Introduction To Robotics PDF

Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc INTRODUCTION TO ROBOTICS Industrial Robots...

Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc INTRODUCTION TO ROBOTICS Industrial Robots Instructor: Dr Hamidu Abdel-Fatao Computer Science and Engineering Department QUOTE OF THE DAY The danger of the past was that men became slaves. The danger of the future is that man may become robots. - Erich Fromm Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 1 / 53 Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc OUTLINE 1 Components of Industrial Robots 2 Terminologies used in Industrial Robotics 3 Applications of Industrial Robots 4 Working with Industrial Robots 5 Online Resources Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 2 / 53 Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc Components of Industrial Robots Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 3 / 53 Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc Components of Industrial Robots in Brief Controllers Robot controllers are similar to any electro-mechanical system con- trollers. They are programmable to receive and process input data (user input, sensor data) and move robot actuators. They could be open-source e.g Raspberry Pi, Arduino, Beagle- bone; or proprietary (closed source or black box) Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 4 / 53 Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc Components of Industrial Robots in Brief Actuators Actuators are the devices that create the action of motion For example, a linear actuator produces a linear motion; an angu- lar actuator is basically a motor with a controlled angle Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 5 / 53 Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc Components of Industrial Robots in Brief Sensors Sensors are data-driven devices There are many different types of sensors, based on the data cap- tures, capacity, range, and type of output Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 6 / 53 Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc Components of Industrial Robots in Brief Controllers + Actuators + Sensors = Robot Manipulators Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 7 / 53 Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc Components of Industrial Robots in Brief Robot Manipulators Innism industrial robots,Manipulators are non-rigid controllable mecha- that can manipulate or set the position and orientation of the end-effector of the robot They are electromechanical systems consisting of controllers, ac- tuators and optionally sensors Manipulators mimic the human arm with the end-effector synonymous to the wrist and fingers Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 8 / 53 Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc Components of Industrial Robots in Brief Robot End-effector End-effectors are the devices or equipment put at the end of the robot to provide the intended effect They could be Grippers or Tools Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 9 / 53 Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc Components of Industrial Robots in Brief Putting it all together An Industrial Robot is a combination of Manipulator and End-effector Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 10 / 53 Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc Terminologies Associated with Industrial Robots Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 11 / 53 Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc Terminologies Associated with Industrial Robots Degree of Freedom (DOF) DOF of an industrial robot is the limited number of free and inde- pendent motions the robot joint can perform It is possible for a joint to have multiple DOFs The higher the DOF, the more complex motion robot can perform Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 12 / 53 Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc Terminologies Associated with Industrial Robots Degree of Freedom (DOF) Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 13 / 53 Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc Terminologies Associated with Industrial Robots Degree of Freedom (DOF) Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 14 / 53 Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc Terminologies Associated with Industrial Robots Robot Coordinates: Global Robot Global Coordinates refer to the coordinates of its base (center), which is often fixed, also known as - Global coordinates - Home coordinates - Fixed coordinates - Base coordinates - XYZ (or xyz) Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 15 / 53 Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc Terminologies Associated with Industrial Robots Robot Coordinates: Local Robot Local Coordinates refer to the coordinates of its end-effector, which is often moving, also known as - Local coordinates - Tool coordinates - End-effector (hand) coordinates - Moving coordinates - noa (normal, orientation, ap- proach) - local x, local y, local z Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 16 / 53 Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc Terminologies Associated with Industrial Robots Work Envelope, Operating envelope, Work Space or Reach It is the volume of space that is within the reach of the robot Range of robot motion (mm) The set of points representing the maximum extent or reach of the robot arm or working tool in all directions Space within which robot can manipu- late end of its wrist Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 17 / 53 Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc Terminologies Associated with Industrial Robots Payload or Weight Carrying Capacity It is the maximum amount of weight a robot can carry (move), in- cluding its own weight Weight carrying capacity (Kg) ⇒ how much weight a robot can lift The maximum total weight that can be applied to the end of the robot arm without a sacrifice of any of the applicable published specifications of the robot. Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 18 / 53 Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc Terminologies Associated with Industrial Robots Accuracy vs Precision 1. Accurate, but not Precise: All the correct target, but with a sig- nificant error 2. Precise, but not accurate: Minimal error, but at the wrong loca- tion 3. Accurate and Precise: At the correct target, with minimal error Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 19 / 53 Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc Terminologies Associated with Industrial Robots Reliability vs Repeatability Reliability Able to perform task whenever called Repeatability Can repeat same performance of a task over and over Ability of a robot to return to a pre-programmed position. Repeatability and reliability are one of the earliest purposes of Robotics and Automation Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 20 / 53 Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc Terminologies Associated with Industrial Robots Other Terminologies Associated with Robots Axis ⇒ Axis can be defined as a direction that is used to state the motion of a robot in a linear or rotary mode Speed ⇒ how fast a robot can position the end of its arm. This may be defined in terms of the angular or linear speed of each axis or as a compound speed i.e. the speed of the end of the arm when all axes are moving Acceleration ⇒ How quickly a robotic arm can pick up pace Prismatic Joint ⇒ It provides a linear sliding movement between two bodies (it is often called as a slider) Kinematics ⇒ Actual arrangement of rigid members and joints in robots, which determines robots’ possible motions Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 21 / 53 Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc Applications of Industrial Robots Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 22 / 53 Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc Applications of Industrial Robots Material Processing Robots Material processing refers to manufacturing operations such as Machining, Joining (Welding) and others Welding is the number one application of all industrial robots, fol- lowed by Machining Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 23 / 53 Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc Applications of Industrial Robots Surface Treatment Robots Surface treatment which follows material processing include the following operations: Finishing, Grinding, Polishing, Coating, Spray, Painting, and more Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 24 / 53 Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc Applications of Industrial Robots Handling Robots Handling robots are used for repetitive operations such as: sort- ing, pick-n-place, loading/unloading, re-orienting, and more Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 25 / 53 Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc Applications of Industrial Robots Assembly Robots Assembly robots usually work in teams and on rapid production lines, as is commonly used in the Automotive industry Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 26 / 53 Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc Applications of Industrial Robots Inspection Robots Dimensional accuracy and surface quality is paramount to high- end products Inspection robots use state-of-art sensors and back-end applica- tion to detect problems Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 27 / 53 Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc Working with Industrial Robots Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 28 / 53 Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc Working with Industrial Robots Fixed Algorithms Usually employed for high-volume repetitive task (recall Fixed Au- tomation?) that require a simple yet very repetitive task that hu- mans cannot normally do for a long time Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 29 / 53 Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc Working with Industrial Robots CNC based Algorithms CNC based robots can perform complex cutting operations to pro- duce impossible shapes, but usually time-consuming and with low volume Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 30 / 53 Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc Working with Industrial Robots Smart Industrial Robots Smart robots are equipped with built-in sensors that allow them to be responsive to their environments and be ready to custom tasks (based on incoming part) For example, the robot may be responsible if there is an obstacle Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 31 / 53 Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc Working with Industrial Robots Advanced Algorithms Controller programs can employ advanced methods to achieve their production tasks including AI, Machine Learning, Fuzzy Logic, and more Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 32 / 53 Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc Working with Industrial Robots Cloud Robotics By linking the robot to the Cloud, with its powerful supercomputers with huge storage capabilities, the robot can tap into these re- sources The robot can then send raw sensor data to the cloud, and re- ceives robot commands, relieving itself from heavy computa- tional burden With robot data in the cloud, many other things can be achieved, such as Group Robotics (robot-to-robot), or Remote Supervi- sion (human-robot) Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 33 / 53 Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc Working with Industrial Robots Cloud Robotics Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 34 / 53 Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc Working with Industrial Robots Industrial Cloud Robotics Platforms For industrial robots, this could be even greater, as Robots can be linked directly to the Factory’s Master Plan, maintenance records, production plans, and more Robots could also be linked with each other, allowing for coordi- nated operations and programming (Assembly Robots) With Robot data in the industrial cloud, the robot can be linked to online platforms and be ready for Industrial Revolution 4.0 Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 35 / 53 Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc Working with Industrial Robots Industrial Cloud Robotics Platforms Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 36 / 53 Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc Applications of Industrial Robots Examples of Industrial Cloud Robotics Platforms Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 37 / 53 Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc Online Resources Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 38 / 53 Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc Online Resources IoT Robotics Controller of Robots (or Automated Systems) can be network-ready Examples include Arduino, NodeMCU, Raspberry Pi, Beaglebone, and others Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 39 / 53 Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc Online Resources IoT Robotics The network-ready controllers can also be programmed with IoT Protocols such as Data Packaging (MQTT, JSON) and network setup Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 40 / 53 Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc Online Resources IoT Robotics Thus, linking the robot (or automated system) to the IoT framework All robot information (sensor data, joint motion, user command) are available Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 41 / 53 Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc Online Resources IoT Robotics A great example of this is the FarmBot (check farm.bot) It utilizes Raspberry Pi and allows the user to remote monitor/control Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 42 / 53 Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc Online Resources IoT Robotics IoT provides a great platform to implement Cloud Robotics which allows for the development of complex (in abilities), simple (in build) robots Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 43 / 53 Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc Online Resources IoT Robotics Another application of IoT Robotics is Group-robotics where robots collaborate while performing their tasks and share data (Thing-to- Thing IoT) Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 44 / 53 Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc Online Resources The Robot Operating System (ROS) Another benefit of IoT, the fact that it is cross-platform, allowing systems of limited OS to link with other platforms, a great example to this is the Robot Operating System Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 45 / 53 Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc Online Resources The Robot Operating System (ROS) ROS is an open-source platform for developing high-end Robot Software The ROS community includes researchers and developers from around the world, developing standardized solutions for open-source robot systems Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 46 / 53 Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc Online Resources The Robot Operating System (ROS) Features of ROS (over other Robot Middleware Platforms) Extensive library of robot software and solutions Community development and peer evaluation Exponential growth of community Extensive hardware support list (complete robots and components) Compatibility with other open-source platforms Development of standardized robot software that is reusable, ex- tendable, customizable, and open-source Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 47 / 53 Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc Online Resources The Robot Operating System (ROS) Features of ROS (over other Robot Middleware Platforms) Software that covers every aspect of robot operations This includes all the areas highlighted in grey in this figure Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 48 / 53 Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc Online Resources The Robot Operating System (ROS) Features of ROS (over other Robot Middleware Platforms) In ROS, robot software is spread across a number of network com- ponents, relieving the robots from extensive computational needs, to reduce size and weight Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 49 / 53 Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc Online Resources The Robot Operating System (ROS) Features of ROS (over other Robot Middleware Platforms) In ROS, developed software must adhere to the ROS’ software development architecture Software is organized in a pre-determined arrangement, called the ROS packages Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 50 / 53 Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc Online Resources The Industrial Robot Operating System (iROS) Features of ROS (over other Robot Middleware Platforms) iROS is a branch of ROS specializing in Industrial Robots It is a consortium of all major players in the Robotics field (manu- facturers and developers) Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 51 / 53 Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc Other Online Resources OpenCV OpenCV is an online library of programming functions for real-time computer vision and image processing Face++ Face++ is the world’s largest open-source computer vision platform owned by Megvii, a Chinese Technology Company that focuses on image recognition and deep learning software Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 52 / 53 Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc Other Online Resources Freeboard.io Freeboard.io is another IoT Client Platform. It provides tools for view- ing data captured by IoT devices Blynk Blynk.io is another IoT Client Platform that also provides tools for view- ing data captured by IoT devices Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 53 / 53 Components of Industrial Robots Terminologies used in Industrial Robotics Applications of Industrial Robots Working with Industrial Robots Online Resourc That is all for Today Adios Instructor: Dr Hamidu Abdel-Fatao UMaT INTRODUCTION TO ROBOTICS 54 / 53