Industrial Robotics. Claudio Melchiorri. Dipartimento di Ingegneria dell Energia Elettrica e dell Informazione (DEI) Università di Bologna

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1 Industrial Robotics Claudio Melchiorri Dipartimento di Ingegneria dell Energia Elettrica e dell Informazione (DEI) Università di Bologna claudio.melchiorri@unibo.it C. Melchiorri (DEI) Industrial Robotics 1 / 16

2 Industrial Robotics - Overview Week schedule - Foundations of Industrial Robotics T Monday Tuesday Wednesday Thursday Friday L 4.1 L L 4.1 L E Material at: robotics.html Oral exams. Dates (AlmaEsami): 1 12 June, June, July, 2014 C. Melchiorri (DEI) Industrial Robotics 2 / 16

3 Industrial Robotics - Overview Courses in UniBo Foundations of Industrial Robotics BSc level (Laurea in Ingegneria dell Automazione / Automation Engineering) Robotica Industriale M Master level (Laurea magistrale in Ingegneria dell Automazione) Dinamica dei Robot M Master level (Laurea magistrale in Ingegneria dell Automazione / Ingegneria Meccanica) An international curriculum in Automation Engineering (MSc degree in UNIBO in Academic Year Students can apply for two years in Bologna (courses in English). Interested students (a specific request must be presented) may obtain a Double Degree (Tongji University, Shanghai, China). C. Melchiorri (DEI) Industrial Robotics 3 / 16

programmed motions for the performance of a variety of tasks, which also acquire information from the environment and move intelligently

4 Industrial Robotics - Overview Foundations of Industrial Robotics ROBOT: industrial definition (RIA = Robotic Institute of America): re-programmable multi-functional manipulator designed to move materials, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks, which also acquire information from the environment and move intelligently in response more general definition ( visionary ): intelligent connection between perception and action C. Melchiorri (DEI) Industrial Robotics 4 / 16

control system for the run-time control and programming.

5 Industrial Robotics - Overview Foundations of Industrial Robotics ROBOT: complex machine composed by a mechanical system for interacting with the environment an actuation system for task execution a sensory system for getting proper information a control system for the run-time control and programming. ROBOTICS: inter-disciplinary science, with competencies in the fields of: Mechanics Electronics Computer Science Automatic Control Sensors Actuators Materials C. Melchiorri (DEI) Industrial Robotics 5 / 16

6 Industrial Robotics - Overview Foundations of Industrial Robotics 1 Industrial Automation & Robotics A brief introduction to robotics Structure and main components of industrial robots Sensors & Actuators 2 Rigid Body Kinematics, Homogeneous Transformations Rigid bodies and their representation in 3D Homogeneous coordinate frames Homogenous transformations Coordinate transformations for velocities and force 3 Kinematic Model of Industrial Manipulators Direct kinematic model Inverse kinematic model Differential kinematics and Statics: the Jacobian Workspace C. Melchiorri (DEI) Industrial Robotics 6 / 16

7 Industrial Robotics - Overview Foundations of Industrial Robotics 4 Dynamic Model of Industrial Manipulators Euler-Lagrange model Newton-Euler model 5 Trajectory planning Joint space trajectories Operational space trajectories 6 Robot Control Position control in the joint space Force control 7 Programming Robot control systems Programming languages C. Melchiorri (DEI) Industrial Robotics 7 / 16

Industrial Robotics - Overview Foundations of Industrial Robotics Advisable to have knowledge of: Rigid Body Dynamics Automatic Control Control System Technologies Course material: Course

8 Industrial Robotics - Overview Foundations of Industrial Robotics Advisable to have knowledge of: Rigid Body Dynamics Automatic Control Control System Technologies Course material: Course notes: available in my website Textbook: B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo: Robotics: Modelling, Planning and Control, Springer, 2009 C. Melchiorri (DEI) Industrial Robotics 8 / 16

A short robotics history A short robotics history Robot: the name derives from the slavic word robota ( work ), used to indicate artificial humanlike creatures built for being

9 A short robotics history A short robotics history Robot: the name derives from the slavic word robota ( work ), used to indicate artificial humanlike creatures built for being inexpensive workers in the theater play Rossum s Universal Robots (R.U.R.) written by Karel Capek in 1920 and translated in English. C. Melchiorri (DEI) Industrial Robotics 9 / 16

the robot could walk and talk Electro C.

10 A short robotics history A short robotics history Metropolis (1926): first movie with robots (Fritz Lang, Germany) Electro and Spark (1939): New York World Fair, the robot could walk and talk Electro C. Melchiorri (DEI) Industrial Robotics 10 / 16

A robot must obey orders given to it by human beings, except where such orders would conflict with the First Law 3

11 A short robotics history A short robotics history Laws of Robotics (I. Asimov ) 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 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 Law C. Melchiorri (DEI) Industrial Robotics 11 / 16

A short robotics history A short robotics history 1750 (ca): J. de Vaucanson builds several mechanical dolls, with dimensions similar to the human ones and able to play music 1801: J.

Roselund (U.S.A.) design a programmable painting mechanism for the firm De Vilbiss 1946: G.C. Devol (U.S.A.) develops a magnetic memory device to control a mechanical machine (patent in 1952) 1946: first computers: ENIAC at the University of Pensylvania (J.

) writes Cybernetics, a book dealing with the concepts of communication and control of electronic, mechanic and biological systems 1951: telemanipulation devices used for radioactive material,

Kenward (UK) presents the patent for a robot, released in 1957 1954: G.C. Devol design a programmable pick-and-place mechanism, patented in 1961. Devol proposes the name Universal Automation i.e. UNIMATION, name of the first robotic industry 1959: first commercial robot by Planet Corporation.

12 A short robotics history A short robotics history 1750 (ca): J. de Vaucanson builds several mechanical dolls, with dimensions similar to the human ones and able to play music 1801: J. Jacquard fabricates the Jacquard loom, a programmable machine used to weave cloths 1892: S. Babbit (U.S.A.) builds a motorized crane with a gripper to be used in a furnace 1938: W. Pollard and H. Roselund (U.S.A.) design a programmable painting mechanism for the firm De Vilbiss 1946: G.C. Devol (U.S.A.) develops a magnetic memory device to control a mechanical machine (patent in 1952) 1946: first computers: ENIAC at the University of Pensylvania (J.P. Eckert e J. Mauchly), and WHIRLWIND al M.I.T. 1948: N. Wiener (M.I.T., U.S.A.) writes Cybernetics, a book dealing with the concepts of communication and control of electronic, mechanic and biological systems 1951: telemanipulation devices used for radioactive material, patents of Goertz (France ) and Bergsland (1958) 1952: first prototype of numeric control machine (MIT). Programming language APT (Automatically Programmed Tool) developed in : C.W. Kenward (UK) presents the patent for a robot, released in : G.C. Devol design a programmable pick-and-place mechanism, patented in Devol proposes the name Universal Automation i.e. UNIMATION, name of the first robotic industry 1959: first commercial robot by Planet Corporation. It was controlled by mechanical cams 1960: first robot UNIMATE, based on the programmable pick-and-place mechanism Devol s design 1961: robot UNIMATE installed at the Ford Motor Company C. Melchiorri (DEI) Industrial Robotics 12 / 16

13 A short robotics history A short robotics history Ray Goertz: first robotic telemanipulation of radioactive material (1951) Ray Goertz C. Melchiorri (DEI) Industrial Robotics 13 / 16

A short robotics history A short robotics history 1961: robot UNIMATE installed

CINCINNATI MILACRON first computer-controlled robot, the T3 (The Tomorrow Tool)

Stanford Research Institute, SRI, develops Shakey, a mobile robot with a vision

a mechanical arm with electrical actuation 1975: OLIVETTI commercializes the

field 1976: robot manipulators are used in the Viking 1 and 2 space missions on

14 A short robotics history A short robotics history 1961: robot UNIMATE installed at the Ford Motor Company 1974: ASEA first electric actuation robot IRb6 1974: CINCINNATI MILACRON first computer-controlled robot, the T3 (The Tomorrow Tool) 1966: the Norwegian company TRALLFA builds a robot for spray painting 1968: the Stanford Research Institute, SRI, develops Shakey, a mobile robot with a vision system and tactile sensors 1971: the Stanford University builds the STANFORD ARM, a mechanical arm with electrical actuation 1975: OLIVETTI commercializes the SIGMA robot, for assembly operations; one of the first robot applications in this field 1976: robot manipulators are used in the Viking 1 and 2 space missions on Mars 1973: SRI develops WAVE, the first programming language 1974: AL (Assembly Language). From WAVE and AL, the commercial programming language VAL has been developed (Unimation, V. Scheinmann and B. Shimano) C. Melchiorri (DEI) Industrial Robotics 14 / 16

A short robotics history A short robotics history 1976: the RCC (Remote Center Compliance) device is developed in

Assembly) robot 1979: the SCARA (Selective Compliance Arm for Robotic Assembly) robot is developed at the

1984: off-line programming environments with graphical interfaces: simulation of the task execution and then

development of service robots 1989: Firm Computer Motion founded 1989 Firm Barrett Technology founded 1993: Firm

developes Dante II, a 6-legged robot for vulcanos exploration 1995: Firm Intuitive Surgical founded 1997: NASA

project started in 1986) 2000 Honda and Asimo 2000: Sony humanoid robots, the Sony Dream Robots (SDR) 2001: Sony

15 A short robotics history A short robotics history 1976: the RCC (Remote Center Compliance) device is developed in the Charles Stark Draper Labs, MA, USA 1978: Unimation developes the PUMA (Programmable Universal Machine for Assembly) robot 1979: the SCARA (Selective Compliance Arm for Robotic Assembly) robot is developed at the Yamanashi University, J. 1984: off-line programming environments with graphical interfaces: simulation of the task execution and then download of the code to the workcell 1984: Joseph Engelberger founds Transition Robotics, now Helpmates, for development of service robots 1989: Firm Computer Motion founded 1989 Firm Barrett Technology founded 1993: Firm Sensable Technologies founded 1993: DLR experiment ROTEX on the Space Shuttle 1994: CMU Robotics Institute s developes Dante II, a 6-legged robot for vulcanos exploration 1995: Firm Intuitive Surgical founded 1997: NASA Mars PathFinder mission with the robot Sojourner 1997: Honda P3, 8-th prototypes of humanoid robot ( secret project started in 1986) 2000 Honda and Asimo 2000: Sony humanoid robots, the Sony Dream Robots (SDR) 2001: Sony second Aibo generation. 1981: direct-drive robot developed by the Carnegie-Mellon University 1982: IBM cartesian robot RS-1 for assembly (programming language: AML). 1983: Firm Adept Technology founded. C. Melchiorri (DEI) Industrial Robotics 15 / 16

Space Station Remote Manipulator System (SSRMS) in orbit, operative on the ISS - International Space Station 2005: DLR / Kuka Lightweight arm 2008:

16 A short robotics history A short robotics history 2001: First trans-oceanic surgical teleoperation from New York, USA to Strasbourg, F (Prof. Marescaux) 2001: Robot arm by MD Robotics (Canada). Space Station Remote Manipulator System (SSRMS) in orbit, operative on the ISS - International Space Station 2005: DLR / Kuka Lightweight arm 2008: First example of safe human-robot interaction Impact 2004: The two NASA rovers Spirit and Opportunity on Mars: OPPORTUNITY: still working - February 2014! SPIRIT: silent since May Rover on Mars C. Melchiorri (DEI) Industrial Robotics 16 / 16

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.