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CS 545: Introduction toRobotics Instructor: Prof. Hadi Moradi,moradi@usc.eduddLectures: M-Th 11:00-12:40, GFS118Office hours: MW 2:30 – 4:00 pm,SAL310, Or by appointmentTAs: Jeong-Yoon Lee jeongyol@usc.eduOffice: SAL 112Office hours: TTH 1:00-2:30PMCS 545: Introduction toRobotics Course web page: Course material: http://www-scf.usc.edu/ csci545Up to date information, lecture notesRelevant dates, links, etc.Robot Modeling and Control by Spong,Hutchinson, and VidyasagarClass format: two sections of 45 minutes1
CS 545: Introduction toRobotics Course overview: fundamentals of roboticsincluding kinematics, dynamics, motionplanning and localization.Prerequisites: CS 455x, i.e., p gprogrammingg principles,pp , discrete mathematicsfor computing, software design and softwareengineering concepts. Some knowledge ofC/C for some programming assignments.CS 545: Introduction toRobotics Grading:25% for midterm25% for final50% for homeworks and projects2
Practical issues Class list: use blackboard.usc.edublackboard usc edu Login with your USC username andpasswordAdministrative Issues Midterm:7/26/09 11:00 - 12:40pm Final: 8/10/10 11:00 - 12:40pmSee also the class web page:http://blackboard usc edu/http://blackboard.usc.edu/3
History Robot: slave Coined in 1921: Playwright by Karel CapekIssac Asimov laws: A robot may not A robot must A robot must Industrial Automation Rigid automation4
Industrial Automation Programmable automation Low-to-midium batches of different typesIndustrial Automation Flexible automation Different types, different batches5
Robots Industrial robots: Tasks: PalletingPick up and placeMill and machine toolingPackagingWeldingMechanical structureActuatorsSensorsControl system6
Robot examples PUMA armK6Symbolic Representation ofJoints7
Definitions: Configuration: Configuration space: State Space: Set of all possible configurationsConfiguration velocitiesWorkspace Reachable workspaceDexterous workspace (subspace of reachable)Classification of RoboticManipulators Power source: Method of control: losedloopApplication area: AssemblyNon-assembly8
Robotic SystemAccuracy vs. Repeatability Accuracy: How close to a given pointRepeatability: How close to previouslytaught point.9
Linear vs. rotational linkWirst Structure10
Articulated Manipulator (RRR)Workspace of RRR11
Parallelogram Linkage Whath isi thehadvantage ofputting theactuation onthe first link?SCARA Manipulator (RRP)Selective Compliant Articulated Robot for Assembly12
Cartesian Manipulator (PPP)WorkspaceComparison13
Parallel ManipulatorsA Typical Problem14
Coordinate FramesForward Kinematics15
Inverse KinematicsInverse Kinematics: Jointangles16
Velocity Kinematics Speed of tool based on the speed ofjointsSingular Configuration Reduction in DOF17
Path planning and TrajectoryPlanningIndependent Joint Control18
Other issues DynamicsMultivariable control:Force control:Computer VisionVi i b d controlVision-basedt lIssues in industrial robots DesignKinematicsInverse kinematicsDynamicsIInverseddynamicsi19
CS 545: Introduction to Robotics Course overview:Course overview: fundamentals of roboticsfundamentals of robotics including kinematics, dynamics, motion planning and localization. Prerequisites: CS 455x, i.e., ppg gp p ,rogramming principles, discrete mathematics for comp
