robotic systems - agriculture and forestry
TRANSCRIPT
Ro
bo
tic
Sys
tem
s -
Ag
ricu
ltu
re a
nd
Fo
rest
ry
Wal
kin
g F
ore
stry
Man
ipu
lato
r
Plu
stec
h O
y F
inla
nd
Innova
tive tech
nolo
gy
is u
sed a
mong
agri
cultu
re a
nd fore
stry
in o
rder
to in
crease
the
work
´s e
ffic
iency
. T
he F
innis
h c
om
pany
Plu
stech
Oy
has
deve
loped the w
orl
d´s
firs
tw
alk
ing fore
stry
manip
ula
tor
whose
ingenio
us
walk
ing k
inem
atic
s w
ere
copie
d fro
m e
xam
ple
sth
at M
oth
er
Natu
re p
rovi
des.
The c
om
pute
r-co
ntr
olle
d,
six-
leg
ged
wal
kin
g m
ech
anis
msu
its a
ny
of th
e v
ario
us
kinds
of g
round
conditi
ons
that m
ay
be found in
fore
sts
aro
und
the w
orld. Y
et it
is d
esi
gned n
ot to
harm
the
envi
ronm
ent it
is w
ork
ing in
, e.g
. its
weig
ht is
at
all
times
eve
nly
dis
trib
ute
d o
n the fore
st flo
or,
and it
pre
vents
soil
ero
sion. T
he d
evi
ce is
contr
olle
d b
y a jo
ysti
ck a
nd it
s cl
aw
is u
sed to
handle
and m
ove
tre
e tru
nks
.
Ro
bo
tic
Sys
tem
s -
Car
e / R
ehab
ilit
atio
n
FR
IEN
D -
Fu
nct
ion
al R
ob
ot
Arm
wit
h U
ser
Fri
end
ly In
terf
ace
for
Dis
able
d P
eop
le
Un
iver
sity
of
Bre
men
Ger
man
y
The a
im o
f F
RIE
ND
is the d
eve
lopm
ent of a
robot sy
stem
whic
h s
upport
s people
with
seve
re p
hys
ical i
mpairm
ent
in d
aily
life
and in
the w
ork
envi
ronm
ent. T
he s
yste
m c
onsi
sts
of
an e
lect
ric p
ow
ere
d w
heelc
hair,
a M
AN
US
robot arm
and a
sta
ndard
PC
whic
h is
attach
ed
in a
rugged c
ase
to th
e b
ack
sid
e o
f the
wheelc
hair.
A t
ray
and a
fla
t sc
reen a
rem
ounte
d a
t th
e le
ft s
ide o
f th
e w
heelc
hair
. T
he
stru
cture
of th
e e
ntir
e c
ontr
ol s
yste
m is
coars
ely
div
ided u
p in
to the c
om
ponents
robot
contr
olle
r, c
om
mand in
terp
rete
r, a
dm
inis
tratio
nm
odule
for
pre
-pro
gra
mm
ed m
otio
ns
and m
an-
mach
ine in
terf
ace
. T
he u
ser-
orie
nte
d m
an-
mach
ine in
terf
ace
can b
e o
pera
ted in
tw
odiff
ere
nt m
odes:
pre
-pro
gra
mm
ed m
otio
ns
and
use
r-co
ntr
olle
d r
obot m
ove
ments
.
Ro
bo
tic
Sys
tem
s -
Cle
an
ing
SK
YW
AS
H
AE
G, D
orn
ier,
Fra
un
ho
fer
Inst
itu
te,
Pu
tzm
eist
er -
Ger
man
y
Usi
ng 2
Sky
wash
robots
for
cleanin
g a
Boein
g747-4
00 ju
mbo je
t, it
s gro
undin
g tim
e is
reduce
d fr
om
9 to
3.5
hours
. T
he w
orld
´sla
rgest
cle
anin
g b
rush
tra
vels
a d
ista
nce
of
appro
xim
ate
ly 3
.8 k
ilom
ete
rs a
nd c
ove
rs a
surf
ace
of a
round 2
,400 m
² w
hic
h is
about
85%
of th
e e
ntir
e p
lan
e´s
surf
ace
are
a. T
he
kinem
atic
s co
nsi
st o
f 5
mai
n jo
ints
for
the
robot´
s arm
, and a
n a
dditi
onal o
ne
for
the
turn
ing
cir
cle
of th
e r
ota
ting w
ash
ing
bru
sh.T
he S
kyw
ash
incl
udes
dat
abas
e th
atco
nta
ins
the
airc
raft
-sp
ecif
ic g
eom
etri
cal
dat
a. A
3-D
dis
tan
ce c
amer
a acc
ura
tely
posi
tions
the m
obile
robot
next
to the a
ircra
ft.
The 3
-D c
am
era
and the c
om
pute
r dete
rmin
eth
e a
ircr
aft´s
ideal p
osi
tionin
g, a
nd th
us
the
cleanin
g p
roce
ss b
egin
s.
Ro
bo
tic
Sys
tem
s -
Co
nst
ruct
ion
Th
e R
oad
Ro
bo
t
ES
PR
IT p
rog
ram
Eu
rop
ea
n U
nio
n
The R
oad R
obot is
se
lf-navi
gatin
g, s
elf-
steerin
g a
nd c
om
ple
tely
com
pute
rized r
oad
finis
her.
The g
oal w
as
for
road e
ngin
eers
to
build
road s
urf
ace
s m
ore
ratio
nally
, m
ore
envi
ronm
enta
lly-f
riend
ly. T
he e
ntir
e p
roce
ssco
nsi
sts
of fo
ur
sub
syst
em
s, y
et each
one h
as
its o
wn m
odule
: th
e lo
gis
tics
of
coate
dm
ate
rials
, th
e tra
velin
g m
ech
anis
m, th
egeom
etr
y of th
e r
oad s
urf
ace
and the p
lank.
There
are
tw
o d
iffere
nt w
ays
of opera
ting the
devi
ce: e
ither
by
radio
fro
m the e
ngin
eers
´offic
e o
r w
ith the o
n-b
oard
com
pute
r to
uch
scre
en. T
he R
oad R
obot´
s die
sel-ele
ctric
dri
vedecr
ease
s th
e n
ois
e u
p to 1
2 d
B (
A),
pro
duce
s50%
less
exh
aust
fum
es
and r
equire
s 50%
less
gaso
line than a
conve
ntio
nal r
oad fin
isher
of a
n e
qual p
erf
orm
ance
leve
l.
Ro
bo
tic
Sys
tem
s -
Mas
ter
/ Sla
ve T
eleo
per
ato
r
Mas
ter
/ Sla
ve R
ob
ot
Sar
cos
Puppete
ers
in the e
nte
rta
inm
ent
busi
ness
, tu
rnm
ast
er-
slave
robots
into
inte
ract
ive a
ctors
that
react
in r
eal-t
ime. C
ontr
olli
ng a
nanth
ropom
orp
hic
robot r
equire
s only
one
pers
on to o
pera
te, eve
n t
hough these
man-li
kero
bots
may
poss
ess
up to 5
6 d
egre
es o
ffr
eed
om
whic
h m
ay
all
have
to b
e d
irect
ed
sim
ulta
neousl
y. A
n E
xosk
ele
ton e
quip
ped w
ithposi
tion s
enso
rs r
egis
ters
the m
ast
er´
sm
ove
ments
and tra
nsf
er
them
to the r
obot´
sco
ntr
ol s
yste
m. T
he c
ontr
ol a
lgorit
hm
s ensu
resi
mila
r m
ove
ments
of th
e r
obot.
ww
w.s
arc
os.
com
Ro
bo
tic
Sys
tem
s -
Haz
ard
ou
s D
uti
es
Tel
ero
b
Ost
fild
ern
, Ger
man
y
• F
ire F
ightin
g
• N
ucl
ear
React
or
• E
xplo
sive
s htt
p:/
/ww
w.t
eler
ob
.co
m
Ro
bo
tic
Sys
tem
s -
Med
ical
ZE
US
Co
mp
ute
r M
oti
on
, In
c.
Go
leta
, CA
The Z
EU
S R
obotic
Surg
ical S
yste
m is
com
pris
ed o
f an e
rgon
om
ic s
urg
eon c
onso
leand thre
e table
-mounte
d r
obotic
arm
s, w
hic
hact
as
the s
urg
eon's
hands
and e
yes
durin
gm
inim
ally
inva
sive
surg
ery
. W
hile
sitt
ing a
t th
eco
nso
le, th
e s
urg
eon c
ontr
ols
the r
ight a
nd le
ftro
botic
arm
s th
at tr
ansl
ate
to r
eal-t
ime
manip
ula
tion o
f th
e s
urg
ical i
nst
rum
ents
with
inth
e p
atie
nt's
body.
Th
e third
arm
inco
rpora
tes
the
AE
SO
P te
chn
olo
gy,
pro
vidin
g the s
urg
eon
with
a c
ontr
olle
d a
nd s
teady
view
of th
ein
tern
al o
pera
tive fie
ld.
ww
w.c
om
pu
term
oti
on
.co
m
Ro
bo
tic
Sys
tem
s -
Med
ical
da
Vin
ci
Intu
itiv
e S
urg
ical
, In
c.
Mo
un
tain
Vie
w, C
A
The d
a V
inci
™ S
urg
ical S
yste
m c
onsi
sts
of a
surg
eon's
conso
le, a p
atie
nt-
side c
art
, a h
igh
perf
orm
ance
vis
ion s
yste
m a
nd o
ur
pro
prie
tary
inst
rum
ents
. U
sing the d
a V
inci
Surg
ical
Sys
tem
, th
e s
urg
eon o
pera
tes
while
seate
dco
mfo
rtably
at
a c
onso
le v
iew
ing a
3-D
image
of th
e s
urg
ical f
ield
. T
he s
urg
eon's
fin
gers
gra
sp the in
stru
ment
contr
ols
belo
w the d
ispla
yw
ith w
rists
natu
rally
posi
tioned r
ela
tive to h
is o
rher
eye
s. O
ur
tech
nolo
gy
seam
less
lytr
ansl
ate
s th
e s
urg
eon's
move
ments
into
pre
cise
, re
al-tim
e m
ove
ments
of our
surg
ical
inst
rum
ents
insi
de the p
atie
nt.
ww
w.in
tuit
ives
urg
ical
.co
m
Ro
bo
tic
Sys
tem
s -
Med
ical
Inte
gra
ted
Su
rgic
al S
yste
ms,
Inc.
Dav
is, C
A
RO
BO
DO
C
To
tal h
ip r
epla
cem
ent-
Th
e r
obot m
ills
aca
vity
in the fem
ur
for
a p
rost
hetic
impla
nt. T
he
syst
em
is d
esi
gned to
acc
ura
tely
shape the
cavi
ty for
a p
reci
se fit
with
the im
pla
nt.
To
tal k
nee
rep
lace
men
t -
The r
obot pla
nes
knee s
urf
ace
s on the fem
ur
and tib
ia to
ach
ieve
a p
reci
se fit
for
the im
pla
nt.
Neu
roM
ate
is a
com
pute
r-co
ntr
olle
d, i
mage-
direct
ed r
obotic
sys
tem
for
stere
ota
ctic
funct
ional b
rain
su
rgerie
s. T
he F
ram
ele
ssN
uero
Mate
Sys
tem
elim
inate
s th
e n
eed to u
seth
e c
um
bers
om
e a
nd v
ery
pain
ful f
ram
es
that
are
tra
diti
onally
use
d for
many
bra
in s
urg
erie
s.
The s
yste
m o
rients
and p
osi
tions
a v
ariety
of
surg
ical t
ools
. ww
w.r
ob
od
oc.
com
Ro
bo
tic
Sys
tem
s -
Un
der
wat
er
Dia
bo
loH
YD
RO
VIS
ION
Sco
tlan
d
Dia
bolo
work
s in
depth
s of up to 2
,000 m
and
carr
ies
a p
ayl
oad o
f 300kg
. Its
weig
ht is
2800K
g a
nd it
can b
e a
dapte
d to c
arr
y up to
450 k
g. A
ssem
bly
and m
onito
ring a
re th
eare
as
of em
plo
yment
whic
h D
iablo
has
been
desi
gned fo
r. T
he m
ain
are
as
of em
plo
yment
are
dril
ling p
latform
s and u
nderw
ate
r pip
elin
eco
nst
ruct
ion w
ork
s. In a
dditi
on to it
s hig
hperf
orm
ance
leve
l, th
e r
obot ca
n b
e e
quip
ped
with
manip
ula
tor
arm
s and u
p to fiv
e d
iffere
nt
cam
era
sys
tem
s.
htt
p:/
/ww
w.h
ydro
visi
on
.co
.uk
Ro
bo
tic
Sys
tem
s -
Mo
bile
(B
iolo
gic
ally
Insp
ired
)
P3
HO
ND
A
Ori
gin
of
Nam
e: P
roto
type 3
Pu
rpo
se:
To c
ulti
vate
a n
ew
dim
ensi
on in
mobili
ty a
s an a
uto
mobile
com
pany
Vis
ion
: D
igita
l vid
eo c
am
era
s
Sen
sors
: G
yrom
ete
r, G
-Senso
rs, 6-A
xis
forc
ese
nso
rs o
n w
rist
s and f
eet
Bat
teri
es:
Ni-Z
n b
atterie
s, 2
5 m
inute
dura
tion
Ext
ern
al P
ow
er:
DC
136
v
Pro
ject
Sta
tus:
Ongoin
g
http://w
orld.h
onda.c
om
/robot/
Typ
e /
Yea
rP
1 /
93P
2 /
96P
3 /
97A
sim
o /0
0H
eigh
t [m
]1.
915
1.82
01.
61.
2W
eigh
t [K
g]17
521
013
043
Walk
ing
Speed
[km
/h]
*2.0
2.0
1.6
Pay
load
pe
r H
and
*5.
02.
00.
5
Ro
bo
tic
Sys
tem
s -
Mo
bile
(B
iolo
gic
ally
Insp
ired
)
RO
BO
NA
UT
NA
SA
Ori
gin
of
Nam
e: R
obotic
ast
ronaut
Pu
rpo
se:
Help
hum
ans
work
and e
xplo
re in
space
Hei
gh
t: 1
.9 m
Wei
gh
t:182 k
gV
isio
n:
Ste
reo c
am
era
sS
enso
rs:
150 p
er
limb -
posi
tion, ve
loci
ty,
torq
ue, fo
rce, te
mpera
ture
Fra
me
Co
mp
osi
tio
n:
Alu
min
um
(body
padded
with
Kevl
ar
and T
eflo
n to m
ake
robonaut
firepro
of and b
ulle
tpro
of -
space
junk
is a
big
thre
at )
Pro
ject
Sta
tus:
Ongoin
g
http
://ve
suvi
us.js
c.na
sa.g
ov/e
r_er
/htm
l/rob
onau
t/rob
onau
t.htm
l
Ro
bo
tic
Sys
tem
s -
Mo
bile
(B
iolo
gic
ally
Insp
ired
)
AIB
O
SO
NY
Ori
gin
of
Nam
e: T
he firs
t tw
o le
tters
of th
ew
ord
AIB
O s
tand for
Art
ifici
al I
nte
lligence
.A
IBO
is a
lso a
robot w
ith e
yes,
so [it
is] an
eye
bo(t
). F
inally
, AIB
O is
als
o n
am
ed a
fter
the
japanese
word
for
'pal.'
Hei
gh
t:266 m
mL
eng
th:
274 m
mW
eig
ht:
1.6
kg
Vis
ion
: D
igita
l cam
era
Sen
sors
: C
onta
ct, in
frare
d, acc
ele
ratio
n,
angula
r ve
loci
ty, m
icro
phone
Bat
teri
es:
Lith
ium
ion E
xtern
al P
ow
er
AC
rech
arg
er
Co
st:
$850 -
$1,5
00
Pro
ject
Sta
tus:
Just
the b
egin
nin
g
htt
p:/
/ww
w.a
ibo
.co
m/
Ro
bo
tic
Sys
tem
s -
Mo
bile
- S
pac
e
Mar
s P
ath
fin
der
NA
SA
Sp
acec
raft
Launch
: Dece
mber
4, 1996
Landin
g:
July
4, 1997
Mass
: 895 k
ilogra
ms
(1,9
73 p
ounds)
at la
unch
,fu
ele
dS
cience
inst
rum
ents
: Im
ager;
Magnets
for
measu
ring m
agnetic
pro
pert
ies
of so
il; W
ind
sock
s; A
tmosp
heric
stru
cture
inst
rum
ent/m
ete
oro
logy
pack
age
Ro
ver
(S
ojo
urn
er)
Mass
: 10.6
kilo
gra
ms
(23 p
ounds)
Sci
ence
inst
rum
ents
: Alp
ha P
roto
n X
-ray
Spect
rom
ete
r, thre
e C
am
era
s (a
lso tech
nolo
gy
exp
erim
ents
)
http
://m
ars.
jpl.n
asa
.go
v/m
issi
ons/
pas
t/p
athf
ind
er.h
tml
Ro
bo
tic
His
tory
- 1
920
- 19
40
ww
w.tru
efo
rce.c
om
/Art
icle
s/R
obot_
His
tory
.htm
19
20
Cze
chos
lova
kia
n p
layw
righ
t K
are
l Cap
ek in
trod
uces
the
word
ro
bo
t in
th
e p
lay
R.U
.R.
- R
ossu
m's
Un
ive
rsa
lR
obot
s. T
he
wo
rd c
om
es f
rom
th
e C
zech
rob
ota
, w
hich
me
an
s te
dio
us la
bo
r.1
93
8T
he
firs
t p
rog
ram
ma
ble
pa
int-
spra
yin
g m
ech
an
ism
isd
esi
gn
ed
by
Am
eri
can
s W
illa
rd P
olla
rd a
nd H
aro
ldR
ose
lund
for
the D
eV
ilbis
s C
om
pany.
19
42
Isa
ac A
sim
ov
pu
blis
hes
Ru
nar
ou
nd,
in w
hic
h h
e d
efin
esth
e T
hre
e L
aws
of R
obo
tics.
19
46
Em
erg
en
ce o
f th
e co
mp
uter
: G
eor
ge
Devo
l pate
nts
ag
en
era
l pu
rpos
e p
layb
ack
de
vice
for
co
ntro
llin
g m
ach
ines
,u
sin
g m
ag
ne
tic r
eco
rdin
g; J
. P
resp
er
Eck
ert
and J
ohn
Ma
uch
ly b
uild
th
e E
NIA
C a
t th
e U
niv
ers
ity o
f P
en
nsyl
van
ia-
the
firs
t e
lect
ron
ic c
om
pu
ter;
At
MIT
, W
hirl
win
d,
the f
irst
dig
ital g
en
era
l pu
rpo
se c
om
pu
ter,
so
lve
s its
firs
t pr
ob
lem
.1
94
8N
orb
ert
Wie
ne
r, a
pro
fess
or
at M
.I.T
., p
ublis
he
sC
ybe
rne
tics
or
Co
ntr
ol a
nd
Co
mm
un
ica
tion
in t
he
An
ima
l,a
bo
ok w
hic
h d
esc
ribe
s th
e c
onc
ept
of
com
mu
nic
atio
ns
an
d c
on
tro
l in
ele
ctro
nic
, me
cha
nic
al,
an
d b
iolo
gic
al
syst
em
s.
Ro
bo
tic
His
tory
- 1
950
- 19
60
19
51
In F
ranc
e, R
aym
on
d G
oe
rtz
des
igns
th
e fir
st te
leop
era
ted
art
icu
late
d a
rm fo
r th
e A
tom
ic E
ne
rgy
Co
mm
issi
on
. T
he
de
sig
n is
bas
ed
ent
ire
ly o
n m
ech
an
ica
l co
upl
ing
be
twe
en
the
mas
ter
an
d s
lave
arm
s (u
sing s
teel c
able
s and
pu
lleys
). D
eri
vativ
es
of th
is d
esi
gn
are
stil
l se
en
in p
lace
sw
he
re h
an
dlin
g o
f sm
all
nuc
lea
r sa
mp
les
is r
equ
ire
d.
Th
isis
ge
ne
rally
re
ga
rde
d as
th
e m
ajo
r m
ilest
on
e in
fo
rce
fee
db
ack
tech
no
log
y.1
95
4G
eo
rge
De
vol d
esig
ns t
he
first
pro
gra
mm
ab
le r
ob
ot a
nd
coin
s th
e te
rm U
niv
ers
al A
uto
ma
tion
, p
lant
ing
the
see
d fo
rth
e n
am
e o
f h
is f
utu
re c
om
pa
ny
- U
nim
atio
n.
19
59
Ma
rvin
Min
sky
an
d J
oh
n M
cCar
thy
est
abl
ish
the A
rtic
ifica
lIn
telli
ge
nce
La
bo
rato
ry a
t M
IT.
Ro
bo
tic
His
tory
- 1
960
- 19
70
1960
Unim
atio
n is
purc
hase
d b
y C
ondec
Corp
oratio
n a
nd
de
velo
pm
en
t o
f U
nim
ate
Ro
bot
Sys
tem
s be
gin
s.A
me
rica
n M
ach
ine
and
Fo
und
ry,
late
r kn
ow
n a
s A
MF
Co
rpo
ratio
n, m
ark
ets
th
e fir
st c
ylin
dri
cal r
ob
ot,
calle
d th
eV
ers
atra
n, d
esig
ned
by
Ha
rry
John
son
and
Ve
ljko
Mile
nko
vic.
19
62
Ge
ne
ral M
oto
rs p
urch
ase
s th
e f
irst
indust
rial r
obot f
rom
Un
ima
tion
an
d in
sta
lls it
on
a p
rodu
ctio
n lin
e. T
his
man
ipu
lato
r is
th
e fir
st o
f m
an
y U
nim
ate
s to
be
de
plo
yed
.1
96
3Jo
hn
McC
art
hy
he
ad
s u
p th
e n
ew
Art
ifici
al I
nte
llig
ence
La
bo
rato
ry a
t S
tanf
ord
Un
ive
rsity
.1
964
Art
ifici
al in
telli
gen
ce r
ese
arc
h la
bo
rato
ries
are
op
en
ed
at
M.I.T
., S
tanf
ord
Re
sea
rch
Inst
itute
(S
RI)
, S
tanfo
rdU
niv
ers
ity,
an
d th
e U
niv
ers
ity o
f E
din
bu
rgh.
19
64
C&
D R
ob
otic
s fo
un
de
d.1
96
5C
arn
eg
ie M
ello
n U
niv
ers
ity e
sta
blis
hes
the
Ro
bo
tics
Inst
itute
.1
96
5H
om
og
en
eo
us
tra
nsf
orm
atio
ns a
pplie
d t
o ro
bot
kin
em
atic
s-
this
re
mai
ns th
e fo
und
atio
n o
f ro
bot
ics
theo
ry t
oda
y1
96
7Ja
pa
n im
po
rts
the
Ver
satr
an
rob
ot f
rom
AM
F (
the
first
rob
ot im
po
rte
d in
to J
ap
an
).1
96
8K
aw
asa
ki li
cens
es h
ydra
ulic
ro
bot
de
sig
n fro
m U
nim
atio
na
nd
sta
rts
pro
du
ctio
n in
Ja
pa
n.
19
68
SR
I b
uild
s S
hak
ey,
a m
ob
ile r
ob
ot
with
vis
ion
ca
pab
ility
,co
ntr
olle
d b
y a
co
mp
ute
r th
e s
ize
of
a r
oo
m.
Ro
bo
tic
His
tory
- 1
970
- 19
80
19
70
Pro
fess
or
Vic
tor
Sch
ein
ma
n o
f S
tan
ford
Un
ive
rsity
de
sig
ns t
he
Sta
nd
ard
Arm
. T
od
ay,
its
kine
ma
ticco
nfig
ura
tion
re
ma
ins
kno
wn
as
the
Sta
nd
ard
Arm
.1
97
3C
inci
nn
ati M
ilacr
on
rele
ases
th
e T
3,
the
firs
t co
mm
erc
ially
ava
ilab
le m
inic
om
pu
ter-
cont
rolle
d in
du
stria
l rob
ot
(de
sig
ned
by
Ric
ha
rd H
oh
n).
19
74
Pro
fess
or
Vic
tor
Sch
ein
ma
n, t
he
de
velo
pe
r o
f th
e S
tanf
ord
Arm
, fo
rms
Vic
arm
Inc
. to
ma
rket
a v
ersi
on o
f th
e a
rm f
orin
du
stri
al a
pp
lica
tion
s. T
he
new
arm
is c
ontr
olle
d b
y a
min
ico
mp
ute
r.1
97
6R
ob
ot
arm
s a
re u
sed
on
Vik
ing
1 a
nd
2 s
pac
e p
rob
es.
Vic
arm
Inc
. in
corp
ora
tes
a m
icro
com
pute
r in
to t
he V
icar
md
esi
gn.
19
77
AS
EA
, a
Eu
rop
ean
robot
com
pany,
off
ers
tw
o s
izes
of
ele
ctric
pow
ere
d in
dust
rial r
ob
ots.
Bo
th r
obo
ts u
se a
mic
roco
mp
ute
r co
ntr
olle
r fo
r p
rog
ram
min
g a
nd
op
era
tion
.1
97
7U
nim
atio
n p
urc
hase
s V
ica
rm Inc
.1
97
8U
sin
g t
ech
no
log
y fr
om
Vic
arm
, U
nim
atio
n d
eve
lop
s th
eP
UM
A (
Pro
gra
mm
ab
le U
niv
ers
al M
ach
ine
for
Ass
em
bly
).T
he
PU
MA
ca
n s
till b
e fo
un
d in
ma
ny
rese
arc
h la
bs to
da
y.1
97
8B
roo
ks A
uto
mat
ion
fou
nd
ed
19
79
Sa
nky
o a
nd
IBM
mar
ket
the
SC
AR
A (
sele
ctiv
e c
om
plia
nta
rtic
ula
ted
rob
ot
arm
) d
eve
lop
ed
at
Yam
an
ash
i Un
ive
rsity
in J
ap
an
Ro
bo
tic
His
tory
- 1
980
- 19
90
1981
Cognex
founded.
1981
CR
S R
obotic
s C
orp
. founded.
1982
Fanuc
of J
apan a
nd G
enera
l Mot
ors
for
m jo
int
ven
ture
inG
M F
anu
c to
mark
et r
obots
in N
ort
h A
meric
a.
1983
Adept T
ech
nolo
gy
founded.
1984
Jose
ph E
ngelb
erg
er
start
s T
ran
sitio
n R
obot
ics,
late
rre
nam
ed H
elp
mat
es,
to
deve
lop s
ervi
ce r
obots
.1
98
6W
ith U
nim
atio
n lic
ens
e te
rmin
ate
d, K
aw
asa
ki d
eve
lops
and p
roduce
s its
ow
n li
ne o
f ele
ctric
robo
ts.
19
88
Stä
ub
li G
roup
pur
chas
es U
nim
atio
n fr
om
Wes
tingh
ou
se.
19
89
Co
mpu
ter
Mot
ion
foun
de
d.1989
Barr
ett
Tec
hnolo
gy
founded
Ro
bo
tic
His
tory
- 1
990
- 20
01
19
93
Se
nsa
ble
Tec
hn
olo
gie
s fo
und
ed
.1994
CM
U R
obotic
s In
stitu
te's
Da
nte
II, a
six
-leg
ge
d w
alk
ing
rob
ot, e
xplo
res
the
Mt.
Sp
urr
volc
an
o in
Ala
ska
to s
am
ple
volc
an
ic g
ases
.1
99
5In
tuiti
ve S
urg
ical f
orm
ed
by
Fre
d M
oll,
Ro
b Y
ou
ng
e a
nd
Joh
n F
reu
d to
des
ign
an
d m
ark
et s
urg
ical r
ob
otic
sys
tem
s.F
oundin
g t
ech
nolo
gy
base
d o
n t
he w
ork
at
SR
I, I
BM
and
MIT
.1
99
7N
AS
A's
Ma
rs P
ath
Fin
de
r m
issi
on c
aptu
res
the
eye
s an
dim
ag
ina
tion
of th
e w
orl
d a
s P
ath
Fin
de
r la
nds
on
Ma
rs a
nd
the
So
jou
rne
r ro
ver
rob
ot s
en
ds b
ack
images
of i
ts tra
vels
on
the
dis
tan
t p
lane
t.1
99
7H
on
da
sh
ow
case
s th
e P
3, th
e 8
th p
roto
typ
e in
ah
um
an
oid
des
ign
pro
ject
sta
rted
in 1
98
6.2
00
0H
on
da
sh
ow
case
s A
sim
o, th
e n
ext
ge
ne
ratio
n o
f its
se
ries
of
hu
man
oid
ro
bo
ts.
20
00
So
ny
un
veils
hum
anoid
robots
, dubbed S
ony
Dre
am
Rob
ots
(S
DR
), a
t R
ob
ode
x.2
00
1S
on
y re
lea
ses
the
seco
nd
ge
ner
atio
n o
f its
Aib
o r
ob
ot
do
g.
20
01
Bu
ilt b
y M
D R
ob
otic
s o
f Can
ada,
th
e S
pac
e S
tatio
nR
em
ote
Ma
nip
ula
tor
Sys
tem
(S
SR
MS
) is
su
cces
sfully
lau
nch
ed
into
orb
it a
nd
be
gin
s o
pe
ratio
ns to
co
mp
lete
ass
em
bly
of I
nte
rna
tion
al S
pac
e S
tatio
n
Kin
em
ati
c C
ha
in -
Jo
int
/ Lin
k -
Def
init
ion
Kin
emat
ic C
hai
n c
onsi
sts
of
nearly
rigid
links
(m
em
bers
) w
hic
h a
re c
onnect
ed w
ithjo
ints
(ki
nem
atic
s pair
) allo
win
g r
ela
tive m
otio
n o
f th
e n
eig
hbori
ng li
nks
.
Clo
sed
Lo
op
Ch
ain
- E
very
link
in t
he k
inem
atic
chain
is c
onnect
ed t
o a
ny
oth
er
link
by
at
least
tw
o d
istin
ct p
ath
s
Op
en L
oo
p C
hai
n -
Eve
ry li
nk
in t
he k
inem
atic
chain
is c
onnect
ed t
o a
ny
oth
er
link
by
one a
nd o
nly
one d
istin
ct p
ath
Ser
ial (
Op
en L
oo
p)
Ro
bo
tP
aral
lel (
Clo
se L
oo
p)
Ro
bo
t
An
ato
mic
al J
oin
ts
En
d E
ffe
cto
r (E
E)
At
the f
ree e
nd o
f th
e c
hain
of
links
whi
ch m
ake
up t
he m
anip
ula
tor
is t
he e
nd
effect
or.
Dependin
g o
n t
he in
tended a
pplic
atio
n o
f th
e r
obot
the e
nd e
ffect
or
may
be
a g
ripper
weld
ing t
orc
h,
ele
ctro
magnet
or
oth
er
tool.
RO
BO
NA
UT
- H
and
(N
AS
A)
Sta
nfo
rd /
JP
L-
Han
d (
Sal
silb
ury
)U
tha
/ M
IT H
and
NIS
T -
Adv
ance
d W
eldin
g M
anufa
cturin
g S
yste
m
Deg
rees
of
Fre
edo
m (
DO
F)
The n
um
ber
of
Deg
ree
of
Fre
edo
m t
hat
a m
anip
ula
tor
po
ssess
es
is t
he n
um
ber
independent
posi
tion v
ariable
whic
h w
ould
have
to b
e s
peci
fied in
ord
er
to lo
cate
all
part
s of
the m
ech
anis
m.
Ideally
, a m
anip
ula
tor
should
pose
s 6 D
OF
in o
rder
to m
anip
ula
te a
n o
bje
ct in
a 3
Dsp
ace
•
Gen
eral
Pu
rpo
se R
ob
ot
- # D
OF
= 6
•
Red
un
dan
t R
ob
ot
- # D
OF
>7
•
Def
icie
nt
Ro
bo
t -
# D
OF
< 6
Hu
man
Arm
- D
OF
Wo
rks
pac
e -
Def
init
ion
•W
ork
spac
e -
Th
e v
olu
me
of s
pa
ce th
at t
he
en
d-e
ffe
cto
r ca
nre
ach
•R
ea
ch
ab
le W
ork
sp
ac
e -
The v
olu
me o
f th
e s
pace
whic
h e
very
po
int ca
n b
e r
ea
ch b
y th
e e
nd
effe
cto
r in
at le
ast
one o
rienta
tion.
•D
exte
rou
s W
ork
spac
e -
Th
e v
olu
me
of t
he
sp
ace
wh
ich
eve
ryp
oin
t ca
n b
e r
ea
ch b
y th
e e
nd
effe
cto
r in
all
po
ssib
leo
rie
nta
tion
s.
Wo
rksp
ace
- C
arte
sian
•Jo
int
1 -
Pri
smatic
•Jo
int
2 -
Pri
smatic
•Jo
int
3 -
Pri
smatic
Wo
rksp
ace
- C
ylin
dri
cal
•Jo
int
1 -
Revo
lute
•Jo
int
2 -
Revo
lute
•Jo
int
3 -
Pri
smatic
Wo
rksp
ace
- S
ph
eric
al
•Jo
int
1 -
Revo
lute
(In
ters
ect
with
2)
•Jo
int
2 -
Revo
lute
(In
ters
ect
with
1)
•Jo
int
3 -
Pri
smatic
Wo
rksp
ace
- A
rtic
ula
ted
•Jo
int
1 -
Revo
lute
•Jo
int
2 -
Revo
lute
•Jo
int
3 -
Revo
lute
Des
crip
tio
n o
f P
osi
tio
nin
g T
ask
(1/1
0)
Pro
ble
m
Giv
en: T
he m
anip
ula
tor
geom
etr
ical
p
ara
mete
rs
Sp
eci
fy: T
he p
osi
tion a
nd o
rienta
tion o
f
m
anip
ula
tor
So
luti
on
Coord
inate
sys
tem
or
“Fra
mes”
are
attach
ed to
the m
anip
ula
tor
and o
bje
cts
in the e
nvi
ronm
ent
Fo
rwar
d K
inem
atic
s (2
/10)
Pro
ble
m
Giv
en:
J
oin
t angle
s and li
nks
geom
etr
y
Com
pute
: P
osi
tion a
nd o
rienta
tion o
f th
e e
nd
e
ffect
or
rela
tive to th
e b
ase
fra
me
So
luti
on
Kin
em
atic
Equatio
ns
- Lin
ear
Tra
nsf
orm
atio
n(4
x4 m
atr
ix)
whic
h is
a funct
ion o
f th
e jo
int
posi
tions
(angle
s &
dis
pla
cem
ents
) and
speci
fies
the E
E c
onfig
ura
tion in
the b
ase
fram
e.
Inve
rse
Kin
emat
ics
(3/1
0)
Pro
ble
m
Giv
en:
P
osi
tion a
nd o
rienta
tion o
f th
e e
nd
e
ffect
or
rela
tive to the b
ase
fra
me
Com
pute
: A
ll poss
ible
sets
of
join
t angle
s and
links
geom
etr
y w
hic
h c
ould
be
u
sed to a
ttain
the g
iven p
osi
tion a
nd
orie
nta
tion o
f th
e e
nd e
ffeto
r
So
luti
on
Kin
em
atic
Equatio
ns
- Lin
ear
Tra
nsf
orm
atio
n(4
x4 m
atr
ix)
whic
h is
a funct
ion o
f th
e jo
int
posi
tions
(angle
s &
dis
pla
cem
ents
) and
speci
fies
the E
E c
onfig
ura
tion in
the b
ase
fram
e.
Vel
oci
ty T
ran
sfo
rmat
ion
(4/
10)
Mappin
g
from
ve
loci
ties
in
the
join
t sp
ace
(join
t) -
to v
elo
citie
s in
the C
art
esi
an s
pace
(end e
ffect
or)
-
. A
t ce
rtain
poin
ts,
calle
dsi
ng
ula
riti
es, th
is m
appin
g is
not in
eve
rtib
le.
ν)(
1Θ
=Θ
−J
&
ΘΘ
=&
)(
Jν
Θ&ν
Fo
rce
Tra
nsf
orm
atio
n (
5/10
)
Mappin
g f
rom
the j
oin
t fo
rce/to
rques
-
to
forc
es/
torq
ue i
n t
he C
art
esi
an s
pace
applie
don the e
nd e
ffect
or)
- .
fT J
=ô
ôf
Fo
rwar
d D
ynam
ics
(6/1
0)
Pro
ble
m
Giv
en:
J
oin
t to
rques
and li
nks
geom
etr
y,
mass
, in
ert
ia, fr
ictio
n
Com
pute
: A
ngula
r acc
ele
ratio
n o
f th
e li
nks
(
solv
e d
iffere
ntia
l equatio
ns)
So
luti
on
Dyn
am
ic E
quatio
ns
- N
ew
ton-E
ule
r m
eth
od o
rLagra
ngia
n D
ynam
ics
),
()
()
,(
)(
ΘΘ
+Θ
+Θ
Θ+
ΘΘ
=&
&&&
FG
VM
ô
Inve
rse
Dyn
amic
s (7
/10)
Pro
ble
m
Giv
en:
Angula
r acc
ele
ratio
n, ve
loci
ty a
nd
a
ngels
of th
e li
nks
in a
dditi
on to the
lin
ks g
eom
etr
y, m
ass
, in
ert
ia, fr
ictio
n
Com
pute
: Jo
int to
rques
So
luti
on
Dyn
am
ic E
quatio
ns
- N
ew
ton-E
ule
r m
eth
od o
rLagra
ngia
n D
ynam
ics
),
()
()
,(
)(
ΘΘ
+Θ
+Θ
Θ+
ΘΘ
=&
&&&
FG
VM
ô
Tra
ject
ory
Gen
erat
ion
(8/
10)
Pro
ble
m
Giv
en:
Manip
ula
tor
geom
etr
y
Com
pute
: T
he tra
ject
ory
of each
join
t su
ch that
th
e e
nd e
fferc
tor
move
in s
pace
fro
m p
oin
t A
to P
oin
t B
So
luti
on
Third
ord
er
(or
hig
her)
poly
nom
ial s
plin
e
Po
sit
ion
Co
ntr
ol (
9/1
0)
Pro
ble
m
Giv
en:
Join
t angle
s (s
enso
r re
adin
gs)
links
g
eom
etr
y, m
ass
, in
ert
ia, fr
ictio
n
Com
pute
: Jo
int to
rques
to a
chie
ve a
n e
nd
e
ffect
or
traje
ctory
So
luti
on
Contr
ol A
lgorith
m (
PID
- F
eedback
loop, F
eed
forw
ard
dyn
am
ic c
ontr
ol)
Fo
rce
Co
ntr
ol (
10/1
0)
Pro
ble
m
Giv
en:
Join
t to
rque o
r end e
ffect
or
F
orc
e/torq
ue in
tera
ctio
n (
senso
r
r
eadin
gs)
links
geom
etr
y, m
ass
, in
ert
ia,
frict
ion
Com
pute
: Jo
int to
rques
to a
chie
ve a
n e
nd
e
ffect
or
forc
es
an to
rques
So
luti
on
Contr
ol A
lgorit
hm
(fo
rce c
ontr
ol)