal and private use: about 5.6 million units for domestic use and about 3.1 million units for entertainment and leisure sold up to end of 2009 Projections for the period 2010-2013: 80,000 new service robots for professional use to be installed 11.4 million units of service robots for personal use to be sold (6.7 domestic, 4.6 entertainment)

Industrial Robotics


Main interest for the course: robots in industry

Industrial Robotics


Associations •  http://www.ifr.org/ International Federation of Robotics •  http://www.robotics.org USA •  http://www.jara.jp/en/ Japan •  http://www.robosiri.it/ Italiy: SIRI – ASS. IT. DI ROBOTICA E AUTOMAZIONE •  http://www.vibab.se/swira/ Sweden •  http://www.cs.uow.edu.au/isase/ara/ Australia •  http://www.bara.org.uk/ United Kingdom: Robotics & Automation

•  http://video-service-ras.org Full collection of vide-clips from the 1991 to 2006 editions of the IEEE Int. Conf. on Robotics and Automation (ICRA)

•  http://www.service-robots.org Technical Committee on Service Robots of Robotics and Automation Society (RAS) of IEEE (Institute of Electrical and Electronics Engineers)

•  http://www.euron.org/ Robotics in Europe (research) •  http://www.robotics-in-europe.org/ Robotics in Europe (all)

•  http://www.robocup2002.org/ •  http://www.fira.net/

•  Real Robots On the Web: http://ranier.hq.nasa.gov/telerobotics_page/realrobots.html

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