Robo$cs Introduc$on. ROS Workshop. Faculty of Informa$on Technology, Brno University of Technology Bozetechova 2, Brno

Transcription

1 Robo$cs Introduc$on ROS Workshop Faculty of Informa$on Technology, Brno University of Technology Bozetechova 2, Brno

2 What is a Robot? a programmable, mul.func.on manipulator USA (RIA) an independently ac.ng and self controlling machine Europe (ECM) a machine built for real world func.ons that is computercontrolled No actual defini.on "I can't define a robot, but I know one when I see one." Joseph Engelberger ( ) 2

3 What is a Robot? a programmable, mul.func.on manipulator USA (RIA) Very low-level an independently ac.ng and self controlling machine Europe (ECM) a machine built for real world func.ons that is computercontrolled No actual defini.on "I can't define a robot, but I know one when I see one." Joseph Engelberger ( ) 3

4 What is a Robot? a programmable, mul.func.on manipulator USA (RIA) Very low-level an independently Too ac.ng ambitious and self controlling machine Europe (ECM) a machine built for real world func.ons that is computercontrolled No actual defini.on "I can't define a robot, but I know one when I see one." Joseph Engelberger ( ) 4

5 What is a Robot? a programmable, mul.func.on manipulator USA (RIA) Very low-level an independently Too ac.ng ambitious and self controlling machine Europe (ECM) a machine built for mmm Can real world func.ons be. that is computercontrolled No actual defini.on "I can't define a robot, but I know one when I see one." Joseph Engelberger ( ) 5

6 ROBOTS Industrial Robots : robo.c arms commonly used in industrial applica.ons. Mobile Robots: unmanned vehicles capable of locomo.on. (terrestrial (AGV), aerial (UAV), underwater (AUV)) Hybrid Robots: mobile robots with manipulators. (TB2) Humanoid Robots: body shape built to resemble the human body. ( ) 6

7 COMPONENTS Communication Sensors Kinect Lidar Cameras Effectors hand wheels brush vacuum Body Links Joints Chassis Software (brain) Percep.on Understanding Decision making Controller Open loop Closed loop Power source Actuators Electric motors Pneuma.c motors ( ) 7

8 COMPONENTS Communication Sensors Kinect Lidar Cameras Effectors hand wheels brush vacuum Body Links Joints Chassis Software (brain) Percep.on Understanding Decision making Controller Open loop Closed loop Power source Actuators Electric motors Pneuma.c motors ( ) 8

9 BODY Body Links Joints Chassis elbow forearm shoulder base ( ) 9

10 ACTUATORS The Roomba uses a differential steering system to turn and move forward. Each wheel is controlled by a distinct motor. y Actuators V L (t) V R (t) x Electric motors: Two drive the wheels Other drive the arm ( ) 10

11 SENSORS Sensors Kinect Lidar Cameras GPS etc. The sensors acquire data about the environment. The data is then processed to produce useful information. ( ) 11

12 SOFTWARE Func$onal Actuators Decision Commands The robot software architecture is very complex. It has to process in real time the data from the sensors, give commands to actuators, integrate communication at the same time as performing higher level tasks to accomplish the mission. Understanding Perception Knowledge Information Sensors Raw data ( ) 12

13 SOFTWARE Structural User Application Applications Programmed routines that process the sensor dates, extract information and take decisions and command the actuators. Perception modules (Feature extraction, Scan alignment) Operating System Understanding (SLAM, Object detection) Decision process (State machine, High-level control) Hardware ( ) 13

14 SOFTWARE Structural User Application Operating System Links robot logic with robot hardware Client -> Proxies -> Server -> Drivers -> Robot Operating System Hardware Proxies: data queries, command capabilities. Server: time and resources management Drivers: interface with the robot Middlewares: Player, Orca2,Urbi, MIRO, GenoM, ROS ( ) 14

15 Let the ROShow begin! Let the ROShow begin! ( ) 15