Topics in robotics

Topics in Robotics
Bushra Jbawi Rawan Al-saman Samira Nizam
Sundos Hammoud Noor Al-huda Isbel Haya Al-khatib

CONTENTS
Robot Control System
Robotics Programming Languages
Robotics Learning

Robot Control System
Classification Based on Control Systems:
1. Limited Sequence Control.
2. Playback with Point-to-Point Control.
3. Playback with Continuous Path Control.
4. Intelligent Control.

Limited Sequence Control.
 an elementary control type.
 Uses mechanical stops to set position.
 used for simple motion cycles (pick-and-place operations).
 Precision of such control system is less.

Point-to-Point Control (PTP)
 The locations are recorded in the control memory.
 records work cycle, as a sequence of points, then plays back
the work cycle during program execution.
 It can be moved in a small distance.
 used for hole drilling, machine loading and unloading.

Continuous Path System
 the robot can stop at any specified point along the controlled
path
 All the points along the path must be stored explicitly in the
robot’s control memory.
 greater storage capacity
 Interpolation capability to execute paths

Intelligent Control
 Digital computer as a controller.
 Intelligent, work according to their environment.
 Decision-making capability and ability to communicate with
humans.
 Responsiveness to advanced sensor inputs.
 Advanced programming language to input the decision-
making logic and other ‘intelligence' into the memory.

Programming Languages
Three Programming Methods:
 Manual teaching
 Lead through teaching
 Programming languages

Programming Languages contd..
Manual Teaching:
 Point to Point applications
Lead Through Teaching:
 Continuous Path Programming
 Robot Simulator
 Advantage is direct programming but also have disadvantages

Disadvantages:
 Every motion is recorded and played back in the same
manner. So unintentional motions also be played.
 Impossible to achieve exact required velocity
 Memory size is required to store the data.
 Investment in a simulator is required.

Programming Languages:
 There are many programming languages such as :AL, VAL,
AML, RPL.
 They are Classified as:
- First Generation Language
- Second Generation Language
- World modelling and task oriented object level language

First Generation Language:
 Off-Line Programming used in combination with teach
pendant.
 VAL is an example of this kind.

Second Generation Language:
 AML,VAL II etc…
 Structural Programming language performing complex tasks.
 Apart from straight line interpolation performs complex
motions.
 Uses force, torque and other sensors.
 Data processing, file management and keeping all records is
done.

World modelling & task oriented object
level language:
 More advanced language is WORLD modelling.
 Intelligence is required.

Some of the Programming Languages:
 ARL (Assembly Robot Language):
The progress of micro-computers has made it possible to execute
complicated tasks.
 HARL (Hitachi Assembly Robot Language):
 It is a commercial version of ARL
 Suited for point-to-point assembly and handling tasks.
 18 instructions.
 Motion control data is programmed and after programming, location
data used in the program is taught in order to make location
information of motion statements.

AL (Arm Language):
It is currently the language which has undergone the most
important development. It first appeared in the course of original
research at the Stanford University.
VAL (Vic Arm Language):
An interactive version of AL, known as VAL and its associated
hardware have been adapted to all Animate robots which
previously used an old from of point control. A new version of VAL
called VAL II, is at present being tested.

 AML (A Manufacturing Language):
It is a language represented by IBM with its robots and was introduced
into the market in 1982. the Cartesian hydraulic robot RS-1 (or 7565) is
produces by IBM and the 7535 electric robot from the Scara range is
produced in Japan by Sankyo. IBM Automated Parts Assembly System
(AUTO PASS) Language attempts to eliminate the need for issuing
detailed instructions to the robot. The program automatically determines
the grip points and motion paths from geometric database

 IRL (Intuitive Robot Language):
- developed by Swiss Company Microbo
- affiliated to the large watch-making companies, for its range of high
precision assembly robots
 LM (Language de Manipulation):
‐ developed in the IMAG robotics laboratory at the University of
Gernable in 1979.
- adopts most of the main concepts of AL.
- it is used on a microcomputer (68000) .

 MCL:
- developed within a framework that has projects.
- resolve in a unified way all the problems associated with robot
programming.
- programming of flexible units, that is, of a set of machines served by
one or more robots.
 PLAW (Programming Language for Arc Welding):
‐ “intelligent” welding, that is which involves the use of sensors

ROL (Robot Language):
‐ new approach to the robotics market.
‐ designing a complete commercial system for computerized control
adaptable to any robot.
SIGLA (Sigma Language):
- for use with an industrial robot.
- influenced by numerical control languages,
- allows control of several arms, with loops and tests on the sensor

 Other languages are intended to operate with artificial sensory
input that enables the robot to act more independently
- the Stanford Research Institute Robot Programming Language
(RPL) includes capabilities for interpreting video signals, enabling
the robot to visually identity parts

Robotics Learning
Definition:
A multitude Machine Learning approaches that have been
adapted successfully to Robotics domain so that they allow
learning in complex robot system like Helicopters

Robotics Learning contd..
Classical artificial intelligent based “old
school”
Generate rules and models manually
Robot Learning
Certain that it’s unlike to foresee all interesting real-world
situations sufficiently accurate

Learning has been successful in fields like :
1. Imitation Learning ((IM))
2. Reinforcement Learning ((RL))

Imitation Learning:
 Known as behavioral cloning.
 Enables robots to learn and reproduce trajectory-based skills
from a set of demonstrations through kinesthetic teaching.
 Is utilized to teach primitive actions (i.e., pull and push) to the
robot.
 A key advantage : it can often learn a task successfully from
few demonstrations.

Imitation Learning:
 The iCub robot learn using IL
 It interact with objects.
 It can push and pull a cube.

Imitation Learning:
 The tutor is teaching pull and push actions to the robot using
kinesthetic teaching.

Reinforcement Learning:
 Supervised learning:
learning from data which are all labelled with the desired
outcome/action
 Reinforcement learning:
learning by trial and error. The agent interacts with the
environment and may receive reward or punishment

Reinforcement Learning:
 The agent interacts with the environment by using its (virtual)
sensors and effectors. The reward function determines which
agent’s behavior is most desired:
 Reward: if the desired position is reached
 Punishment: if the robot makes a collision

 PR2 is a German robot
 RoboHow project: Just tell a robot what to do
 Every day actions may be difficult for a robot
 Its knowledge added to Open Ease

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