Robotics in EducationRobotics in Education Challenges Developing an Adequate Challenges Developing an Adequate

CurriculumCurriculum

Dr. Antonio SoaresFlorida A&M University

Electronic Engineering TechnologyAntonio.soares@famu.edu

Overview Overview

Education PackagesEducation PackagesSaturated MarketSaturated MarketTechnology CrossoverTechnology CrossoverLego and BoebotLego and Boebot

MechatronicsMechatronicsWhat’s New!!!What’s New!!!

Intro to RoboticsIntro to Robotics DefinitionsDefinitions Types of RobotsTypes of Robots ApplicationsApplications

Industrial RobotsIndustrial Robots Degree of FreedomDegree of Freedom JointsJoints CoordinatesCoordinates

ComplexityComplexity

Industrial RobotsIndustrial Robots A machine that resembles a human being and A machine that resembles a human being and

does mechanical routine tasks on command.does mechanical routine tasks on command.

An industrial robot is a re-programmable, An industrial robot is a re-programmable, multifunctional manipulator designed to move multifunctional manipulator designed to move materials, parts, tools, or specialized devices materials, parts, tools, or specialized devices through variable programmed motions for the through variable programmed motions for the performance of a variety of tasks.performance of a variety of tasks.

What is Robotics?What is Robotics?

Robotics is the art, knowledge base, and Robotics is the art, knowledge base, and the know-how of designing, applying, and the know-how of designing, applying, and using robots in human endeavors.using robots in human endeavors.

Types of RobotsTypes of Robots

Mobile RobotsMobile Robots

Mars Explore

Crawling RobotsCrawling Robots

Parallax

Types of RobotsTypes of Robots

Stationary RobotsStationary Robots

Industrial Robot

Autonomous RobotsAutonomous Robots

EET Robot (Mechatronics)

Humanoids RobotsHumanoids Robots

HONDA (ASIMO) – Biped Robot Fujitsu – Biped Robot

Pet RobotsPet Robots

Sony (AIBO) – Toy robot

Machine loadingPick and place operationsWeldingPaintingSamplingAssembly operationManufacturingSurveillanceMedical applications Assisting disabled individuals Hazardous environmentsUnderwater, space, and remote locations

Robot ApplicationsRobot Applications

Industrial RobotsIndustrial Robots

A manipulator (or an industrial robot) is A manipulator (or an industrial robot) is composed of a series of links connected to each composed of a series of links connected to each other via joints. Each joint usually has an other via joints. Each joint usually has an actuator (a motor for eg.) connected to it.actuator (a motor for eg.) connected to it.

These actuators are used to cause relative These actuators are used to cause relative motion between successive links. One end of motion between successive links. One end of the manipulator is usually connected to a stable the manipulator is usually connected to a stable base and the other end is used to deploy a tool.base and the other end is used to deploy a tool.

Industrial RobotsIndustrial Robots

Painting Robot

•Manipulator

•Pedestal

•Controller

•End Effectors

•Power Source

Industrial Robot ArmsIndustrial Robot Arms

• Base

• Appendages-Shoulder-Arm-Grippers

ManipulatorManipulator

(Human waist)

• Supports the manipulator.

• Acts as a counterbalance.

PedestalPedestal

(The brain)

• Issues instructions to the robot.

• Controls peripheral devices.

• Interfaces with robot.

• Interfaces with humans.

ControllerController

(The hand)

• Spray paint attachments

• Welding attachments

• Vacuum heads

• Hands

• Grippers

End EffectorsEnd Effectors

(The food)

• Electric

• Pneumatic

• Hydraulic

Power SourcePower Source

Typically defined as a graph of links and Typically defined as a graph of links and jointsjoints

A link is a part, a shape with physical properties.

A joint is a constraint on the spatial relations of two or more links.

Manipulator BodyManipulator Body

Robots degrees of freedomRobots degrees of freedom

Degrees of Freedom: Number of Degrees of Freedom: Number of independent position variables which independent position variables which would has to be specified to locate all would has to be specified to locate all parts of a mechanism.parts of a mechanism.

In most manipulators this is usually the In most manipulators this is usually the number of joints.number of joints.

A Fanuc P-15 robot. Reprinted with permission from Fanuc Robotics, North America, Inc.

what is the degree

1 D.O.F. 2 D.O.F. 3 D.O.F.

Robots degrees of freedomRobots degrees of freedom

Robot JointsRobot Joints

Prismatic Joint: Linear, No rotation involved. (Hydraulic or pneumatic cylinder)

Revolute Joint: Rotary, (electrically driven with stepper motor, servo motor)

Robot CoordinatesRobot Coordinates

Cartesian/rectangular/gantry (3P) : 3 cylinders joint Cylindrical (R2P) : 2 Prismatic joint and 1 revolute joint

Spherical (2RP) : 1 Prismatic joint and 2 revolute joint Articulated/anthropomorphic (3R) : All revolute(Human arm) Selective Compliance Assembly Robot Arm (SCARA): 2 paralleled revolute joint and 1 additional prismatic joint

Math ComplexityMath Complexity

In Order to Model the Motion of a Manipulator:In Order to Model the Motion of a Manipulator:

Odometry - Position Updates Using Wheals

KinematicsKinematics

Inverse KinematicsInverse Kinematics

Complex PID ControllersComplex PID Controllers

Math ComplexityMath Complexity

KinematicsKinematics Kinematics is the study of motion without regard for

the forces that cause it.

It refers to all time-based and geometrical properties of motion.

It ignores concepts such as torque, force, mass, energy, and inertia.

Given the starting configuration of the Given the starting configuration of the mechanism and joint angles, compute the mechanism and joint angles, compute the new configuration.new configuration.

Forward KinematicsForward Kinematics

Advantages And Disadvantages Advantages And Disadvantages

Robots increase productivity, safety, efficiency, quality, and consistency of products.

Robots can work in hazardous environments without the need.

Robots need no environmental comfort. Robots work continuously without experiencing fatigue of

problem. Robots have repeatable precision at all times. Robots can be much more accurate than human. Robots replace human workers creating economic

problems. Robots can process multiple stimuli or tasks

simultaneously.

Robots lack capability to respond in emergencies. Robots, although superior in certain senses, have limited

capabilities in Degree of freedom, Dexterity, Sensors, Vision system, real time response.

Robots are costly, due to Initial cost of equipment, Installation costs, Need for Peripherals, Need for training, Need for programming.

Robots Taking Over?Robots Taking Over?

•Design Limitations

•we design them, we code the tasks to be performed

•Emotionless Machines

•Cannot logically reason, and/or plan activities, unless the designer program it to do so.

•Ethical Issues

Educational PlatformsEducational PlatformsVEX Robotics Lego Robotics

Boebot From Parallax

Robotics is an interdisciplinary subject that benefits from mechanical engineering, electrical and electronic engineering, computer science, biology, and many other disciplines.

Mechatronics – The Solution Mechatronics – The Solution

ConclusionsConclusions• For K-12 Robot Kits are Appropriate•Plan in Advance

• Most of these kits are not easy to follow because they share applications

•For Higher Education •Mechatronics with some Industrial robots is Advised

FALL 2012 Technical Elective (All Majors)

EET 4931 - SPEC TOP ELECTRO ENG

Introduction to Robotics and Automation

Instructor: Antonio SoaresAntonio.soares@famu.edu

Let’s Talk!!!Let’s Talk!!!