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Robotics: A General Overview
Robotics: A General Overview
Bhaskar [email protected]
http://home.iitk.ac.in/˜ dasgupta
Indian Institute of Technology
Kanpur, India
July 28, 2008
Bhaskar Dasgupta, IIT Kanpur, India.
Robotics: A General Overview
Topics to Discuss
Background
Recent Trends
The Dream
Bhaskar Dasgupta, IIT Kanpur, India.
Robotics: A General Overview
Background
Conception of a Robot
I Karel Capek: Rossum’sUniversal Robots (1921)
I Isaac Asimov: ThreeLaws of Robotics (1942)
I Science Fiction andCinema
I A NaturalTerminology
I Performancebenchmarks
I The Myth of“Frankenstein”
Definition: Reprogrammable
multifunctional manipulator Bhaskar Dasgupta, IIT Kanpur, India.
Robotics: A General Overview
Background
Conception of a Robot
I Karel Capek: Rossum’sUniversal Robots (1921)
I Isaac Asimov: ThreeLaws of Robotics (1942)
I Science Fiction andCinema
I A NaturalTerminology
I Performancebenchmarks
I The Myth of“Frankenstein”
Definition: Reprogrammable
multifunctional manipulator Bhaskar Dasgupta, IIT Kanpur, India.
Robotics: A General Overview
Background
Historical Perspective
1905: Factory automation
1945: Telemanipulation
1948: Servocontrolled telemanipulator
1952: NC Machines
1954: Programmable Robot design
1961: First robot installed
1970’s : Robotics as a discipline
Bhaskar Dasgupta, IIT Kanpur, India.
Robotics: A General Overview
Background
Historical Perspective
1905: Factory automation
1945: Telemanipulation
1948: Servocontrolled telemanipulator
1952: NC Machines
1954: Programmable Robot design
1961: First robot installed
1970’s : Robotics as a discipline
Trend of jargon:
Cybernetics −→ Robotics −→ Mechatronics
Bhaskar Dasgupta, IIT Kanpur, India.
Robotics: A General Overview
Background
Robotic Systems
I Components of a Robot: Manipulator (arm), controller(brain), sensors (eyes, ears, skin), actuators (muscles)
I Siblings and cousins of Robots: Hard automation,Telemanipulators, NC machaines, AGVs, Walking machines,multifunction toys etc
Robots are characterized by
generality and autonomy.
Bhaskar Dasgupta, IIT Kanpur, India.
Robotics: A General Overview
Background
Robotic Systems
I Components of a Robot: Manipulator (arm), controller(brain), sensors (eyes, ears, skin), actuators (muscles)
I Siblings and cousins of Robots: Hard automation,Telemanipulators, NC machaines, AGVs, Walking machines,multifunction toys etc
Robots are characterized by
generality and autonomy.
Robotic Applications
Industrial: welding, spray-painting, material handling, assembly,inspection, mining etc
Strategic: nuclear, space, underwater, demining, reconnaissanceand surveillance etc
Services: surgery, prostheses, entertainment etc
Bhaskar Dasgupta, IIT Kanpur, India.
Robotics: A General Overview
Recent Trends
Redundant RobotsMore degrees of freedom than required
I For example, a 6-dof planar robot
Allows
I Enhanced dexterity
I Obstacles avoidance
I Singularity avoidance
I Task optimization
Bhaskar Dasgupta, IIT Kanpur, India.
Robotics: A General Overview
Recent Trends
Redundant RobotsMore degrees of freedom than required
I For example, a 6-dof planar robot
Allows
I Enhanced dexterity
I Obstacles avoidance
I Singularity avoidance
I Task optimization
Can the robot reach point A with three links?
Bhaskar Dasgupta, IIT Kanpur, India.
Robotics: A General Overview
Recent Trends
Redundant RobotsMore degrees of freedom than required
I For example, a 6-dof planar robot
Allows
I Enhanced dexterity
I Obstacles avoidance
I Singularity avoidance
I Task optimization
Can the robot reach point A with three links?
With 10 links?Bhaskar Dasgupta, IIT Kanpur, India.
Robotics: A General Overview
Recent Trends
Rigid-link robot manipulators
I Rigid in what sense?I Why rigid?
I Ease of modellingI Positioning precision
Task ↔ Joint Motion ↔ Actuation
I The price?I Bulky structureI High-power actuators
Bhaskar Dasgupta, IIT Kanpur, India.
Robotics: A General Overview
Recent Trends
Flexible robots
I Flexible and light
I Smaller actuators
I Less energy consumption
I Manouverability
Challenges of flexible robots
I Modelling: incorporating flexibility in dynamic formulationTask ⇐==⇒ Actuation
I Analysis
I Vibration control
I Implementation
Bhaskar Dasgupta, IIT Kanpur, India.
Robotics: A General Overview
Recent Trends
Drawbacks of Serial-chain Structure
I Low load-carrying capacity
I Low stiffness: Vibration at high speeds
I Positioning precision low
Bhaskar Dasgupta, IIT Kanpur, India.
Robotics: A General Overview
Recent Trends
Drawbacks of Serial-chain Structure
I Low load-carrying capacity
I Low stiffness: Vibration at high speeds
I Positioning precision low
Look up the real world for the way out.
Bhaskar Dasgupta, IIT Kanpur, India.
Robotics: A General Overview
Recent Trends
Bhaskar Dasgupta, IIT Kanpur, India.
Robotics: A General Overview
Recent Trends
Parallel Manipulators
Motivations
I High load-carrying capacity
I Good dynamic performance
I Precise positioning
Challenges
I Restricted workspace
I Singularities
I Complicated kinematics and dynamics
Bhaskar Dasgupta, IIT Kanpur, India.
Robotics: A General Overview
Recent Trends
Modular robots
I Self-assembly of constituent parts
I Greater versatility
I Convenient transport
Micromanipulators
I Miniaturized robots in microscopic spaces
Biomechanics and Bio-medical Engineering
I Artificial body parts
I Rehabilitation
Bhaskar Dasgupta, IIT Kanpur, India.
Robotics: A General Overview
Recent Trends
Walking Machines
Advantages over tracked/wheeled vehicles
I Greater mobility
I Fuel efficiency
I Terrain independence
Typical instances: vehicles with 2-6 legs
Bhaskar Dasgupta, IIT Kanpur, India.
Robotics: A General Overview
Recent Trends
Three legs are needed for static stability.
Bhaskar Dasgupta, IIT Kanpur, India.
Robotics: A General Overview
Recent Trends
Three legs are needed for static stability.
Humanoid Robots: Biped locomotion is a control challenge.
Bhaskar Dasgupta, IIT Kanpur, India.
Robotics: A General Overview
Recent Trends
Dynamic model-based control
Figure: Traditional servo-control
Figure: Model-based or computed torque control
F.F.G. : feedforward gain, F.B.C. : feedback compensation
Bhaskar Dasgupta, IIT Kanpur, India.
Robotics: A General Overview
Recent Trends
Dynamic model-based control
Figure: Traditional servo-control
Figure: Model-based or computed torque control
F.F.G. : feedforward gain, F.B.C. : feedback compensationAdaptive control
I Learning the dynamic modelBhaskar Dasgupta, IIT Kanpur, India.
Robotics: A General Overview
Recent Trends
TeleroboticsI Distant applicationsI Hazardous applications
Bhaskar Dasgupta, IIT Kanpur, India.
Robotics: A General Overview
Recent Trends
TeleroboticsI Distant applicationsI Hazardous applications
Force ControlI Where maintaining prescribed forces are importantI While handling delicate objects
Bhaskar Dasgupta, IIT Kanpur, India.
Robotics: A General Overview
Recent Trends
TeleroboticsI Distant applicationsI Hazardous applications
Force ControlI Where maintaining prescribed forces are importantI While handling delicate objects
ComplianceI Where positioning accuracy is not reliable
Bhaskar Dasgupta, IIT Kanpur, India.
Robotics: A General Overview
Recent Trends
IntelligenceQuestion: What is intelligence?
Bhaskar Dasgupta, IIT Kanpur, India.
Robotics: A General Overview
Recent Trends
IntelligenceQuestion: What is intelligence?
Do you expect a robot to comprehend and operate as a child can?Bhaskar Dasgupta, IIT Kanpur, India.
Robotics: A General Overview
Recent Trends
The apparent intelligence in robots
I Obstacle avoidance and path planning
I Application of expert systems
I Application of neural networks
Bhaskar Dasgupta, IIT Kanpur, India.
Robotics: A General Overview
Recent Trends
The apparent intelligence in robots
I Obstacle avoidance and path planning
I Application of expert systems
I Application of neural networks
Aid to intelligence: sight, sound, touch
Bhaskar Dasgupta, IIT Kanpur, India.
Robotics: A General Overview
Recent Trends
The apparent intelligence in robots
I Obstacle avoidance and path planning
I Application of expert systems
I Application of neural networks
Aid to intelligence: sight, sound, touch
Three-fold task of robotic (artificial) intelligence
I Model construction of external world
I Integration of sensory data
I Consequent reasoning and decision-making
Vision
I Extraction, characterization and interpretation of informationfrom 2-d images of a 3-d world
Bhaskar Dasgupta, IIT Kanpur, India.
Robotics: A General Overview
The Dream
The perfect robot
I equipped with high-performance sensors and vision,
I capable of working in unstructured environments,
I able to handle rapid and unexpected changes in scenario,
I withI fault-tolerance and decision-making capability,I adaptability to environment,I stopped only by the threshold of physical impossibility of the
commanded task — with diagnostics.
Bhaskar Dasgupta, IIT Kanpur, India.
Robotics: A General Overview
Thank you.
Queries?
Bhaskar Dasgupta, IIT Kanpur, India.