Introduction to Robotics(ECE 5463)Yuan F. ZhengElectrical and Computer EngineeringECE5463 IntroductionWhat is a Robot? A robot is a mechanical device which is controlled by a computer and behaves like a human being– conventional definition A robot is any device which has certain intelligence –modern definition Programmable is a key attributeHubo RobotECE5463 IntroductionStarted with Robot Manipulators Robot manipulators originally designed and targeted for industrial automationABB RobotFANUC RobotKUKA RobotECE5463 IntroductionApplications of Industrial Robots Assembly – automobile, electronics Welding – automobile  Painting – automobile Material and objects handling – general applications in factories, research laboratories (biology and pharmaceutical screen), etc.ECE5463 IntroductionHistory of Industrial Robots First industrial robot was developed in the United States by Joseph Engelberger - often called the Father of Robotics Stanford University carried out much fundamental research in late 60-70s -Stanford ArmECE5463 IntroductionBasic Structure of a Robotic SystemRobotComputerControllerSensorsEnd - EffectorInterfaceProgrammer(Wheels or legs)ECE5463 IntroductionMechanical ModelingSix degrees of freedomThree for translationThree for rotationKinematics/Inverse kinematics:From the position/orientation of the hand to the positions of joints and vice versaDynamic equation：D(q)q+H(q, q)+G(q) = Tq: Joint anglesX: Hand position/orientationT: Input torques.. .ECE5463 IntroductionKey Components Servo motor － needs to be reliable and powerful Sensors –reliable, stable and accurate Mechanical linkages –rigid Computing equipment – reliable, fast, large storage space Software – reliable, multi-functional and powerful Supporting devices – many kindsU.S. does not make many of them nowadaysFANUC Servo MotorECE5463 IntroductionScope of Robots Today (1)Jiao Tong Mobile Robots (SJTU)Honda - ASIMOSONY - QRIOiRobot Roomba®ECE5463 IntroductionSARCOS, USAHonda, JapanToyota, Japan AIST, JapanToyota, JapanECE5463 IntroductionFurther ExpansionMar Rover UAVAnti-Terrorists RobotECE5463 IntroductionMobile RobotsSJTU RobotsECE5463 IntroductionUbiquitous Networked Robots(South Korea) Car, TrainUbiquitous NetworkIT agent Robot(Software Robot)Home/Personal RobotEdutainment RobotOfficeNetworked HomePublic buildingRobot Inside(Embedded Robot)(Conventional Physical Robot)ECE5463 IntroductionIntelligent Service Robots Intelligent service robots will represent future of robotics technology It combines manipulation and mobility of robots plus sensing and computing technologies  South Korea has put emphasis on the development of intelligent service robotsSouth Korea ETRI Robot GuiderThis Course In this semester we will go through some fundamentals of robotics including kinematics, dynamics, control and sensing The knowledge will be useful for your future career in the application (programming and integration), design, and research of robots, or in marketing and education, etc. fields Homework and projects will be assigned for you to practice strengthening your learning You are encouraged to work together with graduate (undergraduate) students in joint projectsECE5463