robotic and sensors robotic ii - tuhh · as space exploration, cleaning floors, mowing lawns, and...

Prof. Dr.-Ing. habil. Hermann Lödding

Prof. Dr.-Ing. Wolfgang Hintze

©

PD Dr.-Ing. habil. Jörg Wollnack

I.1 10.10.2014

Robotic I Robotic and Sensors

Robotic II Machine Vision

and

System Calibration


Technical University Hamburg-Harburg

E-Mail: [email protected]

Internet: www.tu-harburg.de/ft2/wo

mailto:[email protected]



http://www.tu-harburg.de/ft2/wo





©


I.2 10.10.2014

Contents

Robotic I

Applikation

Modeling

Introduction and History



©


I.3 10.10.2014

• What is a robot?

• Why use robots?

• Robot History?

• Robot Applications?

Introduction

http://www.google.de/url?url=http://fennetic.net/gingery_machines/hexapod.html&rct=j&frm=1&q=&esrc=s&sa=U&ei=ADoEVJC8JLKX0QW9x4F4&ved=0CBYQ9QEwAA&sig2=5GS6Ln5yH4FJU3BkYkiIIQ&usg=AFQjCNFHRnZ4SmfnHozMRCxIQJbgBVmsOA



©


I.4 10.10.2014

Origin of the word Robot

• Czech word ”robota“ – labor

”robotnik“ – workman

• 1923 play by Karel Capek – Rossum‘s Universal Robots

What a Robot?



©


I.5 10.10.2014

Definitions

• An automatic device that performs function ordinarily ascribe to

human beings (Webster’s Dictionary)

• An industrial robot is an automatic, servo controlled freely

programmable, multipurpose manipulator with several axes,

for the handling of work pieces, tools or special devices. Variable

programmed operations make the executions of a multiplicity of

tasks possible (International Standards Organization, ISO)

What a Robot?



©


I.6 10.10.2014

T 800 C3-PO

R2-D2

What a Robot?

http://morethanjustreviews.com/enterbay-t2-t-800-battle-damaged-hd-masterpiece/

http://en.wikipedia.org/wiki/File:C-3PO_droid.png

http://img1.wikia.nocookie.net/__cb20110513152234/terminator/images/d/d5/T1movie02-800.jpg



©


I.7 10.10.2014

What a Robot?

To qualify a machine as a robot, it must be able to:

• Sensing and perception: get information from its surroundings

• Carry out different tasks: Locomotion or manipulation, do

something physical – such as move or manipulate objects

• Re-programmable: can do different things

• Function autonomously and/or interact with human beings



©


I.8 10.10.2014

Types of Robots I

Gripper

Industrial Robots Mobile Robots



©


I.9 10.10.2014

Types of Robots II

Aerial Robots Wheeled mobile

Robots Legged Robots

Humanoid Robots Underwater

Robots

hybrid



©


I.10 10.10.2014

NASA and JPL, Mars exploration

Types of Robots III



©


I.11 10.10.2014

Autonomous Robots

Flying Robot Goal: To develop a

vision-guided robot helicopter which

can autonomously carry out functions

applicable to search and rescue,

surveillance, law enforcement,

inspection, mapping, and aerial

cinematography; in any weather

conditions and using only on-board

intelligence and computing power.

An autonomous robot performs behaviors or tasks with a high

degree of autonomy, which is particularly desirable in fields such

as space exploration, cleaning floors, mowing lawns, and waste

water treatment.

DLR



©


I.12 10.10.2014

Why use Robots?

• Dangerous

• Dirty

• Dull

• Difficult

• Automation

• Augmentation

• Assistance

• Autonomous Fraunhofer

http://thumbs.dreamstime.com/z/gefahr-der-explosion-16217721.jpg



©


I.13 10.10.2014

Increase product quality

– Superior accuracies (wafer-handling: micrometers)

– Repeatable precision Consistency of products

Increase efficiency

– Work continuously without fatigue

– Need no vacation

Increase safety

– Operate in dangerous environment

– Need no environmental comfort – air conditioning, noise

protection, etc.

Weltin

Why use Robots?



©


I.14 10.10.2014

Reduce cost

– Reduce scrap rate

– Lower in-process inventory

– Lower labor cost

Reduce manufacturing lead time

– Rapid response to changes in design

Increase productivity

– Value of output per person per hour increases

Weltin

Why use Robots?



©


I.15 10.10.2014

http://slideplayer.de/slide/869/

History of Robots

and

Automation

http://slideplayer.de/slide/869/



©


I.16 10.10.2014

History of Robots and Automation

The abacus (Phoenicia: abak, Latin: abax) comes to be used in the Far East. The

abacus served as an aid to add figures. Furrows were scratched precisely into a

stone or a wooden board to count beans or pebble stones. Much later (approx.

1,000 B.C.) the Greeks and Romans used balls with holes and beans on

abacuses. The balls were thread on a wire and were mounted in a frame, this

founded the abacus which still is known today. With the introduction of the Arabian

figure system which is using the zero as a figure the calculation became easier

and spread in Europe.

5,000 B.C.

http://mirror-us-ga1.gallery.hd.org/_exhibits/mechanoids/abacus-1-AJHD.jpg



©


I.17 10.10.2014

Water clocks were built in China, Syria and later in Egypt

and Greece.

3,000 – 500 B.C.




©


I.18 10.10.2014

Greek mythology: Talos is one of Hephaistos giants made out of bronze.

Europe got him as a guard of Zeus. If Europe what threatened, Talos proceeded

in the fire, and embraced the attacker who burned in such a way. Talos

surrounded Crete three times daily and chased away everybody who entered

the island. He was killed by Medeia when she threatened the Argonauts on their

way home. Medea opened his lifeline in his foot and Talos bled to death. Titan

Prometheus was a defiant sinner against the God Zeus. He created people from

loam and brought them fire against the will of Zeus. To his punishment he was

tied up to a rock where an eagle ate his always daily renewed liver, until

Herakles killed the eagle.

The Worlds first Robot:

Talos 450 B.C.


http://www.wondersandmarvels.com/2012/03/the-worlds-first-robot-talos.html/talos2-1



©


I.19 10.10.2014

287 B.C.

Archimedes (approx. 287-212 B.C.): Greek. Mathematician and physicist, has

written significant works about level geometry, arithmetic and mechanics.

Archimedes what born in Sicily and lived in Egypt. In the area of mathematics he

did pioneering discoveries. His studies on the surfaces and volumes of curved

surfaces and bodies led to the infinitesimal calculus. In mechanics Archimedes

developed the lever laws. In addition, the invention of the pulley is ascribed to

him. In Egypt he invented the water snail with which one could carry water from

a deeper level to a higher level. The biggest fame Archimedes attained with the

discovery of the basic law of hydrostatics, called the Archimedes principle.

Wiki


//upload.wikimedia.org/wikipedia/commons/e/e7/Domenico-Fetti_Archimedes_1620.jpg



©


I.20 10.10.2014

Heron of Alexandria was a mathematician and engineer. His works are delivered

only partially. Above all his executions to automatic devices driven by water and

air are still known. These drafts later on formed the base for the invention of the

steam machine in the eighteenth century.

60 A.C.




©


I.21 10.10.2014

The first full-mechanical clock was built by

a Chinese engineer: a water driven device

with parts which allowed the clock to give a

ticking noise on itself. The development of the

mechanical clock later on played an important

role as the early mechanical calculating

machines took over the technology of the

gearwheel and feather devices.

725




©


I.22 10.10.2014

The Arabian author Al-Jazari wrote a book about

automation: "Book of the knowledge of mechanical

devices rich in sense". In it a machine is described

which is able to fill and empty a water basin.

Around the year 1300 the Spanish Theologian

Ramon Lullus wrote the "Ars Magna". In this book he

showed a huge number of technologies which have the

purpose to develop a method which should generally

find all the truth. The task was to develop a mechanical

procedure with which logical conclusions could be

drawn. One of these ideas was a machine with

concentric discs. From its symbols and words

sentences were generated by movement.

1300




©


I.23 10.10.2014


Leonardo Da Vinci probably has invented the first mechanical arithmetic

device. A reconstruction of this device has shown that it has a proper function.

Before Da Vinci started to work on " the Last Supper ", he designed a humanoid

robot, a mechanical soldier. The robot could do gymnastics with his arms and

move his head on a flexible neck. The robot could open and close his mouth

and made wild noises by automated drumbeats. The warrior is dressed in an

armament of the late 15 th. century. This robot influenced Leonardos anatomical

studies over and over again.

1494



©


I.24 10.10.2014

The origins of the golem legend reaches back to

the 12th century. Rabbi Löw, the uppermost

judge of Prague, was depressed by Christian

priests slander on the use of blood. In a dream

he got the order: " Create a human from clay, and

you will destroy this bad intention. " Thus he and

his pupils and servants made themselves up to a

river.

There, three of them kneaded a figure from loam which was brought alive by

certain rituals. The golem detained everybody who carried a load on the bake.

If he found a dead child who should be laid before a synagogue, he handed

over the malefactor to the authorities. After it was quiet again in Prague, Rabbi

Löw returned the golem to the elements, by the reverse execution of the

arousal-rituals.


1560



©


I.25 10.10.2014

At the age of only 19 years Blaise Pascal

(1623-1662) invented a 8-figure arithmetic

device called "Pascalin". The Pascalin

could add figures and subtract them. About

fifty of these devices were produced.

Gottfried Wilhelm Leibnitz (1646-1716),

mathematician and philosopher, invented the

"Leibnitz computer" which could multiply by

repeated additions, an algorithm which is

used even today. Leibnitz also worked on the

concept of a "reason-gifted calculating

machine" which should explain and evaluate

ideas.

1642

1694




©


I.26 10.10.2014

Vaucanson builds a mechanical musician which can play eleven

different melodies. He designed a mechanical duck which can drink,

eat, paddle in the water and crap its excrements.

1737




©


I.27 10.10.2014

Pierre and Henri Louis Jacquet-Droz (Switzerland) invented a writing

machine. The lifelike figure of a boy could write texts which existed from

up to 40 letters. Further on he constructed a lady who could play the

piano, and a machine which was able to draw a portrait of King Louis XV.


1773



©


I.28 10.10.2014

Alessandro Graf of Volta (1745-1827) together with

Luigi Aloisi Galvani are the pioneers of the age of the

electricity. In 1775 he invented the Elektrophor. Also

from him is the invention of the straw electrometer with

which he improved the electroscope. Nevertheless, his

biggest and most successful invention was the Volt

Column contrived in 1800. The Volt Column is a

battery which exists of alternately copper and zinc

records stratified about one another. The records were

separated of each other by cloth scraps which were

dipped into acid. The volt column became the most

useful electric resource, because it could supply a

steady current.

1800




©


I.29 10.10.2014

Already in 1728 the French mechanic

Falcon used punched cardboard stripes

for the control of a loom. Success was

given to the invention only with Joseph-

Marie Jacquard who built an automatic

loom 1805 in Lyons. Jacquard used

punched cardboard records which were

joined to a tape. The resulting pattern

were scanned mechanically with needles,

steering the raising of the chaining

threads in the loom.

1805




©


I.30 10.10.2014

The masterpiece of a watchmaker from

Genoa: A tiny pianist plays the piano, two

birds are singing, the doors of a temple

automatically open. The clock exists of

about 3000 single parts.

1830




©


I.31 10.10.2014

Charles Babbage with the "Difference Engine" and the "Analytical Engine“

develops two mechanical calculating machines which he cannot complete

while alive because of shortage of money. The latter counts as the precursor of

modern computers. Babbages analysis "Economy of machinery and

manufactures" of the factory capitalism becomes an important source for Karl

Marx. Babbage puts the life insurance-being on a mathematical basis, deals

theoretically with submarines and their navigation and also derives a theory for

the forming of glaciers.

1834




©


I.32 10.10.2014

Countess Ada Lovelace, born in 1815,

translated Babbages " Analytic Engine "

into the English, and made supplemental

notes and own considerations to the

machine. Ada Lovelace presented a written

work how to calculate Bernoulli figures with

the machine. This plan not only brought her

the fame to the first female programmer but

generally to be the first programmer at all.

Later the computer language “Ada” was

named after her.

1843




©


I.33 10.10.2014

Herman Hollerith patented a machine which could evaluate data on punch

cards. For the 11th census of the USA several enterprisers applied beside

Hollerith. The competitors proposed colored cards which had to be counted and

sorted by hand. With a comparative test Holleriths machines proved to be

superior to those of the other procedures. This led to the fact that his machines

carried out the evaluation of the data. Therefore, the USA at that time had

62,622,250 inhabitants. His enterprise, the "Tabulating Machine Company", in

1924 became IBM.

1890




©


I.34 10.10.2014

Czech author Karel Capek (1890-1938)

wrote the stage play RUR, in which

intelligent machines, used as manpower,

rebelled against their creators and

extinguished the human culture. Capek

called these machines ROBOT (from

robota, statute labor work, and robotnik,

slave). He used this name already in a

short history (Opilec), but only with RUR

(for Rossum's Universally Robot) the

name ROBOT asserted itself in general.

1917




©


I.35 10.10.2014

In 1927 "Metropolis" came to the cinemas,

the silent film classics of Austrian director

Fritz Lang. In "Metropolis" the future state is

a class society. While in the heedless

downtown the workers live like slaves and

are tyrannized ten hours a day by the

machine, the people of the upper town live

in a world full luxury and surfeit. In Pittsburg

a robot system called "Televox" supervised

the water level in the water supply reservoir

of a high-rise building and switched the

pumps on when required. "Televox" could

get going a vacuum cleaner and a

ventilating fan, it was able to switch on and

switch off lamps, as well as open and close

windows and doors.


1927



©


I.36 10.10.2014

In 1935 Konrad Zuse (1910-1995) built the

computer “Z1”. It counts as the first freely

programmable computer of the world. It was

finished in 1938 and was financed completely

from private resources. Z1 already contained all

parts of a modern computer, as for example

control unit, program control, memory, micro

sequences and floating point arithmetic. In

1986 Konrad Zuse took the decision to rebuild

the Z1 once again. In the period from 1987-

1989 he redesigned thousands of parts of the

Z1, because the calculator and the original

plans were destroyed in the Second World War.

This rebuilt Z1 can be visited in the German

Museum of Technology in Berlin-Kreuzberg.

1935




©


I.37 10.10.2014

Isaac Asimov (1920-1992) writes the book

"Runaround" in which he formulates his " 3

laws of robotics":

1.) A robot may never injure a person, or by no

action, allows that a person is harmed.

2.) A robot must obey the orders which are

given him by people, unless they stand in

contradiction with the first law.

3.) A robot must protect his own existence, as

long as its self protection does not offend

against the first or second law.

Later among other things he wrote "The

Bicentennial Man", a story in which a robot

gives up its immortality to become a real living

person.

1942




©


I.38 10.10.2014

The British government furnishes a research center in Bletchley park to crack the

secret codes of the Germans. With the tube computer "The Bomb" they really

achieved success in decoding, and thus more money was granted. Tom Flowers

built "Colossus" within 10 months. In December 1943 it was ready for use with its

1500 tubes. Today these computers are considered as the first electronic digitally

computers. Later, Winston Churchill ordered to destroy "Colossus" together with

all relevant documents, because nobody should get knowledge of the decoding

success of the allies.

1944




©


I.39 10.10.2014

George C. Devol receives the patent for a

multipurpose reproduction apparatus for the

control of machines.

The transistor in 1946 was developed from

William Shockley, Walter Brattain, and John

Bardeen. In 1956 they receive the Nobel Prize for

this work. Transistors revolutionized computer

engineering because of their reliability compared

with tubes. Transistors are the basis for the

unprecedented miniaturization race which later

leads to integrated circuits.


1946



©


I.40 10.10.2014

William Grey Walter (1910-1977) designed

devices for the cerebral topography and

studied the forming of complex behavior

released by reflex actions. He built the robot

tortoises "Elsie" and "Elmer", and though

founded the era of mobile robots. "Elsie",

e.g., was able to localize a source of light

and go in its direction. It was steered

electronically and pursued with batteries.

"Elsie" could recharge them independently

in certain loading stations. Walter used the

term "Machina Specularis“ which means

“Observing Machine ".

1947




©


I.41 10.10.2014

Raymond Goertz designed the “Tele-

Operator-Arm" for the atom energy

authority, allowing actions from a distance.

With it one could act safely within

radioactive material. Since 1985 the Ray

Goertz-Reward is advertised to honor

persons performing outstanding

achievements in the area of telerobotics.

1951




©


I.42 10.10.2014

The development of automation machines

began with the beginning of the fifties. At that

time George Devol and Joe Engelberger

developed the robot “Unimate” whose plans

were patented in December 1954. Unimate was

the first industrial robot in use. It weighted two

metric tons and was steered through a program

which was stored on a magnetic device. At first

it was used in the production of television tubes,

later it served with sequencing and stocking of

die casted metal parts. In 1961 the first Unimate

was installed at General Motors. Henceforth the

automobile industry was leading in the

development of robots.

1954




©


I.43 10.10.2014

Beginning of the unmanned space flight.

Russia and America sent probes into outer

space. The first Russian attempts, Lunik A,

B, C were destroyed by rocket explosions.

Lunik 1 (Jan., in 1959) after bypassing the

moon unintentional swung into a solar orbit,

however, confirmed the existence of the

solar wind. Lunik 2 (Sept., in 1959) was the

first to hit the lunar surface deliberately.

Lunik 3 (Okt., in 1959) made photos of the

backside of moon. The U.S. started the

"Pioneer" missions. The test of technology

stood in the foreground, science only came

afterwards. Pioneer 0,1,2 and 3 exploded or

burned in the terrestrial atmosphere.

1958




©


I.44 10.10.2014

Nobel Laureate for physics (2000), Jack

St. Clair Kilby from Texas Instruments

builds the first I.C. (Integrated Circuit)

consisting of 5 components, on a piece of

germanium which was not longer than one

centimeter and thinner than a toothpick.

The enterprise "Planet Corporation " sells

the first commercially available robot.

Xerox puts the first photocopier on the

market.


1959



©


I.45 10.10.2014

Joe Engelberger introduced the

first robot, and founds the first

robot enterprise: "Unimate". At

General Motors Unimate robots

are installed in a production line.

1960




©


I.46 10.10.2014

At Johns Hopkins University in Baltimore brain

researchers developed "Hopkins Beast". The

“Hopkins Beast” implements different behavior

patterns found with protozoon: patrolling his

surroundings until the batteries become weak, the

search for "food" in the form of loading stations, the

docking to the stations in analogy to the absorption

of nutrients and the "shake" for releasing the

plugging to continue the patrol. The photoelectric

cells of the "Beasts" were substituted later with

video cameras with which the loading stations were

better to be localized. A “Beast” could operate in this

manner theoretically unlimited. In 1960 about 6000

computers are in use in the USA. Enterprise

"American Machine and Foundry” markets the

cylindrical robot "Versatran", from H. Johnson and

V. Milenkovic.

1962




©


I.47 10.10.2014

Researchers in the Los Amigos

hospital in Downey, California,

develop the first computer steered

robot arm. The "Rancho Arm" was

used as a tool for handicapped

persons. Six joints gave it the

flexibility of a humanly arm.

1963




©


I.48 10.10.2014

1967

Marvin Minsky and Seymour Papert led the “Blocks Microworld Project", in

the labs of the MIT. This project improved the "seeing" of computers and

robots, their mobility and the speech recognition processing; the robots could

manipulate a world from geometrical blocks and distinguish different colors,

forms and imensions. At that time the team around Seymour Papert developed

the oriented computer language LOGO, with which even children could work.




©


I.49 10.10.2014

1970 Stanford: The robot called

Shakey could navigate

through eight rooms in

which geometrical blocks

were put up. He could

"understand" instructions

using simplified English.

Douglas Lenat and others

worked out concepts to

automatically derive

variables, necessary for the

solution of problems. For

the first time fuzzy logic is

demonstrated practically.




©


I.50 10.10.2014

1971

The Wabot-1, developed at the

Wasada University between 1970-

1973, counts as the first "humanoid

robot" of the world. The Wabot owns

functioning legs and hands with

sensors and AI-systems which allows

him to act like a child aged one and a

half years. Its "walking" was kind of

static shifting the center of gravitation

from one foot to the other.




©


I.51 10.10.2014

1974 - 1976

Professor Scheinman, the inventor of the "Stanford Arm", founds the enterprise "Vicarm

Inc." to market a version of the arm commercially. The arm is steered through a

microcomputer. In 1976 a version of the arm is used near the space enterprise "Viking“.

A direct descendant of the Stanford arm is PUMA (Programmable Universally Manipulator

for Assembly). Scheinman reworked the robot during his time in MIT, such that its

construction comes close to that of a human arm. The first commercially available version

of the robot arm was licensed and reworked by Unimation, and was delivered in 1978 to

GM. The arm is intended mainly for the application in the automobile industry. The

PUMA's arm is up to now the most successful robot arm.




©


I.52 10.10.2014

1979

The Austrian Hans Moravec designs the Stanford Cart, the first computer

steered robot vehicle able to navigate through areas with obstacles. Dr. Hans J.

Berliner writes a backgammon program which hits the ruling backgammon world

champion. Marvin, the paranoid android from Douglas Adams book “The

Hitchhiker’s Guide to the Galaxy” says: "You think, you have problems. What

would you do if you were a manic depressive robot? No, you do take care. - I

am 50000 times more intelligent than you and even I have no solution.




©


I.53 10.10.2014

1983

Odex1 (built by Odetics Inc.) is the first

commercially available robot which can

move in every kind of area. Odex1 can

work in surroundings which show a risk for

people, and where vehicles with wheels fail.

(Radioactive zones, fight areas, mine

tunnels). Its legs can be used for moving

and operate as arms to lift objects. Japan

Ministry of Finance and the Ministry of

International Trade and Industry decide to

make available 40 million yens for the

development of robots which can be used

in dangerous surroundings.




©


I.54 10.10.2014

1984 Stanford Research Institutes: The robot "Flakey" is

driven by two wheels and has twelve ultrasonic sensors

to recognize obstacles, a video camera and a laser-

based range finder. It can recognize halls and alleys

and plan its way.

Doug Lenat launches the 'Cyc' project to collect rules for

a knowledge-based data bank which should enable

robots to understand our world. The Waseda

university presents Wabot-2 which can play the piano.

The first neuro-surgical intervention under assistance

of a robot is carried out in the Long Beach Memorial

Hospital. For this purpose a stereo tactile robot is used.




©


I.55 10.10.2014

1988

The first anthropomorphic manipulator with the name "Greenman" is

developed in the Space and Naval Warfare Systems Centre San Diego (SSC

San Diego ) to imitate human manipulation by means of telerobotics. It has a

video camera eye on an aviator helmet. Successor versions of this telerobotics

system are also used under water.




©


I.56 10.10.2014

1990

In 1990 there are more than 40 Japanese companies, among others the giants

Hitachi and Mitsubishi who specialize in the production of commercial robots. In

the 90th the number of the industrial robots used world wide rise rapidly.

Especially in Japan production also is automated by robots. Different

standards and architectures for robots have asserted themselves, e.g. parallel

or serial architectures which differ in the working-range and in the positioning

and repeatability performance .




©


I.57 10.10.2014

1993

Seiko Epson Corp. begins in 1993 a micro robotics project. The first product of

this series was called "Monsieur" and could follow sources of light. Today's

succession models (2007) can be steered by "Bluetooth" without cable using a

normal Handy. Several "Monsieur" can operate simultaneous and independently

from each other. Special zinc batteries keep "Monsieur" active during five hours

of movement. In the MIT, a robotics project called "Cog" exists since 1993. Cog’s

task is to collect theories on human perception. Cog is a humanoid robot

consisting of torso, arms and head, with 21 degrees of freedom and a huge

number of sensor systems: cameras, gyroscopes, microphones, grope- and

kinesthetic sensors. Cog can follow the movement of faces.




©


I.59 10.10.2014

1998


Cynthia Breazeal from MIT designs "Kismet“. The robot can express itself with its

facial expressions and gestures likely to a baby and interoperates with people.

4 CCD cameras for image processing, speech synthesis and speech

recognition, 15 DOF for facial expressions and the representation of emotions, a

complex software for context dependent change of the system parameters are

the components of Kismet. The processing is worked out by 10 Pentiums

Processors linked together, thus splitting up the workload to keep the latency ow.



©


I.60 10.10.2014

1999


With the “Da Vinci Surgery System", California

company “Intuitive Surgical ", doctors can operate

patients minimuminvasive. Augmented reality

connects pre-surgically upraised data from picture-

giving procedures with the live picture of the key-

hole camera.



©


I.61 10.10.2014

2000


Honda presents robot ASIMO. It is

as tall as 1.20 meters, weights 43

kilograms, and is controlled by

remote control. It can run and rise

stairs. A linguistic program allows

ASIMO the understanding of approx.

50 commands, shouts or greetings.

University of Berkeley develops since 2000 an artificial

exoskeleton for people. The "Berkeley Lower Extremity

Exoskeleton" (BLEEX) should help firefighters, disaster

assistants and soldiers to transport heavy loads into areas

inaccessible for vehicles. Today a 70 kilogram load, felt like 2

kilograms for the bearer can be transported with BLEEX.



©


I.62 10.10.2014

2003


Robotics labs at Stanford University,

escorted by Mark Cutowsky, study and

imitate insects. They design six footed

robots, equipped with the complicated

movement-mechanics of cockroaches.

Tiny, multiple footed robots can be used in

surroundings which are too dangerous or

too small for people.

Prof. Paolo Dario (Italy) and Mark Oliver Schurr (Germany), introduce at a

conference of surgeons robot EMIL. EMIL (Endoscopic Microcapsule

Locomotion) is a 3 cm robot which is swallowed by the patient. It moves like a

centipede in the alimentary tract. It has a micro-camera and a scalpel, works by

remote control and needs no battery. EMIL is excreted naturally and could help

the prevention of cancer of the intestine.



©


I.63 10.10.2014

2004


Both Mars-Exploration-Rovers "Spirit, MER-A” and

“Opportunity, MER-B", carry out successfully

geologic investigations on Mars.

Sony entertainment robot QRIO directs the

philharmonic orchestra of Tokyo on the 13th March.

(Beethoven's symphony No.5, and melodies of

Takashi Yoshimatsu). QRIO not only can go on two

legs, but can walk on uneven area. It can dance,

recognize faces and continue a conversation.



©


I.64 10.10.2014


The Japanese Pavillion at the EXPO 2005 completely stands

in the sign of robotics: Service androids are introduced in the

area speaking five languages with gestures and expressions

in their communication. Robots in the security area are used

for the children's survey and robots serve as cleansing

forces. Automatic buses and wheel chairs move through the

area.

2005



©


I.67 10.10.2014

Applications

Production Transportation- and

Flight Systems

Röntgenquelle

Röntgengerätschematisch

Strahlenkegel

Bildplatte

Zentralstrahl

Robotic and Medicine

Industrial Robots

Kuka Ahlers

Tool Machine SHW



©


I.68 10.10.2014

Video I

https://www.youtube.com/watch?v=fH4VwTgfyrQ&feature=player

_detailpage

https://www.youtube.com/watch?v=fH4VwTgfyrQ&feature=player_detailpage

https://www.youtube.com/watch?v=fH4VwTgfyrQ&feature=player_detailpage



©


I.69 10.10.2014

https://www.youtube.com/watch?feature=player_detailpage

&v=hLB2WuPMel0

Video II

https://www.youtube.com/watch?feature=player_detailpage&v=hLB2WuPMel0

https://www.youtube.com/watch?feature=player_detailpage&v=hLB2WuPMel0



©


I.74 10.10.2014

Architecture of Robotic Systems I

Mechanical structure

– Kinematic model

– Dynamic model

• Actuators: electrical, hydraulic, pneumatic, artificial muscle

• Computation and controllers

• Sensors

• Communications

• User interface

• Power conversion unit



©


I.75 10.10.2014

Rough Inter-polation

Inter-polation

Controller

Machinecoordinates

time sequence

{ }tk

xG( )tk

xF( )tm

pRI pEI

pRI

Sensor (x)

pTCP

A( )t vTCP

A aTCP

A < 10ms

{ }tm< 1ms

Inverse kin.Transform

Robot Parameter

pRI

Power-Amplifier

Sensor(x,x,x)

Compensationresidual

moments

x( )tm

x( )tm

x( )tm

Frictioncompensation

x( )tm

+ -

Interpreter

Elasticitymodel +

-

DestinationPose

pTCP

AS( )t

Externalsensors

Pathplanning

Task

Architecture of Robotic Systems II



©


I.76 10.10.2014

Annahmen zurVereinfachung

VereinfachungAufstellen derGleichungen

TheoretischesModell

- Struktur- Parameter

Vereinfachtes theoretisches

Modell

A-priori-Kenntnisüber das System

Struktur unbe-bekannt kannt

Experiment

Identifikation

parame-tr isch

nicht parame-trisch

parame-trisch

nicht parame-trisch

Experim. ModellVergleich

TheoretischeAnalyse

ExperimentelleAnalyse

Qualität

neinja

Ende

Methodology Systems Analysis

Theoretical

Analysis

Experimental

Analysis

Assumption

Simplification

Set up the

Equations

Theoretical

Model Structure/Param.

Simplification

Experiment

A priori Knowledge

Structure known / unknown

Identification

Experiment

Model

compare

Q

Simplified Theoretical

Model

no yes Q := Quality



©


I.77 10.10.2014

Components of Robot Drives

Geschwindigkeits-

sensor

Velocity

Sensor

Faulhaber

Elektromotor Electric Drive O&Q

Getriebe Gearing

LTN

Positions-

sensor Position

Sensor

Stromsensor Current Sensor

Kuka



©


I.78 10.10.2014

Robotics is an interdisciplinary research

– Mechanical design

– Computer science and engineering

– Electrical engineering

– Cognitive psychology, perception and neuroscience

Research open problems

– Manipulation, locomotion

– Control, navigation

– Human-robot interaction

– Learning & adaptation (AI)

Summary



©


I.79 10.10.2014

Lecture Topics

1. Introduction

2. Basic kinematics

3. Pose measurement and Measurement of Robot Accuracy

4. Trajectory planning and control

5. Forces, moments and Euler’s laws

5. Fundamentals in electronics and computation

(System and Signal Processing)

6. Sensors and instrumentation

7. Actuators and power transmission devices

robotic and sensors robotic ii - tuhh · as space exploration, cleaning floors, mowing lawns, and...

Documents