cs 545: introduction to robotics
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CS 545: Introduction to Robotics
Instructor: Prof. Hadi Moradi, d [email protected]
Lectures: M-Th 11:00-12:40, GFS118Office hours: MW 2:30 – 4:00 pm, SAL310,
Or by appointmentOr by appointment
TAs: Jeong-Yoon [email protected]: SAL 112 Office hours: TTH 1:00-2:30PM
CS 545: Introduction to Robotics
Course web page:Course web page:http://www-scf.usc.edu/~csci545Up to date information, lecture notes Relevant dates, links, etc.
Course material:Course material:Robot Modeling and Control by Spong, Hutchinson, and Vidyasagar
Class format: two sections of 45 minutes
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CS 545: Introduction to Robotics
Course overview: fundamentals of roboticsCourse overview: fundamentals of robotics including kinematics, dynamics, motion planning and localization.Prerequisites: CS 455x, i.e.,
programming principles, discrete mathematics p g g p p ,for computing, software design and software engineering concepts. Some knowledge of C/C++ for some programming assignments.
CS 545: Introduction to Robotics
Grading:Grading:25% for midterm 25% for final 50% for homeworks and projects
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Practical issues
Class list: use blackboard usc eduClass list: use blackboard.usc.edu
Login with your USC username and password
Administrative Issues
Midterm: 7/26/09 11:00 12:40pmMidterm: 7/26/09 11:00 - 12:40pm
Final: 8/10/10 11:00 - 12:40pm
See also the class web page:http://blackboard usc edu/http://blackboard.usc.edu/
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History
Robot: slaveRobot: slaveCoined in 1921: Playwright by Karel Capek
Issac Asimov laws:A robot may not …A robot must …A robot must …A robot must …
Industrial Automation
Rigid automationRigid automation
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Industrial Automation
Programmable automationProgrammable automationLow-to-midium batches of different types
Industrial Automation
Flexible automationFlexible automation Different types, different batches
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RobotsIndustrial robots:Industrial robots:
Tasks:PalletingPick up and placeMill and machine toolingPackagingWelding
Mechanical structureActuatorsSensorsControl system
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Robot examples
PUMA armPUMA armK6
Symbolic Representation of Joints
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Definitions:Configuration:Configuration:
Configuration space:Set of all possible configurations
State Space:Configuration + velocities
WorkspaceReachable workspaceDexterous workspace (subspace of reachable)
Classification of Robotic Manipulators
Power source:Power source:Hydraulic:Electric:Pneumatic:
Method of control:Open-loopClosed-loopClosed loop
Application area:AssemblyNon-assembly
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Robotic System
Accuracy vs. Repeatability
Accuracy: How close to a given pointAccuracy: How close to a given pointRepeatability: How close to previously taught point.
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Linear vs. rotational link
Wirst Structure
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Articulated Manipulator (RRR)
Workspace of RRR
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Parallelogram Linkage
h i hWhat is the advantage of putting the actuation on the first link?
SCARA Manipulator (RRP)Selective Compliant Articulated Robot for Assembly
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Cartesian Manipulator (PPP)
Workspace Comparison
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Parallel Manipulators
A Typical Problem
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Coordinate Frames
Forward Kinematics
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Inverse Kinematics
Inverse Kinematics: Joint angles
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Velocity Kinematics
Speed of tool based on the speed ofSpeed of tool based on the speed of joints
Singular ConfigurationReduction in DOFReduction in DOF
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Path planning and Trajectory Planning
Independent Joint Control
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Other issues
DynamicsDynamicsMultivariable control:Force control:Computer VisionVi i b d t lVision-based control
Issues in industrial robots
DesignDesignKinematicsInverse kinematicsDynamicsI d iInverse dynamics