Introduction

RoboticsIntroduction

Vladimír Smutný

Center for Machine Perception

Czech Institute for Informatics, Robotics, and Cybernetics (CIIRC)

Czech Technical University in Prague

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ROBOTICS: Vladimır Smutny Slide 1, Page 1

Robotics

Introductory course about controlled mechanical systems includingmanipulators, robot arms, manufacturing, and other machines.

Robot Just young Rossum got an idea to make fromit live and intelligent machines (Karel Čapek,R.U.R., prelude).

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ROBOTICS: Vladimır Smutny Slide 2, Page 2

Bonding

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Note, that the cost of the robot is just one, sometimessmall, part of the production cell cost. The parts to be ma-chined, assembled, inspected,... shall be somehow grasped orfixed in the place and when different products are produ-

ced on the same line, sometimes whole fixtures are preparedfor each type or size of the product. Programming the robotand cooperating machines, fencing, safety measures are otherparts of the cell cost.

ROBOTICS: Vladimır Smutny Slide 10, Page 3

Axle Assembly

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ROBOTICS: Vladimır Smutny Slide 12, Page 4

FrontEnd Assembly

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ROBOTICS: Vladimır Smutny Slide 13, Page 5

14/23Clopema robot

Clopema gripper has two fingers and three degrees of fre-edom. It can open close, it can slide fingers relatively, it com-

plies when pushed from top or bottom, and one can controlthe compliance force.

ROBOTICS: Vladimır Smutny Slide 14, Page 6

Grippers

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Standard grippers used in industry. Vacuum gripper and magnetic grippers are used very often.

ROBOTICS: Vladimır Smutny Slide 16, Page 7

Grippers II

Versaball: http://www.youtube.com/embed/bOuzbOLA7fYSchunk dexterous hand: https://www.youtube.com/watch?v=hPtSbPzROrsSchunk SDH-2: https://www.youtube.com/watch?v=4QvShViUceM

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Researchers from Cornell university developed the univer-sal gripper which could grasp various objects. Shadowhand isan unsuccesfull attempt to simulate the human hand. Three

fingers Schunk dexterous hand is already commercially avai-lable.

ROBOTICS: Vladimır Smutny Slide 18, Page 8

Parts of robotics and other subjects

Theoretical robotics: searches for principles, potentials andconstraints(biology, psychology, etology, mathematics, physics).

Experimental robotics: checks principles, builds toy devices(cybernetics, artificial intelligence, combination of engineeringdisciplines).

Industrial robotics: Designs, builds and uses robots(control engineering theory and instrumentation, electronics,machine engineering, production automation).

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ROBOTICS: Vladimır Smutny Slide 19, Page 9

THREE LAWS OF ROBOTICS

(Isaac Asimov, The caves of steel , Galaxy No. 13, 1950.)

1. A robot may not injure a human being or, through inaction,allow a human being to come to harm.

2. A robot must obey the orders given to it by human beings,except where such orders would conflict with the First Law.

3. A robot must protect its own existence, except where suchprotection would conflict with the First and Second Law.

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Comment: One has to understand that contemporaryrobots cannot reason how to apply robotic laws but de-signer shall implement the laws explicitly (e.g. using fen-ces, light curtains, emergency circuits,...). E.g. Mitsubishicontrol unit is able online check whether tool center is wi-thin restricted convex area. Safety norms for robot ap-plications could be found e.g. here (list made by Kuka):

73/23/EEC Low Voltage Directive: CouncilDirective of 19 February 1973 onthe harmonization of the laws ofMember States relating to electri-cal equipment designed for use wi-thin certain voltage limits

1993

89/336/EEC EMC Directive: Council Directiveof 3 May 1989 on the approxi-mation of the laws of the MemberStates relating to electromagneticcompatibility

1993

97/23/EC Pressure Equipment Directive: Di-rective of the European Parliamentand of the Council of 29 May 1997on the approximation of the lawsof the Member States concerningpressure equipment

1997

98/37/EC Machinery Directive: Directive ofthe European Parliament and ofthe Council of 22 June 1998 on theapproximation of the laws of theMember States relating to machi-nery

1998

ROBOTICS: Vladimır Smutny Slide 20, Page 10

Safety in real world

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EN 418 Safety of machinery: EMER-GENCY STOP equipment,functional aspects; principles fordesign

1993

EN 563 Safety of machinery: Temperaturesof touchable surfaces - Ergonomicsdata to establish temperature limitvalues for hot surfaces

2000

EN 614-1 Safety of machinery: Ergonomicdesign principles - Part 1: Termsand general principles

1995

EN 775 Industrial robots: Safety 1993EN 954-1 Safety of machinery: Safety-related

parts of control systems - Part 1:General principles for design

1997

EN 55011 Industrial, scientific and medical(ISM) radio-frequency equipment- Radio disturbance characteristics- Limits and methods of measure-ment

2003

EN 60204-1 Safety of machinery: Electricalequipment of machines - Part 1:General requirements

1998

EN 61000-4-4 Electromagnetic compatibility(EMC): Part 4-4: Testing and me-asurement techniques - Electricalfast transient/burst immunity test

2002

EN 61000-4-5 Electromagnetic compatibility(EMC): Part 4-5: Testing andmeasurement techniques; Surgeimmunity test

2001

EN 61000-6-2 Electromagnetic compatibility(EMC): Part 6-2: Generic stan-dards - Immunity for industrialenvironments

2002

EN 61000-6-4 Electromagnetic compatibility(EMC): Part 6-4: Generic stan-dards; Emission standard forindustrial environments

2002

EN 61800-3 Adjustable speed electrical powerdrive systems: Part 3: EMC pro-duct standard including specifictest methods

2001

EN ISO 12100-1 Safety of machinery: Basic con-cepts, general principles for design- Part 1: Basic terminology, metho-dology

2004

EN ISO 12100-2 Safety of machinery: Basic con-cepts, general principles for design- Part 2: Technical principles

2004

ROBOTICS: Vladimır Smutny Slide 21, Page 11

PRODUCTION AND AUTOMATION

Introduction of mechanisation, automation and robotisation:� Decrease of human presence in production.� Shortening of production time.� Increase of performance and productivity of labour.� Increase of the product quality.� Technical, economic and social viewpoints.� Automation decreases the influence of human factor toproduction quality.

� The qualification structure of the work force is changed.� The number of workers decreases. At least sometimes.

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ROBOTICS: Vladimır Smutny Slide 23, Page 12