ROBOTICS 01PEEQW. Basilio Bona DAUIN Politecnico di Torino

Transcription

1 ROBOTICS 01PEEQW Basilio Bona DAUIN Politecnico di Torino

2 What is Robotics? Robotics studies robots For history and definitions see the 2013 slides Robots can be used in different contexts and are classified as 1. Industrial robots 2. Humanoid & biomimetic robots 3. Service robots 4. Exploration robots 5. Service & exploration robots can be a) wheeled (rovers) b) flying (UAS,UAV, Quadcopters, etc.) c) legged There is a partial overlapping of these classes 2

3 Industrial robots Similar to a human arm with a wrist and a final hand for holding tools Rigid mechanical structure to guarantee accuracy and precision (repeatability) 5-6 (rarely 7) dof Internal (proprioceptive) joint sensors only * recent developments include vision sensors High payloads Reduction gears Well known and quasi-static environment Strict safety requirements Externally supplied power 3

4 Humanoid robots Similar to human body with a torso, two arms, two legs, 2-5 fingered hands Complex mechanical structure to guarantee stable bipedal motion Many dofs Internal and external sensors Low payloads Reduction gears or direct drives Unknown and changing environment: land only Limited autonomy Safety requirements TBD HMI and social acceptance issues 4

5 Examples from DRC

6 Lots of onboard sensors 6

7 Examples 7

8 Biomimetic robots Similar to animals, insects, fishes, birds, etc. May have more than two legs, no legs at all, wings, fins; can walk, crawl, swim, fly Internal and external sensors Low medium payloads, depending on structure No safety requirements Unknown and changing environment: sea, air, land 8

9 Service robots May have different motion structures: mostly wheeled (differential drives or 4-wheels), but UAVs are becoming popular Mechanical structure is important, but software is a critical issue Internal and external sensors Cameras (single, stereo 3D, ToF, omnidirectional) Laser scanners and Lidars Proximity sensors Special purpose, e.g., thermo-cameras Low to medium size payloads (according to use) HMI is important Unknown and changing environment: indoor (flat), outdoor (land, air, underwater) Privacy and legal issues important 9

10 UAVs Unmanned Aerial (or Autonomous) Vehicles are known due to their use as military drones, but now quadcopters are very common Civil applications are becoming important surveillance and patrolling of large structures and sites disaster area analysis; search and rescue (SAR) agricultural and environmental remote sensing leisure: commercial and filmmaking material transport Mainly outdoor, but indoor use is gaining interest Unknown environment Limited payload Limited autonomy (battery life is critical) and often tele-operated Mostly vision sensors (lightweight) Privacy and legal issues important 10

11 Examples 11

12 Exploration robots Used for planetary or deep space exploration e.g., Spirit, Opportunity, Curiosity, future Moon and Mars rovers Some used for underwater or harsh environments (volcanoes, Antarctica exploration, etc.) Usually tele-operated, but partial autonomy necessary due to long time delays between Earth and Mars 12

13 Course content 1 Kinematic Chains: constitutive elements; KC types: open, closed; KC dofs: redundant, non redundant chains Industrial robot types: arms and wrists Kinematic chains: algorithms for fast computation of direct and inverse position and velocity kinematic functions Denavit-Hartenberg conventions and DH parameters Homogeneous matrices Jacobian matrices Statics: kineto-static relations Dynamics: Lagrange equations, general form for control Control algorithms: independent joints linear control, MIMO nonlinear control 13

14 Course content 2 Wheeled rovers structures, differential drive kinematics non-holonomy odometry issues Onboard sensors: some types will be briefly analyzed Mapping, localization and SLAM issues Path planning 14