BEST2015 Autonomous Mobile Robots Lecture 1: Introduction

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BEST2015 Autonomous Mobile Robots Lecture 1: Introduction Renaud Ronsse renaud.ronsse@uclouvain.

1 BEST2015 Autonomous Mobile Robots Lecture 1: Introduction Renaud Ronsse École polytechnique de Louvain, UCLouvain July Université catholique de Louvain Raised in Oldest university of the Benelux. Prestigious alumni: Erasmus (1502), Vésale (1530), Georges Lemaître (1930), Christian de Duve (Nobel price in 1974), etc : Creation of special engineering schools. 2

2 Université catholique de Louvain Late 60 s - early 70 s: linguistic troubles in Belgium splitting of the university in two distinct universities: KULeuven (Flemish, Leuven), and Université catholique de Louvain (Frenchspeaking, Louvain-la-Neuve and Brussels). 3 Université catholique de Louvain 4

3 Studying robotics at UCL Master in mechatronics. All course given in English, starting in 2015: 5 Research in robotics at UCL Center for Research in Energy and Mechatronics: 6

Bio- Robotics Multibody and Multiphysic Modeling

4 Research in robotics at UCL Center for Research in Energy and Mechatronics: Raised in professors and about 35 staff members 4 research fields: Electrical Power Systems Medical and Bio- Robotics Multibody and Multiphysic Modeling Optimal Design Approaches 7 Medical CEREM 8

5 Medical CEREM Surgical robotics Active scope-holder for laparoscopic surgery EVOLAP 9 Medical CEREM Rehabilitation robotics (upper-limb): Spin-off project: Axinesis 10

6 Medical CEREM Ankle prosthesis: c MCBF Medical CEREM Rehabilitation robotics (lower-limb): CYBERLEGs project (FP7) 02/ /

7 Humanoid CEREM: WALK-MAN project (FP7) Joint work with EPFL. 09/ / Robotics is a field/discipline requiring integration main objective of this course. 14

1 Université catholique de Louvain 2 Example of Tasks 3 Learning

of industrial robots 6 Future Trends in Robotics 7 Examples of service

15 Example of Task mobile robot c Siegwart et al., 2011, Fig. 5.6, p.

8 1 Université catholique de Louvain 2 Example of Tasks 3 Learning outcomes, implementation, evaluation 4 History of Robotics 5 Examples of industrial robots 6 Future Trends in Robotics 7 Examples of service robots 8 Typical features of industrial and service robots 9 References 15 Example of Task mobile robot c Siegwart et al., 2011, Fig. 5.6, p. 276 Move the robot from A to B, while keeping track of own position localization. 16

9 Example of Task industrial robot c Spong et al., 2006, Fig. 1.19, p. 20 Move the manipulator from home to A, then follow the surface S at constant velocity, while maintaining a prescribed force F normal to the surface (cutting, grinding, painting). 17 What do we need to solve? Forward Kinematics: describe positions in a common coordinate system (world coordinate) c Spong et al., 2006, Fig. 1.20, p. 21 c Siegwart et al., 2011, ETH-Z lecture slides x = f x (θ 1, θ 2 )? y = f y (θ 1, θ 2 )? Geometry in space, trigonometry 18

10 What do we need to solve? Inverse Kinematics: θ 1 = f θ1 (x, y)? θ 2 = f θ2 (x, y)? Not a unique solution in general... c Spong et al., 2006, Fig. 1.21, p. 22 Geometry in space, trigonometry 19 What do we need to solve? Velocity Kinematics: ẋ = fẋ(θ 1, θ 2, θ 1, θ 2 )? ẏ = fẏ(θ 1, θ 2, θ 1, θ 2 )? The relationships ẋ = J θ is linear, where J is called the Jacobian. Inverse: θ = J 1ẋ. When det J = 0, singularity. Example: c Spong et al., 2006, Fig. 1.23, p. 25 Mathematics, linear algebra 20

11 What do we need to solve? Path Planning and Trajectory Generation Independent Joint Control: c Bajd et al., 2010, Fig. 6.2, p. 71 Mathematics, linear algebra c Spong et al., 2006, Fig. 1.24, p. 26 Linear control 21 What do we need to solve? Dynamics: characterize the dynamical coupling between the links: D(q) q + C(q, q) q + g(q) = τ and take the actuators into account: J m θm + B m θm = u m where θ m = rq m. Mechanics, electrical eng. 22

12 What do we need to solve? Multivariable Control: Advanced control taking the dynamic interactions into account. System dynamics, (non)linear control Force Control: Requires to measure the interface force (force sensor). Hybrid control, impedance control. System dynamics, (non)linear control Computer Vision and Vision-based Control: Towards autonomous robots... Computer sciences, (non)linear control Electromechanical design: Selection of sensors, actuators, etc... Electromechanics, electronics 23 1 Université catholique de Louvain 2 Example of Tasks 3 Learning outcomes, implementation, evaluation 4 History of Robotics 5 Examples of industrial robots 6 Future Trends in Robotics 7 Examples of service robots 8 Typical features of industrial and service robots 9 References 24

13 Learning outcomes At the end of this course, you will be able to: Derive a kinematic model of a simple mobile robot. Propose a trajectory planning method, and some classical localization and control approaches, taking this model into account. Implement fundamental concepts like localization and trajectory planning to the particular field of mobile robotics, both in a simulation environment and on a real robot. but also... Conduct on an ambitious group project in less than one week! 25 Schedule Wed, July 22, 2015 Thu, July 23, 2015 Fri, July 24, 2015 Sat, July 25, 2015 Sun, July 26, 2015 Mon, July 27, 2015 Lab: speed control and Lecture: Mobile Robot 9:00-10:45 Lecture: introduction Lab: transfer to the real robot odometry Planning and Navigation 10:00-12:45 Lab: first trial of 10:45-11:00 Break Break Break Break transfer to the real robot Lecture: Mobile Robot Lab: calibration and beacon Lab: calibration and beacon Lecture: humanoid robot and 11:00-12:45 Kinematics and Control localization (1/2) localization (2/2) course wrap-up 12:45-14:00 Lunch break Lunch break Lunch break No class Lab: path planning and 14:00-15:45 Lab: project kick-off integration (1/2) Visit of a company: Belrobotics No class No class 15:45-16:00 Break Break Lecture: Mobile Robot Lab: path planning and 16:00-17:45 Localization integration (2/2) 26

Commitment One problem-based learning (PBL) project, about trajectory

Localization Odometry Calibration Obstacle detection Potential field

Robots (2nd Edition) Siegwart et al.; The MIT Press, 2011 http://www.

fr/introduction-autonomous-mobile-robots-2e/ dp/0262015358 (minimum:

14 Commitment One problem-based learning (PBL) project, about trajectory planning and low-level control of a mobile robot: Speed control Localization Odometry Calibration Obstacle detection Potential field path planning Groups of 4-5 students. Collaborations are moderately allowed! 27 Support One main reference books: Introduction to Autonomous Mobile Robots (2nd Edition) Siegwart et al.; The MIT Press, dp/ (minimum: about 40e) The bible of robotics is also worth being mentioned: Springer Handbook of Robotics Siciliano and Khatib (Eds.); Springer, 2008 Available on-line from the UCL network! 28

15 Support Teaching staff: Renaud Ronsse Nicolas Van der Noot François Heremans Victor de Beco On-line resource: Lecture slides. Project statement. 29 Evaluation No report is due for the project but a group mark will be awarded at the end of the project, depending on the robot performances and the group dedication: A: outstanding performance, the group went much beyond our expectations B: very good performance, the group covered all segments of the project and achieve very good performances C: good performance, the group covered all segments of the project and achieve normal performances D: normal performance, the group covered most segments of the project and achieve normal performances F: failed, the group did not manage to get through the project on a satisfying way Obtaining more than a F is conditioned to attending all of the lectures! 30

16 1 Université catholique de Louvain 2 Example of Tasks 3 Learning outcomes, implementation, evaluation 4 History of Robotics 5 Examples of industrial robots 6 Future Trends in Robotics 7 Examples of service robots 8 Typical features of industrial and service robots 9 References 31 Where does the word robot come from? 1 From the Japanese word robota = very efficient automation. 2 From the abbreviation Rendering Original Behavior along Optimal Trajectories. 3 From a Czech drama in the early 20 s. Make your choice... 32

Where does the word robot come from? 3 From a Czech drama in the early 20 s. Make your choice... 33 Rossum s Universal Robots Karel Čapek, 1921.

17 Where does the word robot come from? 3 From a Czech drama in the early 20 s. Make your choice Rossum s Universal Robots Karel Čapek, Robot = artificial human being which is a brilliant worker, deprived of all unnecessary qualities: feelings, creativity and capacity for feeling pain. Robots are not people. They are mechanically more perfect than we are, they have an astounding intellectual capacity, but they have no soul. The creation of an engineer is technically more refined than the product of nature. robota = subordinate labour 34

Robots in science-fiction Isaac Asimov, Runaround (1942): 1 A robot may not injure a

2 A robot must obey the orders given to it by human beings, except where such orders

3 A robot must protect its own existence as long as such protection does not conflict

18 Robots in science-fiction Isaac Asimov, Runaround (1942): 1 A robot may not injure a human being or, through inaction, allow a human being to come to harm. 2 A robot must obey the orders given to it by human beings, except where such orders would conflict with the First Law. 3 A robot must protect its own existence as long as such protection does not conflict with the First or Second Laws. Introduction of the term robotics, as a new field/science. 35 Robots in science-fiction Google image, October 13th,

19 Industrial robot Born out of the marriage of two earlier technologies: 1 Teleoperators: master-slave devices to handle radioactive materials (2nd WW); 2 Numerically controlled milling machines, or Computer numerical control (CNC) machines: precise machining of mechanical components (e.g. aircrafts). First industrial robot: Unimate, General Motors, Robot Manipulator Robot manipulator = robot arm + robot wrist + robot gripper c Bajd et al., 2010, Fig. 1.4, p. 4 Task: place the object grasped by the gripper into an arbitrary pose. 38

5 Each joint = one DOF (usually). Classical notation: angle θ (revolute) and distance d (prismatic).

20 Robot Arm Serial chain of (at least) 3 rigid bodies (segments). Connected through robot joints (either rotational/revolute or translational/prismatic). c Spong et al., 2006, Fig. 1.3, p. 5 Each joint = one DOF (usually). Classical notation: angle θ (revolute) and distance d (prismatic). 39 Different configurations of robot arm 3 DOFs, with parallel or perpendicular axis 36 configurations. 5 are found on the market: Anthropomorphic Spherical SCARA Cylindrical c Bajd et al., 2010, Figs. 1.6 to 1.10, pp. 5-7 Cartesian 40

21 Different configurations Anthropomorphic (or articulated, or revolute, or elbow): ±67% of the market. c Spong et al., 2006, Fig. 1.9, p. 13 / ABB IRB Different configurations SCARA (Selected Compliance Assembly Robot Arm) manipulator: c Spong et al., 2006, Figs and 1.14, pp / Adept Cobra Smart 600 Tailored for assembly operations (e.g. pick-and-place). 42

Different configurations Cartesian manipulator (gantry): c

43 Typical workspaces taking actuator limits into account

22 Different configurations Cartesian manipulator (gantry): c Spong et al., 2006, Fig. 1.16, p. 17 / Epson Cartesian Robot ±21% of the market. Simplest kinematic and dynamic description. 43 Typical workspaces taking actuator limits into account Anthropomorphic (top) Spherical (a) SCARA (b) Cylindrical (c) Cartesian (d) c Spong et al., 2006, Figs and 1.17, pp. 13 and 18 44

23 Revolute or prismatic joint? c Spong et al., 2006, Fig. 1.5, p. 10 Revolute joints occupy a smaller working volume and are better able to maneuver around obstacles, but induce large kinematic and dynamic coupling between segments. 45 Parallel robots Some subsets of the links form a closed chain. c Spong et al., 2006, Fig. 1.18, p. 19 / ABB IRB940 Tricept Advantages? 46

24 47 Robot wrist Most common wrist: spherical wrist, 3 revolute joints, whose axes intersect at a common point. c Spong et al., 2006, Fig. 1.6, p. 11 effectively decouples the position (arm) and orientation (wrist) of the end effector. 48

25 Robot griper = robot end-effector = robot hand = robot tool... Simplest... to more complex: c Spong et al., 2006, Figs. 1.7 and 1.8, pp Robot griper Ishikawa Komuro Lab (University of Tokyo) 50

26 Standards in (industrial) robotics Three basic international robotic standards: ISO 9946: characteristics of industrial robot manipulators; ISO 9787: Coordinate Systems and Motions; ISO 9283: performance criteria and methods for testing of industrial robot manipulators. Getting an ISO standard is not free: ISO 9946 costs CHF 86.00, ISO 9787 costs CHF 66.00, and ISO 9283 costs CHF (May 2nd, 2012) Timeline (Spong et al., 2006) The first servoed electric powered teleoperator is developed A teleoperator is developed incorporating force feedback Research on numerically controlled milling machine is initiated George Devol designs the first programmable robot Joseph Engelberger, a Columbia University physics student, buys the rights to Devol s robot and founds the Unimation Company The first Unimate robot is installed in at Trenton, New Jersey plant of General Motors to tend a die casting machine The first robot incorporating force feedback is developed The first robot vision system is developed. 52

27 Timeline (Spong et al., 2006) The Stanford Arm is developed at Stanford University The first robot programming language (WAVE) is developed at Stanford Cincinnati Milacron introduced the T 3 robot with computer control Unimation Inc. registers its first financial profit The Remote Center Compliance (RCC) device for part insertion in assembly is developed at Draper Labs in Boston Robot arms are used on the Viking I and II space probes and land on Mars Unimation introduces the PUMA robot, based on designs from a General Motors study The SCARA robot design is introduced in Japan. 53 Timeline (Spong et al., 2006) The first direct-drive robot is developed at Carnegie-Mellon University Fanuc of Japan and General Motors form GM Fanuc to market robots in North America Adept Technology is founded and successfully markets the diret-drive robot The underwater robot, Jason, of the Woods Hole Oceanographic Institute, explores the wreck of the Titanic, found a year earlier by Dr. Robert Barnard Stäubli Group purchases Unimation from Westinghouse The IEEE Robotics and Automation Society is formed. 54

28 Timeline (Spong et al., 2006) The experimental robot, ROTEX, of the German Aerospace Agency (DLR) was flown aboard the space shuttle Columbia and performed a variety of tasks under both teleoperated and sensor-based offline programmed modes Honda unveils its Humanoid robot; a project begun in secret in The first robot soccer competition, RoboCup-97, is held in Nagoya, Japan and draws 40 teams from around the world The Sojourner mobile robot travels to Mars aboard NASA s Mars PathFinder mission Sony begins to mass produce the first household robot, a robot dog named Aibo The Space Station Remote Manipulation System (SSRMS) is launched in space on board the space shuttle Endeavor to facilitate continued construction of the space station. 55 Timeline (Spong et al., 2006) The first telesurgery is performed when surgeons in New York perform a laparoscopic gall bladder removal on a woman in Strasbourg, France Robots are used to search for victims at the World Trade Center site after the September 11th tragedy Honda s Humanoid Robot ASIMO rings the opening bell at the New York Stock Exchange on February 15th ROKVISS (Robotic Component Verification on board the International Space Station), the experimental teleoperated arm built by the German Aerospace Center (DLR), undergoes its first tests in space The International Consortium on Rehabilitation Robotics is formed. 56

Examples of industrial robots 6 Future Trends in Robotics 7 Examples

robots 9 References 57 Examples Industrial applications:

arc welding spot welding with pneumatic or servo-controlled gun

29 1 Université catholique de Louvain 2 Example of Tasks 3 Learning outcomes, implementation, evaluation 4 History of Robotics 5 Examples of industrial robots 6 Future Trends in Robotics 7 Examples of service robots 8 Typical features of industrial and service robots 9 References 57 Examples Industrial applications: manipulation (pick-and-place) assembly spray painting and coating arc welding spot welding with pneumatic or servo-controlled gun laser cutting and welding gluing and sealing mechanical finishing operations (deburring, grinding) 58

30 Examples Very fancy robots ABB IRB 7600 (youtube) 59 Examples Cooperating Arc Welding Cooperating KUKA Robots (youtube) 60

31 Examples Windshields deburring R-2000iA handling windshields (youtube) 61 Examples Parallel robot ABB Flex Picker (youtube) 62

32 Examples SCARA robot Adept Cobra Fastest SCARA Robot (youtube) 63 Examples Also out of the industry... KUKA Robot Universal Studio L.A. The Fast and the Furious (youtube) 64

33 1 Université catholique de Louvain 2 Example of Tasks 3 Learning outcomes, implementation, evaluation 4 History of Robotics 5 Examples of industrial robots 6 Future Trends in Robotics 7 Examples of service robots 8 Typical features of industrial and service robots 9 References 65 Future Trends in Robotics Statistics in research... Source: ISI Web of Knowledge. Keyword: robot Moving from industrial robotics to service robotics. 66

34 Future Trends in Robotics Statistics in research... Source: ISI Web of Knowledge. Keyword: robot Moving from industrial robotics to service robotics. 67 Future Trends in Robotics Statistics in research... Source: ISI Web of Knowledge. Keyword: robot Moving from industrial robotics to service robotics. 68

35 Same requirements? DLR, Germany 69 1 Université catholique de Louvain 2 Example of Tasks 3 Learning outcomes, implementation, evaluation 4 History of Robotics 5 Examples of industrial robots 6 Future Trends in Robotics 7 Examples of service robots 8 Typical features of industrial and service robots 9 References 70

Examples of service robots defense field

.. Most of these applications require the

36 Examples of service robots defense field (agriculture) medical logistic construction mobile platforms cleaning inspection underwater rescue and security... Most of these applications require the robot to be mobile. 71 Examples of service robots Military robot Big Dog (youtube) 72

37 Examples of service robots Surgical robot Da Vinci (youtube) 73 Examples of service robots Rehabilitation and assistive robot LOPES (University of Twente) Ankle prosthesis (UCL) 74

38 Examples of service robots Security/telepresence: Jazz Connect (youtube) 75 Examples of service robots Mobile robot (1/2) Swarm: Robot Swarm EPFL (youtube) 76

ch 77 Examples of service robots Home assistance

39 Examples of service robots Mobile robot (2/2) Amphibious: Salamandra robotica 77 Examples of service robots Home assistance robot (1/2): Home Assistant Robot (youtube) 78

40 Examples of service robots Home assistance robot (2/2): Autonomous folding UC Berkeley (youtube) 79 Examples of service robots Humanoid robot (1/3): Honda ASIMO (youtube) 80

41 Examples of service robots Humanoid robot (2/3): Toyota Music Robot (youtube) 81 Examples of service robots Humanoid robot (3/3): Geminoid Prof. Ishiguro Univ. Osaka (youtube) 82

1 Université catholique de Louvain 2 Example of Tasks 3 Learning outcomes, implementation, evaluation 4 History of Robotics 5 Examples of industrial robots 6 Future Trends in Robotics 7 Examples of

42 1 Université catholique de Louvain 2 Example of Tasks 3 Learning outcomes, implementation, evaluation 4 History of Robotics 5 Examples of industrial robots 6 Future Trends in Robotics 7 Examples of service robots 8 Typical features of industrial and service robots 9 References 83 Typical features of industrial and service robots Structured vs. unstructured environment; reprogrammable vs. autonomous; repetitive vs. flexible; high degree of precision vs. high degree of compliance; position control vs. force control 84

43 High degree of precision vs... ABB Robotics Fanta Can Challenge (youtube) high degree of compliance SPARKy ankle prosthesis Arizona State University (youtube) 86

Bajd, Mihelj, Lenarčič, Stanovnik, and Munih;

44 From industrial robots to human-friendly industrial robots DLR Germany 87 References for this lecture Robotics, Bajd, Mihelj, Lenarčič, Stanovnik, and Munih; Springer, 2010 Robot Modeling and Control, Spong, Hutchinson, and Vidyasagar; Wiley,

45 References on the Internet References for research IEEE Transactions on Robotics (previously IEEE Transactions on Robotics and Automation) IEEE Robotics and Automation Magazine International Journal of Robotics Research Robotics and Autonomous Systems Journal of Robotic Systems Robotica Journal of Intelligent and Robotic Systems Autonomous Robots Advanced Robotics 90

Robotics Prof. Dilip Kumar Pratihar Department of Mechanical Engineering Indian Institute of Technology, Kharagpur

Robotics Prof. Dilip Kumar Pratihar Department of Mechanical Engineering Indian Institute of Technology, Kharagpur Lecture - 01 Introduction to Robot and Robotics Let us start with the course on Robotics.