Robotics Introduction lecture

1. SBE 403 B: Bioelectronic Systems (Biomedical Robotics)
Lecture 01
Introduction
Muhammad Rushdi
mrushdi@eng1.cu.edu.eg

2. 10 Promising Technologies Assisting the Future of Medicine and Healthcare:
1) Health Sensors - Portable Diagnostics
2https://www.linkedin.com/pulse/10-promising-technologies-assisting-future-medicine-
mesk%C3%B3-md-phd

3. 10 Promising Technologies Assisting the Future of Medicine and Healthcare:
2) Artificial Intelligence in Decision Making
3http://www-03.ibm.com/press/us/en/pressrelease/44754.wss

4. 10 Promising Technologies Assisting the Future of Medicine and Healthcare:
3) The End of Human Experiments
4
http://www.3dcadworld.com/simulation-for-medical-devices/
http://www.vph-institute.org/

5. 10 Promising Technologies Assisting the Future of Medicine and Healthcare:
4) Augmented Reality
5http://www.techrepublic.com/article/6-cool-uses-for-augmented-reality-in-healthcare/
http://technoccult.net/archives/2010/01/11/augmented-reality-medical-app/

6. 10 Promising Technologies Assisting the Future of Medicine and Healthcare:
5) Social Media and Its Effects
6
https://www.smartpatients.com/ http://e-patients.net/

7. 10 Promising Technologies Assisting the Future of Medicine and Healthcare:
6) DIY Biotechnology
7https://diybio.org/

8. 10 Promising Technologies Assisting the Future of Medicine and Healthcare:
7) Direct-to-consumer Genomics
8http://knowgenetics.org/direct-to-consumer-dtc-genetics/

9. 10 Promising Technologies Assisting the Future of Medicine and Healthcare:
8) Surgical and Android Robots
9http://www.davincisurgery.com/

10. 10 Promising Technologies Assisting the Future of Medicine and Healthcare:
8) Surgical and Android Robots
10
http://www.davincisurgery.com/

11. 10 Promising Technologies Assisting the Future of Medicine and Healthcare:
9) Rehabilitation Robots: Augmenting Human
Features
11http://pcp.touchbionics.com/downloads/images/

12. 10 Promising Technologies Assisting the Future of Medicine and Healthcare:
9) Rehabilitation Robots: Augmenting Human
Features
12http://eksobionics.com/

13. 10 Promising Technologies Assisting the Future of Medicine and Healthcare:
10) Nanorobots Living in our Bloodstream
13
http://newatlas.com/nanobots-blood-drug-delivery/38064/

14. What is Robotics?
• Robotics is commonly defined as the science
studying the intelligent connection between
perception and action.
• Alternative definition: the branch of• Alternative definition: the branch of
technology that deals with the design,
construction, operation, and application of
robots.
14

15. What is a Robot?
• A robot is a goal oriented machine that can sense,
plan and act.
• A robot senses its environment and uses that
information, together with a goal, to plan some
action. The action might be to move the tool of an
arm-robot to grasp an object or it might be to drivearm-robot to grasp an object or it might be to drive
a mobile robot to some place.
15
Components of a robotic system, Siciliano et al. 2008

16. Robot Characteristics
Sensing and perception
Locomotion or manipulation
Programmability
AutonomyAutonomy
Interaction with human beings
16

17. Robot Classification
• https://www.smashingrobotics.com/standards-and-classifications-of-industrial-robots/4trtw4rxw2/
17

18. Robot Classification
• Based on autonomy
level:
- Autonomous Robots
- Controlled Robots- Controlled Robots
- Semi-Controlled
Robots
http://www.robotplatform.com/knowledge/Classification
_of_Robots/Classification_of_Robots.html
18

19. Robot Classification: Manipulators
• http://slideplayer.com/slide/6854012/
• http://mech4eng.blogspot.com.eg/2011_09_01_
archive.html
19

20. Robot Classification: Mobile Robots
• Reference control scheme for mobile robot systems, Siegwart et al. page 10 20

21. Main Problems in Robotics
• What are the basic issues to be resolved and what must we
learn in order to be able to program a robot to perform its
tasks?
• Problem 1: Forward Kinematics
• Problem 2: Inverse Kinematics
• Problem 3: Velocity Kinematics• Problem 3: Velocity Kinematics
• Problem 4: Path Planning and Trajectory Generation
• Problem 5: Vision
• Problem 6: Dynamics
• Problem 7: Position Control
• Problem 8: Force Control
21

22. Problem 1: Forward Kinematics
• Suppose we wish to move the manipulator from its home position to
position A, from which point the robot is to follow the contour of the
surface S to the point B, at constant velocity, while maintaining a
prescribed force F normal to the surface.
• The forward kinematics describe both the position of the tool and the
locations A and B (and most likely the entire surface S) with respect to a
common coordinate system.
22
Spong et al., 2005, Section 1.4

23. Problem 2: Inverse Kinematics
• Given the joint angles ɵ1, ɵ2 we can determine the end-effector
coordinates x and y. In order to command the robot to move to location
B we need the inverse; that is, we need the joint variables ɵ1, ɵ2 in terms
of the x and y coordinates of B.
23
Spong et al., 2005, Section 1.4

24. Problem 3: Velocity Kinematics
• In order to follow a contour at constant velocity, or at any prescribed
velocity, we must know the relationship between the velocity of the tool
and the joint velocities.
• The relationship is specified by the Jacobian of the manipulator.
• If the Jacobian does not have an inverse, then the manipulator is said to
be in a singular configuration.
• At singular configurations, there are infinitesimal motions that are• At singular configurations, there are infinitesimal motions that are
unachievable and solutions are non-unique.
24
Spong et al., 2005, Section 1.4

25. Problem 4: Path Planning and
Trajectory Generation
• The robot control problem is typically decomposed hierarchically into three
tasks: path planning, trajectory generation, and trajectory tracking. The
path planning problem is to determine a path in task space (or
configuration space) to move the robot to a goal position while avoiding
collisions with objects in its workspace. These paths encode position
information without timing considerations, i.e. without considering
velocities and accelerations along the planned paths. There are two stepsvelocities and accelerations along the planned paths. There are two steps
for motion planning: (a) finding a goal configuration, (b) finding a path in
the configuration space]
25Spong et al., 2005, Section 1.4
http://www.coppeliarobotics.com/helpFiles/en/motionPlanningModule.htm

26. Problem 4: Path Planning and
Trajectory Generation
• The trajectory generation problem is to generate reference trajectories
that determine the time history of the manipulator along a given path or
between initial and final configurations.
26Spong et al., 2005, Section 1.4
http://www.coppeliarobotics.com/helpFiles/en/motionPlanningModule.htm

27. Problem 5: Vision
• In the vision problem, cameras are used to measure the position of the
robot and also to locate objects external to the robot in its workspace.
• Example: Part picking using a vision-based robot
27Spong et al., 2005, Section 1.4
http://www.canon.com/technology/future/3dmachinevision.html

28. Problem 6: Dynamics
• A robot manipulator is basically a positioning device. To control the
position we must know the dynamic properties of the manipulator in order
to know how much force to exert on it to cause it to move: too little force
and the manipulator is slow to react; too much force and the arm may
crash into objects or oscillate about its desired position.
• In the dynamics problem, we derive the dynamic equations of motion of
the robot.the robot.
• This is not a simple task due to the large number of degrees of freedom
and nonlinearities present in the system.
• Develop techniques based on Lagrangian dynamics for systematically
deriving the equations of motion of such a system.
28Spong et al., 2005, Section 1.4

29. Problem 7: Position Control
• Position control is based on the Tracking and Disturbance Rejection
Problem, which is the problem of determining the control inputs necessary
to follow, or track, a desired trajectory that has been planned for the
manipulator, while simultaneously rejecting disturbances due to
unmodelled dynamic effects such as friction and noise.
29
Spong et al., 2005, Section 1.4
https://www.researchgate.net/publication/257426885_Nonlinear_disturbance_observe
r_design_for_robotic_manipulators/figures?lo=1

30. Problem 8: Force Control
• Once the manipulator has reached location A. it must follow the contour S
maintaining a constant force normal to the surface.
• Conceivably, knowing the location of the object and the shape of the
contour, we could carry out this task using position control alone. This would
be quite difficult to accomplish in practice, however. Since the manipulator
itself possesses high rigidity, any errors in position due to uncertainty in the
exact location of the surface or tool would give rise to extremely large forces
at the end-effector that could damage the tool, the surface, or the robot.at the end-effector that could damage the tool, the surface, or the robot.
• A better approach is to measure the forces of interaction directly and use a
force control scheme to accomplish the task.
30Spong et al., 2005, Section 1.4
Example: Force-Controlled Robot to
Standardize Tissue Elasticity
Measurements
https://pulselab.jhu.edu/research/

31. Textbook
Peter Corke:
Robotics, Vision and
Control - Fundamental
Algorithms in
MATLAB®. Springer Tracts inMATLAB®. Springer Tracts in
Advanced
Robotics 73, Springer 2011,
ISBN 978-3-642-20143-1, pp.
1-495
http://www.petercorke.com/RVC/
31

32. Project Guides
Embedded Systems and
Robotics with Open Source
Tools (2016)
by Amartya Mukherjee and
Nilanjan DeyNilanjan Dey
https://www.crcpress.com/Embe
dded-Systems-and-Robotics-
with-Open-Source-Tools/Dey-
Mukherjee/p/book/978149873
4387
32

33. Project Guides
Robotics: A Project-Based
Approach (2015)
Lakshmi Prayaga, Chandra
Prayaga, Alex Whiteside,Prayaga, Alex Whiteside,
and Ramakrishna Suri
https://www.amazon.com/R
obotics-Project-Based-
Approach-Lakshmi-
Prayaga/dp/1305271025/
33

34. References: General Robotics
[1] Bruno
Siciliano, Oussama
Khatib:
Springer Handbook of
Robotics. Springer 200Robotics. Springer 200
8, ISBN 978-3-540-
23957-4
34

35. References: General Robotics
[2] Roland Siegwart,
Illah R. Nourbakhsh,
Davide Scaramuzza:
Introduction to
Autonomous Mobile
Robots, Second
Edition. Intelligent
Robots, Second
Edition. Intelligent
robotics and
autonomous agents,
MIT Press 2011,
ISBN 978-0-262-
01535-6, pp. I-XVI, 1-
453
35

36. References: Biomedical Robotics
[3] Schweikard, Achim
and Floris Ernst.
Medical Robotics.
Springer, 2015.
36

37. References: Biomedical Robotics
[4] Rosen, Jacob,
Blake Hannaford,
and Richard M
Satava. Surgical
Robotics. NewRobotics. New
York: Springer,
2011.
37

38. References: Biomedical Robotics
[4] Xie, Shane.
Advanced
Robotics For
Medical
Rehabilitation.Rehabilitation.
Springer, 2016.
38

39. References: Biomedical Robotics
[3] BIOSYSTEMS &
BIOROBOTICS
(BioSysRob) book
series
http://www.springer.http://www.springer.
com/series/10421
39

40. Conferences
IEEE Robotics and Automation Society
http://www.ieee-ras.org/
BioRob — International Conference on Biomedical Robotics and Biomechatronics
http://www.ieee-ras.org/conferences-workshops/financially-co-sponsored/biorob
ICRA — IEEE International Conference on Robotics and Automation
http://www.ieee-ras.org/conferences-workshops/fully-sponsored/icra
CASE — IEEE International Conference on Automation Science and EngineeringCASE — IEEE International Conference on Automation Science and Engineering
http://www.ieee-ras.org/conferences-workshops/fully-sponsored/case
IROS — IEEE/RSJ International Conference on Intelligent Robots and Systems
http://www.ieee-ras.org/conferences-workshops/financially-co-sponsored/iros
IEEE Spectrum (Videos on Medical Robotics)
http://spectrum.ieee.org/robotics/medical-robots
40

41. ICRA 2016 Tutorial on Medical Robotics
• ICRA 2016 Tutorial on Medical Robotics
• http://web.stanford.edu/~allisono/icra2016tutorial/
• Introduction
• Lecture 1 : Design Considerations for Medical Robots
• Lecture 2 : Kinematics and Control of Medical Robots• Lecture 2 : Kinematics and Control of Medical Robots
• Lecture 3 : Image-Guided Therapy
• Lecture 4 : Collaborative Robots for Mobility Assistance and
Rehabilitation
• Conclusion
41

42. Syllabus
Lecture Date Topic References
01 Feb 10 Introduction Ch.1 RVC
02-03 Feb 17 Representing Position and Orientation Ch. 2 RVC
04 Feb 24 Time and Motion Ch. 3 RVC
05-06 Mar 2 Mobile Robot Vehicles Ch. 4 RVC
07 Mar 9 Navigation Ch. 5 RVC
08-09 Mar 16 Localization Ch. 6 RVC
10 Mar 23 Robot Arm Kinematics Ch. 7 RVC
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10 Mar 23 Robot Arm Kinematics Ch. 7 RVC
N/A Mar 30 Midterm Exam
11-12 April 6 Velocity Relationships Ch. 8 RVC
13 April 13 Dynamics and Control Ch. 9 RVC
N/A April 20 National Holiday
14-15 April 27 Dynamics and Control Ch. 9 RVC
16 May 4 Vision-based Control (or other applications) Ch. 15 RVC
17-18 May 11 Advanced Visual Servoing (or other applications) Ch. 16 RVC
19 May 18 Course Project Demos

43. Coursework
- Assignments 40%
- Midterm Exam 30%
- Projects 20%
- Attendance and Participation 10%
• Contact: Dr. Muhammad Rushdi
mrushdi@eng1.cu.edu.eg
Eng. Eslam Adel Mahmoud
eslam.a.mahmoud@eng1.cu.edu.eg
• Office hours: by appointment
43

44. Readings
• Chapter 1, Peter Corke:
Robotics, Vision and Control -
Fundamental Algorithms in MATLAB®.
• Betalan Mesko: The Guide to the Future of• Betalan Mesko: The Guide to the Future of
Medicine
https://medicalfuturist.com/
https://scienceroll.files.wordpress.com/2013/
10/the-guide-to-the-future-of-medicine-white-
paper.pdf
44