Introduction to Robotics ENGR-5301-55 Lamar University Spring, 2009 Ram Balasubramanian & Gary Decaney April 30, 2009
<ul><li>What is a Robot? </li></ul><ul><li>What is Robotics? </li></ul><ul><li>Robix Robot </li></ul><ul><li>What is Draw-...
<ul><li>A robot is: </li></ul><ul><ul><li>A virtual or mechanical or artificial agent </li></ul></ul><ul><ul><li>Usually a...
<ul><li>Robotics - the Science and Technology of robots </li></ul><ul><ul><li>Their design </li></ul></ul><ul><ul><li>Thei...
<ul><li>Robix Rascal Classroom Robot Set </li></ul><ul><li>Low Cost ($550US) </li></ul><ul><li>On the Market for 15 years ...
<ul><li>Demonstrates repeatability </li></ul><ul><li>Uses 3 servos to draw pattern on paper </li></ul><ul><li>Sample patte...
<ul><li>Phase I –  Kinematic Analysis </li></ul><ul><li>Phase II – Dynamic Analysis & The Jacobian </li></ul><ul><li>Phase...
<ul><li>Students were to use the Denavit-Hartenberg model representation to form the Equations of Motion </li></ul><ul><li...
<ul><li>Using concepts taught in class, students were to perform a dynamic analysis of n-degree of freedom system (in this...
<ul><li>Jacobian: </li></ul><ul><li>Differential Operator: </li></ul>
<ul><li>Students were to develop the dynamic equations of motion for their setup </li></ul><ul><li>Also, determine how muc...
<ul><li>For the Final Phase, students were to determine the needed motions of their setup and to perform Trajectory Planni...
<ul><li>Less than 1 hour to construct </li></ul><ul><li>Base w/ diagonal link, 3 servos, 5 links, pen, rubber band, clamps...
<ul><li>1 st  Attempt, program from Project Book </li></ul><ul><ul><li>Star-shaped pattern (supposedly) </li></ul></ul><ul...
 
 
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Drawbot Final Presentation

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Intro to Robotics - Spr 2009 - Final Project Presentation - Robix Robot - DrawBot

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Drawbot Final Presentation

  1. 1. Introduction to Robotics ENGR-5301-55 Lamar University Spring, 2009 Ram Balasubramanian & Gary Decaney April 30, 2009
  2. 2. <ul><li>What is a Robot? </li></ul><ul><li>What is Robotics? </li></ul><ul><li>Robix Robot </li></ul><ul><li>What is Draw-Bot? </li></ul><ul><li>Project Calculations </li></ul><ul><ul><li>Phase I – Kinematic Analysis </li></ul></ul><ul><ul><li>Phase II – Dynamic Analysis & The Jacobian </li></ul></ul><ul><ul><li>Phase III – Differential Motion/Velocity Analysis </li></ul></ul><ul><ul><li>Phase IV – Trajectory Planning </li></ul></ul><ul><li>Draw-Bot construction </li></ul><ul><li>Draw-Bot programming </li></ul><ul><li>Questions </li></ul><ul><li>Demo </li></ul>
  3. 3. <ul><li>A robot is: </li></ul><ul><ul><li>A virtual or mechanical or artificial agent </li></ul></ul><ul><ul><li>Usually an Electro-Mechanical system which, by its appearance or movements, conveys a sense of intent or agency of its own </li></ul></ul><ul><ul><li>The word “robot” can refer to both physical robots and virtual software agents, but latter are usually referred to as “bots” </li></ul></ul>http://en.wikipedia.org/wiki/Robot
  4. 4. <ul><li>Robotics - the Science and Technology of robots </li></ul><ul><ul><li>Their design </li></ul></ul><ul><ul><li>Their manufacture </li></ul></ul><ul><ul><li>Their application </li></ul></ul><ul><li>Robotics has connections to electronics, mechanics and software </li></ul><ul><li>The word “Robotics” was first used in Isaac Asimov’s short story Runaround (1942). Asimov proposed the “Laws of Robotics”: </li></ul><ul><ul><li>Law Zero - A robot may not injure humanity, or, through inaction, allow humanity to come to harm </li></ul></ul><ul><ul><li>Law One – A robot may not injure a human being, or, through inaction, allow a human being to come to harm, unless this would violate a higher order law. </li></ul></ul><ul><ul><li>Law Two – A robot must obey orders given it by human beings, except where such orders would conflict with a higher order law. </li></ul></ul><ul><ul><li>Law Three - A robot must protect its own existence as long as such protection does not conflict with a higher order law. </li></ul></ul>http://www.robotmatrix.org/whatisrobot.htm
  5. 5. <ul><li>Robix Rascal Classroom Robot Set </li></ul><ul><li>Low Cost ($550US) </li></ul><ul><li>On the Market for 15 years </li></ul><ul><li>Complete with Controller Card and Software </li></ul><ul><li>Repeatable, reusable, reprogrammable </li></ul>http://www.robix.com/default.html
  6. 6. <ul><li>Demonstrates repeatability </li></ul><ul><li>Uses 3 servos to draw pattern on paper </li></ul><ul><li>Sample pattern uses star shape </li></ul><ul><li>Project pattern uses hour-glass shape </li></ul>
  7. 7. <ul><li>Phase I – Kinematic Analysis </li></ul><ul><li>Phase II – Dynamic Analysis & The Jacobian </li></ul><ul><li>Phase III – Differential Motion/Velocity Analysis </li></ul><ul><li>Phase IV – Trajectory Planning </li></ul>
  8. 8. <ul><li>Students were to use the Denavit-Hartenberg model representation to form the Equations of Motion </li></ul><ul><li>Total Transformation Matrix: </li></ul><ul><li>R T H = R T 1 1 T 2 2 T 3 = A 1 A 2 A 3 </li></ul><ul><li>Each A Matrix represents the transformation between each joint, from one frame of reference to the next. </li></ul><ul><li>Equations of Motion: </li></ul><ul><li>n z =C 3 S 2 θ 1 = tan -1 (o y /o x ) and θ 1 = θ 1 +180˚ </li></ul><ul><li>o z =C 2 θ 2 = tan -1 (p z /[p x C 1 +p y S 1 -a 1 ]) </li></ul><ul><li>a z =S 2 S 3 </li></ul>
  9. 9. <ul><li>Using concepts taught in class, students were to perform a dynamic analysis of n-degree of freedom system (in this case, 3-DOF) </li></ul><ul><li>Students were to generate the Jacobian and differential operators </li></ul><ul><ul><li>Jacobian – representation of the geometry of the elements of a mechanism in time </li></ul></ul><ul><ul><li>Differential Operator – product of differential translations and rotations, minus the unit matrix </li></ul></ul>
  10. 10. <ul><li>Jacobian: </li></ul><ul><li>Differential Operator: </li></ul>
  11. 11. <ul><li>Students were to develop the dynamic equations of motion for their setup </li></ul><ul><li>Also, determine how much torque is required in each joint to complete an action with a certain speed or in a certain time </li></ul><ul><li>Extremely long calculations </li></ul><ul><li>General format: </li></ul><ul><li>Equations for all three joints: </li></ul>
  12. 12. <ul><li>For the Final Phase, students were to determine the needed motions of their setup and to perform Trajectory Planning for their robot </li></ul><ul><li>For simplicity’s sake, Third Order Polynomial Trajectory Planning was utilized </li></ul><ul><li>Third order polynomial: </li></ul><ul><li>θ ( t ) = c 0 + c 1 t + c 2 t 2 + c 3 t 3 </li></ul><ul><li>Boundary conditions: </li></ul>
  13. 13. <ul><li>Less than 1 hour to construct </li></ul><ul><li>Base w/ diagonal link, 3 servos, 5 links, pen, rubber band, clamps </li></ul>
  14. 14. <ul><li>1 st Attempt, program from Project Book </li></ul><ul><ul><li>Star-shaped pattern (supposedly) </li></ul></ul><ul><ul><li>Did not work, parameters for each servo different for our setup </li></ul></ul><ul><li>2 nd Attempt, program shape corners using “teach method” </li></ul><ul><ul><li>Hour-glass shape pattern </li></ul></ul><ul><ul><li>Did not work, went from corner to corner in correct sequence, but in severely curved lines. </li></ul></ul><ul><li>3 rd Attempt, program interval points along shape pattern </li></ul><ul><ul><li>Repeat hour-glass shape pattern </li></ul></ul><ul><ul><li>Not perfect, but does resemble pattern, and is repeatable </li></ul></ul><ul><ul><ul><li>Individual segments are still curvy </li></ul></ul></ul><ul><ul><ul><li>Additional interval points needed to straighten out </li></ul></ul></ul><ul><ul><ul><li>Trajectory planning complex concept for simple pattern </li></ul></ul></ul>

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