Ground Robot with an Arm to Perform Simple Grasp and Place Tasks Juan Ortiz, ASU, Computer Systems Engineering

Transcription

1 Ground Robot with an Arm to Perform Simple Grasp and Place Tasks Juan Ortiz, ASU, Computer Systems Engineering GOAL: The goal of the proposed research on simple grasp and place tasks using a ground robot with an arm is to develop a better understanding on robotics and its applications in a real-life environment. MOTIVATION: Thanks to the advancements of new powerful and inexpensive technologies, more and more attention is being given to the research of robotics. This is evident in the research of enhanced ground-based robotic vehicles. These vehicles offer great benefits and show a lot promise since they can be configured for many applications. These include: law enforcement, search and rescue, mapping, surveillance, etc. The proposed research will focus on a device that will perform simple grasp and place tasks. The device could be used for: Assistance for the elderly and disabled [5] - [6]. Delivery tasks [1], [16]. Item organization. These are simple applications that the device could be used for. With the addition of more sensors and algorithms the device has the potential to be used for several other applications. OBJECTIVE: Given the above, the main objective of this project is to build a ground-based robotic vehicle that will be capable of moving around a room to certain locations. A mechanical arm will be built and placed on top of the car. The finished project will be able to (1) grasp a given object/material from a container and (2) moving the object to a second container. DESIGN: The car to be build will be based on previous work of Dr. Rodriguez students [10]- [13]. The car will include: a styrene-based chassis, an Arduino microcontroller for control of the car movement, a BN055 absolute orientation sensor, one Arduino motor shield, two motors, front and rear wheels, a Lithium Polymer 12V battery. The arm will be one resembling a human

2 arm and it will include servomotors to simulate shoulder, elbow and wrist joints. A Raspberry Pi will be used to control the arm. CRITICAL QUESTIONS: There are several questions that are currently posed that are to be answered with the planned work: 1. Real-Time Tracking: How can the car transmit its location to a computer? The device will need to travel to a certain location to first pick up the object and then travel to a second location to place the object. The data from the IMU could be obtained via Bluetooth using a Bluetooth module for the Arduino but the question would be how to use that data to direct the car to the desired location. 2. Design and weight of the arm: What is an appropriate design and weight for the mechanical arm so that it does not interfere with the car s functions? For the device to be efficient the car and arm must be able to work independently, one must not interfere in the other s task e.g., A problem could arise if the weight or design of the arm cause the car to go off-course. 3. How will the arm grab objects: What is the best way for the arm to grab objects? What kind of clamp/claw should be used so the arm can grab objects more efficiently? FINAL DEMO AND FUTURE WORK: A final demo will be conducted in an large space in which the robot will be tasked to pick up one or more objects from bins and deliver them to bins placed at specific locations. The proposed work and demonstration will lay a foundation for future improvements such as more complex tasks for the arm, object recognition using image processing, voice control and GPS capabilities for longer travel distances. CARREER RELEVANCE: The proposed project will serve as one of my steps in achieving a B.S.E. and provide me with an opportunity to develop technical skills.

3 References [1] B. Arbanas et al., "Aerial-ground robotic system for autonomous delivery tasks," 2016 IEEE International Conference on Robotics and Automation (ICRA), Stockholm, 2016, pp [2] H. Yin, S. Huang, M. He and J. Li, "An overall structure optimization for a light-weight robotic arm," 2016 IEEE 11th Conference on Industrial Electronics and Applications (ICIEA), Hefei, 2016, pp [3] R. Cabas and C. Balaguer, "Design and development of a light weight embodied robotic hand activated with only one actuator," 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005, pp [4] H. Qi, Hailei Wang, Jianxiang Li, Xinbin Zuo and Mengchao Fu, "Design and simulation of mechanical arm with high voltage operation insulation," th International Conference on Applied Robotics for the Power Industry (CARPI), Jinan, 2016, pp [5] L. Yang, X. Song, Y. Li, H. Shan and J. Guo, "Design and Experimental Research on Intelligent Household Assistive Robot for the Elderly," 2015 Fifth International Conference on Instrumentation and Measurement, Computer, Communication and Control (IMCCC), Qinhuangdao, 2015, pp [6] W. Sai Kit and C. Venkatratnam, "Pick and place mobile robot for the disabled through voice commands," nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA), Ipoh, 2016, pp [7] H. I. Lin, C. H. Cheng and W. K. Chen, "Learning a pick-and-place robot task from human demonstration," 2013 CACS International Automatic Control Conference (CACS), Nantou, 2013, pp [8] P. S. Reddy, C. P. Kumari, C. S. Supraja and K. P. Rao, "Automated secern robot," 2017 International Conference on Trends in Electronics and Informatics (ICEI), Tirunelveli, India, 2017, pp [9] A. C. Araújo, A. M. N. Lima, J. M. Mattila and R. Muthusamy, "Model-based robotic hand tracking and gripper state determination," 2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR), Curitiba, 2017, pp [10] A. A. Rodriguez, K. Puttannaiah, Z et al. Modeling, Design and Control of Low-Cost Differential-Drive Robotic Ground Vehicles: Part I - Multiple Vehicle Study, 2017, IEEE, Conference on Control Technology and Applications. [11] A. A. Rodriguez, K. Puttannaiah, Z et al. Modeling, Design and Control of Low-Cost Differential-Drive Robotic Ground Vehicles: Part II - Multiple Vehicle Study, 2017, IEEE, Conference on Control Technology and Applications. [12] Z. Li, A. A. Rodriguez, A. Panagiotis, S. Berman, Modeling and Control of a Longitudinal Platoon of Ground Robotic Vehicles," 2013, Master Thesis, ECEE, ASU. [13] Z. Lin, A. A. Rodriguez, J. Si, S. Berman, Modeling, Design and Control of Multiple Low Cost Robotic Vehicle, 2015, Master Thesis, ECEE, ASU. [14] F. C. Vieira, A. A. D. Medeiros, P. J. Alsina, A.P. Araujo, Position and Orientation Control of a Two-Wheeled Differentially Driven Nonholonomic Mobile Robot, ICINCO Proceedings, 7 pages, [15] D. Büchler, H. Ott and J. Peters, "A lightweight robotic arm with pneumatic muscles for robot learning," 2016 IEEE International Conference on Robotics and Automation (ICRA), Stockholm, 2016, pp [16] Asahiro, Y, Miyano, E, & Shimoirisa, S 2008, 'Grasp and Delivery for Moving Objects on Broken Lines', Theory Of Computing Systems, 42, 3, pp , Academic Search Premier, EBSCOhost, viewed 8 March 2018.

4 PROJECT TIMELINE FOR Ground Robot with an Arm to Perform Simple Grasp and Place Tasks The following timeline will be followed to guide the proposed FALL 2018 FURI project on the design of a ground robot with an arm: Week 1-2 Comprehensive literature research; i.e. journals, conference papers, books, theses, previous projects, etc. Week 3-5 Research and examination of pre-existing technologies as well as previous similar project to gain insight on current technical barriers and possible improvements. Week 5-10 Assemble the car and arm and generate necessary software. Week Test robot and software. Week Prepare poster for presentation at FURI symposium. Week Document results in a comprehensive report.

5 BUDGET FOR Ground Robot with an Arm to Perform Simple Grasp and Place Tasks Budget Request Item Expense Justification Arduino microcontroller $24.00 Used for control of car movement Raspberry Pi $35.00 Used for control of arm IMU $33.00 Used for tracking position of robot Battery $20.00 Used to power the robot Front and rear wheels $21.00 Used for robot movement 3 x servomotors $36.00 Used for arm movement Motors $30.00 Used for car movement Motor shield $25.00 Used to control motors Tools and materials $ Used to build chassis and other car components Total: $

6 Juan L. Ortiz Rivas 3725 W. Moreland St, AZ EDUCATION Arizona State University, Ira Fulton School of Engineering, Tempe, AZ May 2019 Bachelor of Science in Computer Systems Engineering Cumulative GPA: 3.9/4.00 Relevant Coursework: Applied Linear Algebra, Differential Equations, Object Oriented Programming & Data, Programming for Computer Engineering, Data Structures and Algorithms, Design and Synthesis of Digital Hardware Courses completed by May 2018: Embedded Microprocessor Systems, Operating Systems PROFESSIONAL EXPERIENCE Tutoring, Tempe, AZ January 2016 May 2017 Private tutor: Worked one-on-one with a university student for course subjects MAT 275 and CSE 205 Adapted to the learning style of each tutee to maximize efficiency of student s learning and understanding Identified and selected key concepts that were difficult for the student to understand Provided assistance with homework, lab assignments and preparing for exams Dollar & More, Phoenix, AZ 2016 April 2017 Manager: Responsible for balanced cash draw at closing of shift Provided English and Spanish customer service Managed wire transactions to Central and South America Responsible for back up inventory ordering and shelf stocking May LEADERSHIP & AFFILIATIONS St. Mary s Food Bank, Volunteer, Phoenix, AZ 2013 Present Handled inventory, organized and prepared food items and stocked donations June Micro Air Vehicles Club Outreach, Tempe, AZ January 2016 September 2016 Helped Junior High and High School students develop math and engineering skills OTHER INVOLVEMENT Doran Community Scholars Program Society of Hispanic Professional Engineers ASAP-METS Scholars SKILLS & INTERESTS

7 Language: English, Spanish (oral and written) Computer: Proficient in C, C++, Java, Microsoft Office Suite and Google Docs, Matlab; Familiar with Assembly Language (MIPS32), Verilog and System Verilog. Skills: Strong organization skills and attention to detail Self-motivated and works well in teams Dependable and confident in making independent decisions Able to efficiently multitask and work under pressure

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10 Personal Statement Since I was a child I was always fascinated by computers. One reason for this was that I thought of a computer as a big book, since I liked to read a lot. The inconvenience of a book is that it can only have one topic, only one story. However, with computers you could change the stories they contained and interact to a higher level with them. Another reason why I liked computers was because I was intrigued about them, to me it was surprising how just a box connected to a T.V, that is how I saw a computer as a child, could not only let you read stories, as well as write your own, watch videos, play games and much more. This made me decide that I wanted to learn as much as possible about them. Growing up in Mexico City, I learned that even if I studied the opportunities in there were scarce. When I moved to the U.S, the fact that students can easily attend school came as a surprise for me. In Mexico, you are tested for everything, even to go into elementary school. In fact, a month before I moved here I had taken my entrance exam to a High School that was part of the National Autonomous University of Mexico, being in it gave me a better chance of being able to attend university. Since I did not know any English upon arriving to the U.S I remember being worried about having to take an entrance exam to go to into school, and when I was told I could just go to school without really having to work for it I was surprised. I realized that obtaining an education here in the U.S was a right, not a privilege as it was in Mexico. Knowing this made me appreciate the opportunities that I had been given even more. I am currently a Junior pursuing a Bachelor s of Science in Computer Systems Engineering at Arizona State University. I am the middle child in my household and the only one attending a university, my sister is attending community college. I am also a first-generation student. While I am currently working on obtaining a bachelor s degree I am thinking on, once I graduate, enrolling in graduate school to pursue a Master s degree in either Computer Systems Engineering or Electrical Engineering. I have always been interested in programming and robotics and even though I haven t worked much in the robotics field I would like to learn more about it. Although I haven t had a mentor in my time at ASU I would very much like the idea of becoming a mentor myself. Outreach with the SHPE (Society of Hispanic Professional Engineers) and the MAV Club (Micro-Air-Vehicle Club) have given me the opportunity to encourage younger students to pursue careers in STEM relate fields. This FURI, Ground Robot with an Arm to Perform Simple Grasp and Place Tasks, will help me develop much needed technical skills. It will also give me a hands-on experience to use my coding skills in a real-life problem. Currently I am working on a robotics project for one of my classes, but I would like to continue working in something similar. I see this FURI as the first step of a more challenging and exciting project that will help me further my career. Arizona State University will be a stepping stone into my career as a computer systems engineer. Being able to learn more about what I am passionate for is really exciting and is something that gives me courage to continue.