from industrial robotics to autonomous vehicles and back
TRANSCRIPT
From industrial robotics to autonomous
vehicles and back
Luca Bascetta
A brief history of industrial robotics…
1959 – Development of thefirst industrial robot
1967 – The first industrial robot inEurope
1969 – Stanford ResearchInstitute demonstrate theuse of vision for mobilerobot navigation
1972 – FIAT installed spot-welding robots in car production lines
A brief history of industrial robotics…
1973 – KUKA Famulus, the first industrial robot with 6 electromechanically driven axis
1974 – ASEA IRB 6 first fully electric, microprocessor-controlled industrial robot
1976 – Robot arms are used on Viking 1 and 2
1978 – Programmable Universal Machine for Assembly (PUMA) developed by Unimate
A brief history of industrial robotics…
1978 – Hiroshi Makino developed the SCARA robot
1980 – Introduction of machine vision systems in robotics, first works on stiffness control
1990 – Introduction of network capabilities and protocols
A brief history of industrial robotics…
1994 – Motoman introduced the first synchronized control of two robots
1995 – Introduction of robot control based on vision (visual servoing)
2002 – Reis Robotic personnel-safe robot control, first example of human-robot interaction
A brief history of industrial robotics…
2003 – Spirit and Opportunity rovers exploring the planet Mars
2006 – Kuka presents the first lightweight robot, Motomanpresents a dual arm robot
2011 – Robonaut, the first robot in space
From machine vision to visual servoing
1980 – Introduction of machine vision systems in robotics
Look-then-move strategies
From machine vision to visual servoing
1995 – Introduction of robot control based on vision (visual servoing)
The camera is in the loop!
The added value of a camera in the loop
Tip position estimation
Joint control
Joint position measurements
Standard sensors
Direct tip position measurement
Camera
Many limitations of position control
• cannot adapt to sudden changes in environment
• if a contact occurs the controller increases motor torques (risk of damage or injuries)
• difficult or impossible to work on workpieces with complex geometry
Force control allows also to
• control the interaction force and ensure a stable contact
• enable physical human-robot interaction (manual guidance)
But it is still not robust enough to be an industrial product!
Force control: why is it so important?
Increasing the robustness of force control algorithms
Using force control for human-robot interaction
Human-robot interaction: the beginning of a new era
EU FP7 Project ROSETTA
Safety supervision in a robotic cell
The research on autonomous vehicles: another revolution
1969 – Stanford demonstrate the use of vision for mobile robot navigation
Fusing industrial robotics and autonomous vehicles
Execution of complex manipulation tasks
• in unstructured and dynamic environments
• in cooperation with humans
• considering the system as a whole
• exploiting robot-robot cooperation
Examples in
• agricultural robotics
• logistic robotics
• human-robot and robot-robot cooperative load transportation
• …
Autonomous mobile manipulation