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The document provides an overview of robotics, defining robots and the field of robotics itself, which encompasses design, construction, and application. It highlights research on intelligent grasping, robotic inspection, and various robotic mechanisms, including manipulators and mobile robots. Key performance metrics for robotic systems, such as defect detection rates and return on investment, are also discussed.

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4 views

1-robotics-intro-course

The document provides an overview of robotics, defining robots and the field of robotics itself, which encompasses design, construction, and application. It highlights research on intelligent grasping, robotic inspection, and various robotic mechanisms, including manipulators and mobile robots. Key performance metrics for robotic systems, such as defect detection rates and return on investment, are also discussed.

Uploaded by

vco.osc
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Introduction to Robotics

Xu Chen
Mechanical Engineering, UW
Robot: a machine capable of
carrying out a complex series of
actions automatically, especially one
programmable by a computer
Robotics: the branch of technology
that deals with the design,
construction, operation, and
application of robots
Credit: Jim Fan, NVIDA
Tesla, 01-24
03/13/24 Source: FIGURE
03/18/24
Source: NVIDIA
Eureka 10/23: Human-Level Reward Design via Coding Large Language Models
Example Research
Intelligent Grasping of Heterogeneous Objects
IROS 2024, MECC 2024, Mechatronics (Elsevier)
2024 ASME DSCD Best Paper on Robotics Award
Boundary Condition of Robot-Material Interaction

● “grasping is one of the hardest


problems in robotics” 2022
Frontiers in Robotics and AI,
Article 973208 **

Human leveraging slip

* Rueckert, E. (2019). Data-Driven Methods for Co-Design of Materials and Devices [Doctoral dissertation, Massachusetts Institute of Technology] . DSpace@MIT. https://dspace.mit.edu/handle/1721.1/125476
** Morales A, León B, Chinellato E, Suárez R. Editorial: Current Challenges and Future Developments in Robot Grasping. Front Robot AI. 2022 Jul 11;9:973208. doi: 10. 3389/frobt.2022.973208. PMI D: 35899073; PMCID: PMC9310340.
*** https://busymockingbird.com/2013/08/27/collaborating-with-a-4-year-old/
Understanding and Controlling Grasping

a) Overall system grasping T handle hex key b) Image


contour, c) Shear force visualization
X. Hu, A. Venkatesh, Y. Wan, G. Zheng, N. Jawale, N. Kaur, X. Chen, and P. Birkmeyer. "Learning to detect slip through tactile measures of the contact force field and its entropy" Mechatronics, 104, December 2024. https://doi.org/10.1016/j.mechatronics.2024.103258.
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 202. https://doi.org/ras.IROS24.2687.e2244470.
Towards More Active Feedback for Fast Manipulation
With simple incremental control With proportional feedback control

𝑉ത𝑥
Key: Understanding the Machine-Material Interface
Opportunities: Safe Material Handling
Robotics, Control, Optimization, Manufacturing
Inspection and Quality Assurance

Robot
(Machine)

Environment Material
A multiscale robotic inspection roadmap

24-70mm L-Series Zoom Lens 100mm Macro Lens


Source image: 6256 x 4172 px Source image: 6256 x 4172 px
Area covered: 2.8” x 1.8” Area covered: 1.4” x 0.9”
224 px = 0.1” 224 px = 0.05”

224 px

224 px
Metallic Acrylic Composites
Robotic Inspection and AI for Aerospace (2019)

The ARM Institute, "DoD advanced robotics for manufacturing institute panel discussion: achievements using ai/ml in fab/finishing/logistic processes and their impact", October 2020.
The ARM Institute, "Project highlight: automated defect inspection of complex metallic parts", 03 2021.
Mark Gerges and Xu Chen. "Adaptive lighting for uneven and non-uniform topographies in opto-mechanical inspection systems" IEEE/ASME Transactions on Mechatronics, 27(6):5792-5802, December 2022.
Patent application 49201.02WO2 // 21-0494-WO
Key Performance Parameters

Metric Baseline Threshold Demonstrated


Defect detection
70-80% 85% >95%
rate
Average time to
inspect per 6 min 5 min 1 min
piece
345% (1 site)
Return of $200,000 / 100% 1870% (8 sites)
investment system (=baseline) 3012% (20
sites)
Robotic Mechanisms
Classification of mechanical
structures
Accessing the 3D space
Robot manipulator with a fixed base
a kinematic chain composed of a sequence of links interconnected by joints

• e.g., Cartesian manipulator

Siciliano et al, Robotics–Modelling,


Planning and Control, Springer
Gantry manipulator

Siciliano et al, Robotics–Modelling,


Planning and Control, Springer
Cylindrical manipulator

Siciliano et al, Robotics–Modelling,


Planning and Control, Springer
Spherical manipulator

Siciliano et al, Robotics–Modelling,


Planning and Control, Springer
SCARA (selective compliance assembly robot
arm) manipulator

Siciliano et al, Robotics–Modelling,


Planning and Control, Springer
Anthropomorphic manipulator
Work Envelop
Open and closed kinematic chains
Delta robot with closed kinematic chains
Delta robot and Delta 3D printer
Mobile robot
equipped with a locomotion system (wheeled or legged)

Siciliano et al, Robotics–Modelling,


Planning and Control, Springer
Humanoid robot

Source: NVIDIA
Essentials of a robot
An interdisciplinary subject concerning the cultural areas of mechanics, control,
computers, and electronics

• Mechanical system: manipulation apparatus (mechanical arms, end effectors, etc) and locomotion
apparatus (wheels, mechanical legs, etc)
• Actuation system: servo motors, motor drivers, transmissions, etc
• Sensors: position transducers, force sensors, cameras, etc
• Control system: task planning, modelling, motion control, etc

Siciliano et al, Robotics–Modelling,


Planning and Control, Springer
3D printers as robots

• Mechanical system: manipulation apparatus (mechanical arms, end effectors, etc) and locomotion
apparatus (wheels, mechanical legs, etc)
• Actuation system: servo motors, motor drivers, transmissions, etc
• Sensors: position transducers, force sensors, cameras, etc
• Control system: task planning, modelling, motion control, etc

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