This document provides an overview of topics related to bioelectronic systems and biomedical robotics. It lists 10 promising technologies assisting the future of medicine, including health sensors, artificial intelligence, the end of human experiments, augmented reality, and rehabilitation robots. It then discusses what robotics is, defines a robot, and covers various robot classifications. The document outlines the main problems in robotics like forward and inverse kinematics, velocity kinematics, path planning, vision, dynamics, position control, and force control. It provides references for general robotics, biomedical robotics, textbooks, project guides, conferences, and readings. Finally, it shares the syllabus and coursework details for an introduction biomedical robotics lecture course.
Motion Control of Mobile Robots using Fuzzy Controllerijtsrd
In this study, a motion control based on fuzzy logic is designed so that mobile robots can make the turns they make when moving in an unknown environment more flexibly and smoothly. Fuzzy logic control is suitable for controlling mobile robots because the results can be obtained under uncertainty. Fuzzy logic control is implemented through a set of rules created using expert knowledge. The fuzzy rules created in this paper are designed to allow mobile robots to escape from obstacles, to avoid contact with walls, and to make soft turns without harming their structure. According to the obtained simulation results, the mobile robot has been shown to have successful results in fuzzy logic based motion control. Halil ‡etin | Akif Durdu "Motion Control of Mobile Robots using Fuzzy Controller" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-4 | Issue-1 , December 2019, URL: https://www.ijtsrd.com/papers/ijtsrd29626.pdf Paper URL: https://www.ijtsrd.com/engineering/computer-engineering/29626/motion-control-of-mobile-robots-using-fuzzy-controller/halil-%C3%A7etin
Navigation and Trajectory Control for Autonomous Robot/Vehicle (mechatronics)Mithun Chowdhury
The document is a presentation about navigation and trajectory control for autonomous vehicles. It was presented by two students from the University of Trento in Italy.
The presentation introduces mobile robot design considerations including the interrelation between tasks, environments, kinematic models, path/trajectory planning, and high-level and low-level control. It explains that the robot task and environment must be identified first and the kinematic model selected based on this. Path planning is then needed to generate admissible trajectories that satisfy the kinematic constraints. High-level control executes tasks and trajectories while low-level control handles velocity commands.
It also explains concepts like holonomic and non-holonomic constraints, accessibility spaces, and maneuvers
Wall follower autonomous robot development applying fuzzy incremental controllerrajabco
This paper presents the design of an autonomous robot as a basic development of an intelligent wheeled mobile robot for air duct or corridor cleaning. The robot navigation is based on wall following algorithm. The robot is controlled us- ing fuzzy incremental controller (FIC) and embedded in PIC18F4550 microcontroller. FIC guides the robot to move along a wall in a desired direction by maintaining a constant distance to the wall. Two ultrasonic sensors are installed in the left side of the robot to sense the wall distance. The signals from these sensors are fed to FIC that then used to de- termine the speed control of two DC motors. The robot movement is obtained through differentiating the speed of these two motors. The experimental results show that FIC is successfully controlling the robot to follow the wall as a guid- ance line and has good performance compare with PID controller.
The document discusses robot kinematics and robot programming. It covers topics like forward and inverse kinematics, Jacobian matrices, and manipulator dynamics. It also discusses trajectory generation and manipulator mechanism design. Finally, it discusses robot programming languages like VAL and how they are used to program motion commands, sensor commands, end effector commands, and simple programs.
This document discusses robotics perception and sensors. It provides an overview of forward and inverse kinematics, feedback control concepts, and different types of sensors used in robotics like laser rangefinders, infrared sensors, and their performance characteristics. It also outlines an exercise for designing a robot capable of various tasks like vacuuming, lawn mowing, or ball collection and discusses the necessary sensors, algorithms, and mechanisms to address. Homework assigned is to read a section on perception and complete a questionnaire.
Artificial Neural Network based Mobile Robot NavigationMithun Chowdhury
This document presents a neural network based navigation system for mobile robots. It uses an artificial neural network (ANN) trained with Backpropagation Through Time (BPTT) to plan paths and navigate around obstacles. The input to the ANN is the state of the robot described using polar coordinates relative to the target position and orientation. Obstacles are also included as inputs by dividing the area in front of the robot into regions. The cost function for training is extended with a potential field to repel the robot from obstacles. Simulation results showed the robot could successfully navigate a maze and reach the target while avoiding multiple obstacles.
PSO APPLIED TO DESIGN OPTIMAL PD CONTROL FOR A UNICYCLE MOBILE ROBOTJaresJournal
In this work, we propose a Particle Swarm Optimization (PSO) to design Proportional Derivative
controllers (PD) for the control of Unicycle Mobile Robot. To stabilize and drive the robot precisely with
the predefined trajectory, a decentralized control structure is adopted where four PD controllers are used.
Their parameters are given simultaneously by the proposed algorithm (PSO). The performance of the
system from its desired behavior is quantified by an objective function (SE). Simulation results are
presented to show the efficiency of the method. ).
The results are very conclusive and satisfactory in terms of stability and trajectory tracking of unicycle
mobile robot
This document discusses the design and applications of industrial robot manipulators. It describes how a robotic arm is composed of rigid links connected by joints, and defines important robot terms like degrees of freedom, joint types, link parameters, and work volume. It also categorizes common robot system configurations and explains robot kinematics, dynamics, motion types, and trajectory planning.
Motion Control of Mobile Robots using Fuzzy Controllerijtsrd
In this study, a motion control based on fuzzy logic is designed so that mobile robots can make the turns they make when moving in an unknown environment more flexibly and smoothly. Fuzzy logic control is suitable for controlling mobile robots because the results can be obtained under uncertainty. Fuzzy logic control is implemented through a set of rules created using expert knowledge. The fuzzy rules created in this paper are designed to allow mobile robots to escape from obstacles, to avoid contact with walls, and to make soft turns without harming their structure. According to the obtained simulation results, the mobile robot has been shown to have successful results in fuzzy logic based motion control. Halil ‡etin | Akif Durdu "Motion Control of Mobile Robots using Fuzzy Controller" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-4 | Issue-1 , December 2019, URL: https://www.ijtsrd.com/papers/ijtsrd29626.pdf Paper URL: https://www.ijtsrd.com/engineering/computer-engineering/29626/motion-control-of-mobile-robots-using-fuzzy-controller/halil-%C3%A7etin
Navigation and Trajectory Control for Autonomous Robot/Vehicle (mechatronics)Mithun Chowdhury
The document is a presentation about navigation and trajectory control for autonomous vehicles. It was presented by two students from the University of Trento in Italy.
The presentation introduces mobile robot design considerations including the interrelation between tasks, environments, kinematic models, path/trajectory planning, and high-level and low-level control. It explains that the robot task and environment must be identified first and the kinematic model selected based on this. Path planning is then needed to generate admissible trajectories that satisfy the kinematic constraints. High-level control executes tasks and trajectories while low-level control handles velocity commands.
It also explains concepts like holonomic and non-holonomic constraints, accessibility spaces, and maneuvers
Wall follower autonomous robot development applying fuzzy incremental controllerrajabco
This paper presents the design of an autonomous robot as a basic development of an intelligent wheeled mobile robot for air duct or corridor cleaning. The robot navigation is based on wall following algorithm. The robot is controlled us- ing fuzzy incremental controller (FIC) and embedded in PIC18F4550 microcontroller. FIC guides the robot to move along a wall in a desired direction by maintaining a constant distance to the wall. Two ultrasonic sensors are installed in the left side of the robot to sense the wall distance. The signals from these sensors are fed to FIC that then used to de- termine the speed control of two DC motors. The robot movement is obtained through differentiating the speed of these two motors. The experimental results show that FIC is successfully controlling the robot to follow the wall as a guid- ance line and has good performance compare with PID controller.
The document discusses robot kinematics and robot programming. It covers topics like forward and inverse kinematics, Jacobian matrices, and manipulator dynamics. It also discusses trajectory generation and manipulator mechanism design. Finally, it discusses robot programming languages like VAL and how they are used to program motion commands, sensor commands, end effector commands, and simple programs.
This document discusses robotics perception and sensors. It provides an overview of forward and inverse kinematics, feedback control concepts, and different types of sensors used in robotics like laser rangefinders, infrared sensors, and their performance characteristics. It also outlines an exercise for designing a robot capable of various tasks like vacuuming, lawn mowing, or ball collection and discusses the necessary sensors, algorithms, and mechanisms to address. Homework assigned is to read a section on perception and complete a questionnaire.
Artificial Neural Network based Mobile Robot NavigationMithun Chowdhury
This document presents a neural network based navigation system for mobile robots. It uses an artificial neural network (ANN) trained with Backpropagation Through Time (BPTT) to plan paths and navigate around obstacles. The input to the ANN is the state of the robot described using polar coordinates relative to the target position and orientation. Obstacles are also included as inputs by dividing the area in front of the robot into regions. The cost function for training is extended with a potential field to repel the robot from obstacles. Simulation results showed the robot could successfully navigate a maze and reach the target while avoiding multiple obstacles.
PSO APPLIED TO DESIGN OPTIMAL PD CONTROL FOR A UNICYCLE MOBILE ROBOTJaresJournal
In this work, we propose a Particle Swarm Optimization (PSO) to design Proportional Derivative
controllers (PD) for the control of Unicycle Mobile Robot. To stabilize and drive the robot precisely with
the predefined trajectory, a decentralized control structure is adopted where four PD controllers are used.
Their parameters are given simultaneously by the proposed algorithm (PSO). The performance of the
system from its desired behavior is quantified by an objective function (SE). Simulation results are
presented to show the efficiency of the method. ).
The results are very conclusive and satisfactory in terms of stability and trajectory tracking of unicycle
mobile robot
This document discusses the design and applications of industrial robot manipulators. It describes how a robotic arm is composed of rigid links connected by joints, and defines important robot terms like degrees of freedom, joint types, link parameters, and work volume. It also categorizes common robot system configurations and explains robot kinematics, dynamics, motion types, and trajectory planning.
simuliton of biped walkinng robot using kinematicsReza Fazaeli
This document describes simulation and control of a biped walking robot using kinematic and dynamic modeling. It presents the dynamic equations of motion for a 2D model of the robot with 5 degrees of freedom. It then describes how impacts are modeled when the swing foot makes contact with the ground. A linear control method is developed using selected outputs to control the robot's motion along a straight line. Simulation results are shown for both 2D and 3D dynamic models of the robot, with angles, velocities, accelerations, and torques calculated. The robot is able to walk stably along a straight line by maintaining balance during single support phases, demonstrating the effectiveness of the control approach.
This document discusses robot sensors and perception. It begins with a review of robot kinematics and control concepts like forward and inverse kinematics, feedback control, and proportional control. It then covers specific sensors like laser rangefinders, infrared sensors, and cameras. Examples of sensors on robots like Roomba, PrairieDog, Nao, and PR2 are provided. The performance aspects of sensors like range, resolution, linearity, and accuracy are defined. Case studies of laser rangefinders and infrared distance sensors are described in detail relating their physics and working principles to their performance capabilities and limitations. An exercise is proposed to design robots for vacuuming, lawn mowing, and ball collecting giving consideration to necessary sensors, algorithms, and mechanisms
Walking Control Algorithm of Biped Humanoid Robot on Even, Uneven and Incline...Saraj Sadanand
This document describes a walking control algorithm that allows a biped humanoid robot to walk stably on even, uneven, and inclined surfaces. It first discusses static and dynamic walking methods. It then explains how the algorithm uses zero moment point (ZMP) and center of pressure (COP) to control balance during walking. The algorithm generates walking patterns and uses online controllers to maintain an upright posture and control angular momentum during landing on uneven surfaces through ankle torque control. This allows the robot to adapt its walking to different floor conditions.
Fractional order PID for tracking control of a parallel robotic manipulator t...ISA Interchange
This paper presents the tracking control for a robotic manipulator type delta employing fractional order PID controllers with computed torque control strategy. It is contrasted with an integer order PID controller with computed torque control strategy. The mechanical structure, kinematics and dynamic models of the delta robot are descripted. A SOLIDWORKS/MSC-ADAMS/MATLAB co-simulation model of the delta robot is built and employed for the stages of identification, design, and validation of control strategies. Identification of the dynamic model of the robot is performed using the least squares algorithm. A linearized model of the robotic system is obtained employing the computed torque control strategy resulting in a decoupled double integrating system. From the linearized model of the delta robot, fractional order PID and integer order PID controllers are designed, analyzing the dynamical behavior for many evaluation trajectories. Controllers robustness is evaluated against external disturbances employing performance indexes for the joint and spatial error, applied torque in the joints and trajectory tracking. Results show that fractional order PID with the computed torque control strategy has a robust performance and active disturbance rejection when it is applied to parallel robotic manipulators on tracking tasks.
IRJET- Review on Hyper Maneuverable Multi-Functional RobotIRJET Journal
This document reviews research on a proposed hyper maneuverable multi-functional robot. It would use mecanum wheels for omni-directional movement and a jointed robotic arm for multiple functions. The arm would be controlled in real-time using sensors on the human arm to detect gestures and movements. The document provides background on mecanum wheels, reviews previous research on related topics, and proposes using accelerometers, gyroscopes and hall-effect sensors on the human arm to control the robot arm.
This document presents an adaptive control strategy for simultaneous tracking and stabilization of a nonholonomic wheeled mobile robot with uncertainties. It designs an adaptive tracking controller consisting of a position controller and direction angle controller. The position controller uses a hyperbolic tangent function and adaptive laws to guarantee global stability despite uncertainties. An adaptive sliding mode controller controls the direction angle while considering its effect on position stability. Adjusting controller gains ensures the direction angle converges much faster than position, guaranteeing overall stability. The tracking controller is also extended to a stabilization controller by selecting reference velocities, converting stabilization to an equivalent tracking problem. Simulations and experiments validate the controller can simultaneously handle trajectory tracking and stabilization for mobile robots.
Industrial robots have been used in manufacturing since the 1950s. They are programmable devices that use manipulators to perform manufacturing tasks like welding and assembly. The manipulator consists of joints and links that position an end effector, typically a gripper. Robots are programmed using manual teaching, lead-through, or programming languages. Common applications include material handling, painting, welding, and inspection. While robots increase productivity and safety, they also displace some human labor.
Help humans in daily tasks like serving food, cleaning etc.
Industrial: Used in manufacturing for tasks like welding, assembly etc.
Surgical: Used in minimally invasive surgeries with greater precision.
Space: Used for space exploration, planetary rovers, satellite repair etc.
Underwater: Used for tasks like repairing offshore oil rigs, scientific research.
Military: Used for bomb disposal, surveillance, transportation in hostile areas.
Agricultural: Used for tasks like seeding, fertilizing, crop monitoring etc.
Entertainment: Used for education, art, music etc.
Domestic: Used for vacuuming, mopping floors, lawn mowing
Automation and Robotics 20ME51I WEEK 8 Theory notes.pdfGandhibabu8
The document provides an overview of fundamentals of robotics, including:
- Definitions of robots and industrial robots. Robots are computer-controlled machines that can be programmed to manipulate objects and accomplish tasks.
- Components of industrial robots including the mechanical unit, drive system, control system, and tooling attached to the wrist.
- Configurations of robots such as articulated, polar, SCARA, Cartesian, cylindrical, and delta robots which differ in their axes of movement and work volumes.
- Degrees of freedom refer to the independent movements a robot can perform and most robots have five to six degrees of freedom allowing positioning and orientation.
- End effectors like grippers attach
This document summarizes research on medical robots, including modeling, path planning, and motion control. It describes how medical robots are modeled as 6 degree of freedom manipulators to perform surgical operations. Path planning algorithms discussed include the probabilistic roadmap method and fuzzy logic approaches. The probabilistic roadmap method constructs a graph of collision-free paths between random configurations. Fuzzy logic can be used to vary a robot's speed based on the number of obstacles detected. Overall the document provides an overview of different techniques for modeling, path planning, and motion control of medical robots.
IRJET- Design and Fabrication of PLC and SCADA based Robotic Arm for Material...IRJET Journal
This document describes the design and fabrication of a PLC and SCADA-controlled robotic arm for material handling. The robotic arm uses pneumatic cylinders connected by joints to move along three axes (X, Y, and Z). A mechanical gripper is attached to the end of the arm to grip objects on a conveyor belt. The movements of the pneumatic cylinders and gripper are controlled by a PLC based on sensor inputs from the conveyor belt. The PLC and robotic arm are integrated with a SCADA system for centralized control and monitoring. The robotic arm is intended to automate repetitive picking and placing tasks to reduce labor costs compared to manual operations.
ROBOTICS-ROBOT KINEMATICS AND ROBOT PROGRAMMINGTAMILMECHKIT
Forward Kinematics, Inverse Kinematics and Difference; Forward Kinematics and Reverse Kinematics of manipulators with Two, Three Degrees of Freedom (in 2 Dimension), Four Degrees of freedom (in 3 Dimension) Jacobians, Velocity and Forces-Manipulator Dynamics, Trajectory Generator, Manipulator Mechanism Design-Derivations and problems. Lead through Programming, Robot programming Languages-VAL Programming-Motion Commands, Sensor Commands, End Effector commands and simple Programs
Pick and Place Robotic Claw for Engineering ApplicationsIRJET Journal
This document describes a pick and place robotic claw system controlled by a programmable logic controller (PLC). The robotic claw uses stepper motors and sensors to pick up and move objects automatically. It discusses the hardware components, including the PLC, proximity sensors, and stepper motors. The robotic claw has applications in material handling, packaging, construction, and other industries. It allows for accurate and flexible automation of repetitive tasks while maximizing safety and efficiency. Potential future applications mentioned include high-speed pick and place of small items, handling of flexible packages, and palletizing/de-palletizing.
1) The document describes the design and implementation of a pick and place robot using a PIC microcontroller, sensors, and DC motors. It includes the mechanical design of the robotic arm and gripper.
2) Simulation results show the robot arm moving in response to signals from the PIC microcontroller to the DC motors. The real-world behavior is then compared to the simulation results.
3) Different robot configurations - including Cartesian, cylindrical, parallel, and SCARA - are evaluated in terms of their advantages and disadvantages for various applications. The document concludes that the articulated robot arm performed pick and place tasks as intended.
The document discusses robot kinematics and programming. It covers topics like robot joints and links, forward and inverse kinematics, position representation, homogeneous transformations, teach pendants, robot programming methods including leadthrough and textual languages, interpolation schemes, and generations of robot programming languages. Examples of concepts like translation, rotation, and programming commands are provided.
The document analyzes the repeatability of an industrial robotic arm. Six experiments were designed with variations in point density, path sequence, and speed of movement. The robot traced points in grids repetitively and the displacement errors were measured. Statistical analysis using ANOVA and box plots showed that repeatability is most affected by speed of movement, with errors increasing at higher speeds. Path sequence and point density also impact repeatability but to a lesser degree. The results provide insight into how to minimize positional errors under different working conditions.
This document provides information about robotics engineering as a professional elective. It begins with definitions of robotics and industrial robots. It then discusses various components of industrial robots including manipulators, sensors, tooling, and controllers. It describes different types of robot configurations including Cartesian, cylindrical, polar, and jointed-arm. It also covers topics like drive systems, specifications, applications, and the Denavit-Hartenberg convention for representing robot kinematics.
The document outlines the key components of industrial robots including manipulator components, end effectors, control systems, applications, and programming languages. It describes how manipulators consist of joints and links that provide various degrees of freedom and discusses common joint types. The document also examines different robot configurations, control system types from limited sequence to intelligent control, applications in material handling and processing, and programming methods like teach pendant and offline programming.
This document outlines the design of a tour guide robot for the Chambers Technology Center building. It includes sections on the system design, hardware and software research, project development, justifications for design choices, test results, conclusions, applications, lessons learned, and future improvements. The robot uses sensors and microcontrollers to navigate autonomously around obstacles while providing verbal descriptions of points of interest on its tour route. Hardware includes ultrasonic sensors for obstacle avoidance, a compass sensor for navigation, and a Raspberry Pi for voice recognition and speech. Software includes algorithms for navigation and the Voicecommand program. The team developed the system over the semester and tested its performance.
The document discusses industrial robot applications and programming. It describes how robots are used for material handling, assembly, processing and inspection operations that are hazardous, repetitive or difficult for humans. It then covers various types of material handling applications including pick and place, palletizing, machine loading/unloading and stacking operations. The document also discusses robot programming methods, languages, accuracy, repeatability and resolution.
Hello Everyone!
This is the best ppt on Robotics. It includes all the topics from history to today's latest technology. Those who are keen to know about artificial intelligence then this ppt is the best platform to start. I am sure that you will get to know how the robots are made, their operation in industries and how they can become a part of our future technology.
Do watch and learn the whole ppt and start learning more about it for your future career.
Remember the future is here!
Thank You!
simuliton of biped walkinng robot using kinematicsReza Fazaeli
This document describes simulation and control of a biped walking robot using kinematic and dynamic modeling. It presents the dynamic equations of motion for a 2D model of the robot with 5 degrees of freedom. It then describes how impacts are modeled when the swing foot makes contact with the ground. A linear control method is developed using selected outputs to control the robot's motion along a straight line. Simulation results are shown for both 2D and 3D dynamic models of the robot, with angles, velocities, accelerations, and torques calculated. The robot is able to walk stably along a straight line by maintaining balance during single support phases, demonstrating the effectiveness of the control approach.
This document discusses robot sensors and perception. It begins with a review of robot kinematics and control concepts like forward and inverse kinematics, feedback control, and proportional control. It then covers specific sensors like laser rangefinders, infrared sensors, and cameras. Examples of sensors on robots like Roomba, PrairieDog, Nao, and PR2 are provided. The performance aspects of sensors like range, resolution, linearity, and accuracy are defined. Case studies of laser rangefinders and infrared distance sensors are described in detail relating their physics and working principles to their performance capabilities and limitations. An exercise is proposed to design robots for vacuuming, lawn mowing, and ball collecting giving consideration to necessary sensors, algorithms, and mechanisms
Walking Control Algorithm of Biped Humanoid Robot on Even, Uneven and Incline...Saraj Sadanand
This document describes a walking control algorithm that allows a biped humanoid robot to walk stably on even, uneven, and inclined surfaces. It first discusses static and dynamic walking methods. It then explains how the algorithm uses zero moment point (ZMP) and center of pressure (COP) to control balance during walking. The algorithm generates walking patterns and uses online controllers to maintain an upright posture and control angular momentum during landing on uneven surfaces through ankle torque control. This allows the robot to adapt its walking to different floor conditions.
Fractional order PID for tracking control of a parallel robotic manipulator t...ISA Interchange
This paper presents the tracking control for a robotic manipulator type delta employing fractional order PID controllers with computed torque control strategy. It is contrasted with an integer order PID controller with computed torque control strategy. The mechanical structure, kinematics and dynamic models of the delta robot are descripted. A SOLIDWORKS/MSC-ADAMS/MATLAB co-simulation model of the delta robot is built and employed for the stages of identification, design, and validation of control strategies. Identification of the dynamic model of the robot is performed using the least squares algorithm. A linearized model of the robotic system is obtained employing the computed torque control strategy resulting in a decoupled double integrating system. From the linearized model of the delta robot, fractional order PID and integer order PID controllers are designed, analyzing the dynamical behavior for many evaluation trajectories. Controllers robustness is evaluated against external disturbances employing performance indexes for the joint and spatial error, applied torque in the joints and trajectory tracking. Results show that fractional order PID with the computed torque control strategy has a robust performance and active disturbance rejection when it is applied to parallel robotic manipulators on tracking tasks.
IRJET- Review on Hyper Maneuverable Multi-Functional RobotIRJET Journal
This document reviews research on a proposed hyper maneuverable multi-functional robot. It would use mecanum wheels for omni-directional movement and a jointed robotic arm for multiple functions. The arm would be controlled in real-time using sensors on the human arm to detect gestures and movements. The document provides background on mecanum wheels, reviews previous research on related topics, and proposes using accelerometers, gyroscopes and hall-effect sensors on the human arm to control the robot arm.
This document presents an adaptive control strategy for simultaneous tracking and stabilization of a nonholonomic wheeled mobile robot with uncertainties. It designs an adaptive tracking controller consisting of a position controller and direction angle controller. The position controller uses a hyperbolic tangent function and adaptive laws to guarantee global stability despite uncertainties. An adaptive sliding mode controller controls the direction angle while considering its effect on position stability. Adjusting controller gains ensures the direction angle converges much faster than position, guaranteeing overall stability. The tracking controller is also extended to a stabilization controller by selecting reference velocities, converting stabilization to an equivalent tracking problem. Simulations and experiments validate the controller can simultaneously handle trajectory tracking and stabilization for mobile robots.
Industrial robots have been used in manufacturing since the 1950s. They are programmable devices that use manipulators to perform manufacturing tasks like welding and assembly. The manipulator consists of joints and links that position an end effector, typically a gripper. Robots are programmed using manual teaching, lead-through, or programming languages. Common applications include material handling, painting, welding, and inspection. While robots increase productivity and safety, they also displace some human labor.
Help humans in daily tasks like serving food, cleaning etc.
Industrial: Used in manufacturing for tasks like welding, assembly etc.
Surgical: Used in minimally invasive surgeries with greater precision.
Space: Used for space exploration, planetary rovers, satellite repair etc.
Underwater: Used for tasks like repairing offshore oil rigs, scientific research.
Military: Used for bomb disposal, surveillance, transportation in hostile areas.
Agricultural: Used for tasks like seeding, fertilizing, crop monitoring etc.
Entertainment: Used for education, art, music etc.
Domestic: Used for vacuuming, mopping floors, lawn mowing
Automation and Robotics 20ME51I WEEK 8 Theory notes.pdfGandhibabu8
The document provides an overview of fundamentals of robotics, including:
- Definitions of robots and industrial robots. Robots are computer-controlled machines that can be programmed to manipulate objects and accomplish tasks.
- Components of industrial robots including the mechanical unit, drive system, control system, and tooling attached to the wrist.
- Configurations of robots such as articulated, polar, SCARA, Cartesian, cylindrical, and delta robots which differ in their axes of movement and work volumes.
- Degrees of freedom refer to the independent movements a robot can perform and most robots have five to six degrees of freedom allowing positioning and orientation.
- End effectors like grippers attach
This document summarizes research on medical robots, including modeling, path planning, and motion control. It describes how medical robots are modeled as 6 degree of freedom manipulators to perform surgical operations. Path planning algorithms discussed include the probabilistic roadmap method and fuzzy logic approaches. The probabilistic roadmap method constructs a graph of collision-free paths between random configurations. Fuzzy logic can be used to vary a robot's speed based on the number of obstacles detected. Overall the document provides an overview of different techniques for modeling, path planning, and motion control of medical robots.
IRJET- Design and Fabrication of PLC and SCADA based Robotic Arm for Material...IRJET Journal
This document describes the design and fabrication of a PLC and SCADA-controlled robotic arm for material handling. The robotic arm uses pneumatic cylinders connected by joints to move along three axes (X, Y, and Z). A mechanical gripper is attached to the end of the arm to grip objects on a conveyor belt. The movements of the pneumatic cylinders and gripper are controlled by a PLC based on sensor inputs from the conveyor belt. The PLC and robotic arm are integrated with a SCADA system for centralized control and monitoring. The robotic arm is intended to automate repetitive picking and placing tasks to reduce labor costs compared to manual operations.
ROBOTICS-ROBOT KINEMATICS AND ROBOT PROGRAMMINGTAMILMECHKIT
Forward Kinematics, Inverse Kinematics and Difference; Forward Kinematics and Reverse Kinematics of manipulators with Two, Three Degrees of Freedom (in 2 Dimension), Four Degrees of freedom (in 3 Dimension) Jacobians, Velocity and Forces-Manipulator Dynamics, Trajectory Generator, Manipulator Mechanism Design-Derivations and problems. Lead through Programming, Robot programming Languages-VAL Programming-Motion Commands, Sensor Commands, End Effector commands and simple Programs
Pick and Place Robotic Claw for Engineering ApplicationsIRJET Journal
This document describes a pick and place robotic claw system controlled by a programmable logic controller (PLC). The robotic claw uses stepper motors and sensors to pick up and move objects automatically. It discusses the hardware components, including the PLC, proximity sensors, and stepper motors. The robotic claw has applications in material handling, packaging, construction, and other industries. It allows for accurate and flexible automation of repetitive tasks while maximizing safety and efficiency. Potential future applications mentioned include high-speed pick and place of small items, handling of flexible packages, and palletizing/de-palletizing.
1) The document describes the design and implementation of a pick and place robot using a PIC microcontroller, sensors, and DC motors. It includes the mechanical design of the robotic arm and gripper.
2) Simulation results show the robot arm moving in response to signals from the PIC microcontroller to the DC motors. The real-world behavior is then compared to the simulation results.
3) Different robot configurations - including Cartesian, cylindrical, parallel, and SCARA - are evaluated in terms of their advantages and disadvantages for various applications. The document concludes that the articulated robot arm performed pick and place tasks as intended.
The document discusses robot kinematics and programming. It covers topics like robot joints and links, forward and inverse kinematics, position representation, homogeneous transformations, teach pendants, robot programming methods including leadthrough and textual languages, interpolation schemes, and generations of robot programming languages. Examples of concepts like translation, rotation, and programming commands are provided.
The document analyzes the repeatability of an industrial robotic arm. Six experiments were designed with variations in point density, path sequence, and speed of movement. The robot traced points in grids repetitively and the displacement errors were measured. Statistical analysis using ANOVA and box plots showed that repeatability is most affected by speed of movement, with errors increasing at higher speeds. Path sequence and point density also impact repeatability but to a lesser degree. The results provide insight into how to minimize positional errors under different working conditions.
This document provides information about robotics engineering as a professional elective. It begins with definitions of robotics and industrial robots. It then discusses various components of industrial robots including manipulators, sensors, tooling, and controllers. It describes different types of robot configurations including Cartesian, cylindrical, polar, and jointed-arm. It also covers topics like drive systems, specifications, applications, and the Denavit-Hartenberg convention for representing robot kinematics.
The document outlines the key components of industrial robots including manipulator components, end effectors, control systems, applications, and programming languages. It describes how manipulators consist of joints and links that provide various degrees of freedom and discusses common joint types. The document also examines different robot configurations, control system types from limited sequence to intelligent control, applications in material handling and processing, and programming methods like teach pendant and offline programming.
This document outlines the design of a tour guide robot for the Chambers Technology Center building. It includes sections on the system design, hardware and software research, project development, justifications for design choices, test results, conclusions, applications, lessons learned, and future improvements. The robot uses sensors and microcontrollers to navigate autonomously around obstacles while providing verbal descriptions of points of interest on its tour route. Hardware includes ultrasonic sensors for obstacle avoidance, a compass sensor for navigation, and a Raspberry Pi for voice recognition and speech. Software includes algorithms for navigation and the Voicecommand program. The team developed the system over the semester and tested its performance.
The document discusses industrial robot applications and programming. It describes how robots are used for material handling, assembly, processing and inspection operations that are hazardous, repetitive or difficult for humans. It then covers various types of material handling applications including pick and place, palletizing, machine loading/unloading and stacking operations. The document also discusses robot programming methods, languages, accuracy, repeatability and resolution.
Hello Everyone!
This is the best ppt on Robotics. It includes all the topics from history to today's latest technology. Those who are keen to know about artificial intelligence then this ppt is the best platform to start. I am sure that you will get to know how the robots are made, their operation in industries and how they can become a part of our future technology.
Do watch and learn the whole ppt and start learning more about it for your future career.
Remember the future is here!
Thank You!
1) The document discusses the fundamentals of robotic manipulators, including their classification, parts, motions, and work envelopes.
2) The major types of robot configurations are Cartesian, cylindrical, spherical, SCARA, and articulated, which are defined by their joint types and resulting work spaces.
3) Robotic manipulators consist of links connected by joints and powered by electric, hydraulic, or pneumatic drives to position an end effector through programmed motions.
Hello Everyone!
This is the best ppt on Robotics. It includes all the topics from history to today's latest technology. Those who are keen to know about artificial intelligence then this ppt is the best platform to start. I am sure that you will get to know how the robots are made, their operation in industries and how they can become a part of our future technology.
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This document describes the development of an autonomous mobile robot for wall following using a fuzzy incremental controller. Two ultrasonic sensors are used to sense the distance to the wall and provide input to the controller. The controller determines the speed of two DC motors to guide the robot along the wall. Experimental results showed the fuzzy controller successfully controlled the robot to follow the wall, performing better than a PID controller. The robot is intended for applications like cleaning air ducts or corridors by autonomously navigating while maintaining a set distance from the wall.
A pick and place robot with a end effector to grip and place objects in your desired location,controlled by RF communication. Pick and place robot has many advantages and it uses in military, medical and defense applications.
Tocci chapter 13 applications of programmable logic devices extendedcairo university
The document discusses the family tree of digital systems, including standard logic, ASICs, microprocessors, DSPs, and different types of programmable logic devices like PLDs, CPLDs, and FPGAs. It covers the architectures of early PLDs like PROM, PAL, and FPLA, which have programmable AND and OR gates, as well as the different programming technologies for modern PLDs like SRAM, flash memory, EPROM, and antifuse.
The document discusses various types of memory devices and technologies. It covers topics like memory terminology, ROM, EPROM, EEPROM, and flash memory. Key points include that ROM is read-only memory that can be mask-programmed or one-time programmable, while EPROM, EEPROM and flash memory use floating-gate MOS transistors and can be electrically erased and reprogrammed in bulk or individually.
This document covers MSI (medium-scale integration) logic circuits. It discusses decoders, multiplexers, encoders, and other digital logic components. Decoders take binary inputs and activate one of multiple outputs. Multiplexers select one of several inputs to output based on a digital select code. Encoders convert coded inputs to binary outputs. The document provides circuit diagrams and explanations of common MSI components like decoders, multiplexers, priority encoders, and code converters. It also discusses applications such as seven-segment displays, LCDs, and digital systems.
This document discusses various types of counters and registers, including asynchronous (ripple) counters, synchronous (parallel) counters, decade counters, BCD counters, shift registers, ring counters, and Johnson counters. It provides details on their structure, operation, and applications. Key topics covered include propagation delay in ripple counters, the advantages of synchronous counters, designing counters with different mod numbers, decoding counter states, and using counters for functions like stepper motor control.
Tocci ch 6 digital arithmetic operations and circuitscairo university
The document discusses digital arithmetic operations and circuits, including binary addition, representing signed numbers, addition and subtraction in the two's complement system, multiplication and division of binary numbers, BCD addition, hexadecimal arithmetic, and arithmetic circuits. It describes how an ALU performs arithmetic operations by accepting data from memory and executing instructions from the control unit, using adders, registers, and control signals to perform addition and subtraction.
Tocci ch 3 5 boolean algebra, logic gates, combinational circuits, f fs, - re...cairo university
This document contains lecture slides on logic gates and Boolean algebra. It covers topics like De Morgan's theorem, sum of products and product of sums, logic gate representations including NAND and NOR gates, flip flops including JK and D flip flops. Circuit diagrams and truth tables are provided for latching circuits and different types of flip flops. The document is copyrighted and appears to be from a course on logic gates and Boolean algebra taught by Muhammad A M Islam.
The document discusses latches and flip-flops, basic memory circuits. It describes the latch, SR flip-flop, CMOS enabled SR flip-flop, and CMOS SRAM memory cell. It also discusses a one-transistor dynamic RAM cell. The document focuses on the circuit designs and operations of various basic memory components.
A14 sedra ch 14 advanced mos and bipolar logic circuitscairo university
This document discusses advanced logic circuits including pseudo-NMOS logic, pass-transistor logic, dynamic MOS logic, emitter-coupled logic (ECL), and BiCMOS digital circuits. Pseudo-NMOS logic uses one transistor per input instead of two to reduce area and delay. Pass-transistor logic builds logic functions using NMOS or transmission gate switches. Dynamic MOS logic uses precharge and evaluate phases to reduce static power at the cost of increased sensitivity to noise. ECL uses differential pairs for noise immunity and constant current sources. BiCMOS combines CMOS and BJTs to achieve high performance with lower power than ECL.
This document discusses CMOS digital logic circuits. It covers special characteristics like fan-out, power dissipation, and propagation delay. It then describes the basic CMOS inverter circuit. The inverter uses complementary NMOS and PMOS transistors for the pull-down and pull-up networks. When the input is low, the NMOS transistor is on and the PMOS is off, pulling the output high. When the input is high, the opposite occurs. This allows the output to switch between 0V and the supply voltage with very low static power dissipation.
The document discusses the high-frequency response of common-emitter (CE) amplifiers. It first examines the CE amplifier circuit and its mid-band behavior when the capacitors are short circuits. It then explores how each internal capacitor (CB, CC, CE) affects the frequency response as it blocks signal flow at lower frequencies. The document also considers the Miller effect, which multiplies the input capacitance seen at the base due to feedback through the amplifier. Overall, the internal capacitances lower the amplifier's bandwidth as frequency decreases.
This document describes the structure and operation of MOS field-effect transistors (MOSFETs). It covers topics such as device structure, current-voltage characteristics, MOSFET circuits at DC, and large-signal equivalent circuit models. Examples are provided to illustrate how to analyze MOSFET circuits and calculate current and voltage values. The document also discusses the physical mechanisms involved in MOSFET operation such as creation of a channel for current flow and derivation of current-voltage relationships.
This document discusses MOS field-effect transistors (MOSFETs) and includes the following topics:
1. It outlines the structure and operation of MOSFET devices, including creating a channel for current flow and deriving the iD-vDS relationship.
2. It covers current-voltage characteristics of MOSFETs such as the iD-vDS, iD-vGS curves and their different operating regions.
3. It provides examples of solving for unknown variables in MOSFET circuits operating in different regions, such as the triode and saturation regions.
This document discusses MOS field-effect transistors (MOSFETs) and their operation. It covers MOSFET device structure and physical operation, current-voltage characteristics, MOSFET circuits at DC, applying MOSFETs in amplifier design, small signal operations and models, and other related topics. The document contains diagrams and equations to illustrate MOSFET characteristics and circuit analysis. It provides an overview of the key concepts and applications of MOSFET devices.
This document discusses coordinate systems and vector calculus concepts needed for electromagnetic field theory. It introduces Cartesian, cylindrical, and spherical coordinate systems. It explains that vector integration requires defining appropriate differential elements (length, area, volume) that vary based on the coordinate system. It also introduces concepts of gradient, divergence, and curl - vector operators used to take derivatives of vector fields. The gradient represents the maximum rate of change, divergence measures flux, and curl represents rotational nature. Expressions for these operators are given in the three coordinate systems.
The document discusses the interaction of electromagnetic fields (EMFs) with biological systems. It notes that the topic is studied to assess potential health hazards, enable applications in biology and medicine, and optimize the design of EM devices. The document outlines various effects of EMF exposure at different frequencies, therapeutic and diagnostic EMF applications, and the need to model human exposure and effects through governing equations and human body models. Key areas covered include dosimetry, various human body models, RF applications like keyless entry and MRI, hyperthermia modeling, and diagnostic applications such as endoscopic capsules.
1. The document discusses various electromagnetic boundary conditions including:
- Electric and magnetic field boundary conditions between dielectric-dielectric interfaces where the normal component of B and tangential component of E are continuous.
- Conductor-dielectric boundary conditions where the surface charge density is related to the normal electric field component.
2. Faraday's law relates the rate of change of magnetic flux through a loop to the induced electromotive force around the loop. Lenz's law states that the induced current will flow such that it creates a magnetic field opposing the original change in flux.
3. The plane wave solution for electromagnetic waves in free space represents the electric and magnetic fields as propagating sinusoidal functions of space and time with
Electrical stimulation can be used for many applications including vision restoration, epilepsy control, tremor control, cardiac pacing, and more. Magnetic fields are generated by moving electric charges. The Biot-Savart law describes the magnetic field generated by a current element, while Ampere's law relates the magnetic field to the current passing through a closed loop. Materials respond differently to magnetic fields based on properties like diamagnetism, paramagnetism, and ferromagnetism. Ferromagnetic materials have domains that can align with an external magnetic field, allowing the material to retain magnetization.
Here are some examples of FDA-approved therapeutic devices that use direct current (DC) electric fields:
- Bone growth stimulators - Use pulsed electromagnetic fields or capacitively coupled electric fields to promote bone healing of fractures that are not healing on their own.
- Transcutaneous electrical nerve stimulators (TENS) - Apply electric currents to stimulate nerves for pain relief and muscle rehabilitation.
- Iontophoresis devices - Use low-level electrical currents to drive ionized drug molecules through the skin for local drug delivery.
- Cardioversion/defibrillation devices - Apply controlled electric shocks to the heart to treat irregular heart rhythms like atrial fibrillation or ventricular fibrillation.
The document provides an overview of the Silicon Labs C8051F020 microcontroller. It describes the microcontroller's CPU, memory organization, I/O ports, analog and digital peripherals such as ADCs, DACs, and comparators. It also discusses the microcontroller's special function registers used to control and interface with its various peripherals.
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Supermarket management is a stand-alone J2EE using Eclipse Juno program.
This project contains all the necessary required information about maintaining
the supermarket billing system.
The core idea of this project to minimize the paper work and centralize the
data. Here all the communication is taken in secure manner. That is, in this
application the information will be stored in client itself. For further security the
data base is stored in the back-end oracle and so no intruders can access it.
Accident detection system project report.pdfKamal Acharya
The Rapid growth of technology and infrastructure has made our lives easier. The
advent of technology has also increased the traffic hazards and the road accidents take place
frequently which causes huge loss of life and property because of the poor emergency facilities.
Many lives could have been saved if emergency service could get accident information and
reach in time. Our project will provide an optimum solution to this draw back. A piezo electric
sensor can be used as a crash or rollover detector of the vehicle during and after a crash. With
signals from a piezo electric sensor, a severe accident can be recognized. According to this
project when a vehicle meets with an accident immediately piezo electric sensor will detect the
signal or if a car rolls over. Then with the help of GSM module and GPS module, the location
will be sent to the emergency contact. Then after conforming the location necessary action will
be taken. If the person meets with a small accident or if there is no serious threat to anyone’s
life, then the alert message can be terminated by the driver by a switch provided in order to
avoid wasting the valuable time of the medical rescue team.
Generative AI Use cases applications solutions and implementation.pdfmahaffeycheryld
Generative AI solutions encompass a range of capabilities from content creation to complex problem-solving across industries. Implementing generative AI involves identifying specific business needs, developing tailored AI models using techniques like GANs and VAEs, and integrating these models into existing workflows. Data quality and continuous model refinement are crucial for effective implementation. Businesses must also consider ethical implications and ensure transparency in AI decision-making. Generative AI's implementation aims to enhance efficiency, creativity, and innovation by leveraging autonomous generation and sophisticated learning algorithms to meet diverse business challenges.
https://www.leewayhertz.com/generative-ai-use-cases-and-applications/
Digital Twins Computer Networking Paper Presentation.pptxaryanpankaj78
A Digital Twin in computer networking is a virtual representation of a physical network, used to simulate, analyze, and optimize network performance and reliability. It leverages real-time data to enhance network management, predict issues, and improve decision-making processes.
Determination of Equivalent Circuit parameters and performance characteristic...pvpriya2
Includes the testing of induction motor to draw the circle diagram of induction motor with step wise procedure and calculation for the same. Also explains the working and application of Induction generator
Determination of Equivalent Circuit parameters and performance characteristic...
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
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
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
42
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