OSU ECE 5463 - ECE5463-Introduction-Slides-FA2014 (15 pages)

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ECE5463-Introduction-Slides-FA2014



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ECE5463-Introduction-Slides-FA2014

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Pages:
15
School:
Ohio State University
Course:
Ece 5463 - Introduction to Real Time Robotics Systems

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Introduction to Robotics ECE 5463 Yuan F Zheng Electrical and Computer Engineering What 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 attribute Hubo Robot ECE5463 Introduction Started with Robot Manipulators Robot manipulators originally designed and targeted for industrial automation ABB Robot KUKA Robot FANUC Robot ECE5463 Introduction Applications 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 Introduction History 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 Arm ECE5463 Introduction Basic Structure of a Robotic System Interface End Effector Wheels or legs Robot Sensors ECE5463 Introduction Computer Controller Programmer Mechanical Modeling Six degrees of freedom Three for translation Three for rotation q Joint angles X Hand position orientation T Input torques Kinematics Inverse kinematics From the position orientation of the hand to the positions of joints and vice versa Dynamic equation D q q H q q G q T ECE5463 Introduction Key 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 kinds FANUC Servo Motor U S does not make many of them nowadays ECE5463 Introduction Scope of Robots Today 1 SONY QRIO Honda ASIMO Jiao Tong Mobile Robots SJTU ECE5463 Introduction iRobot Roomba Honda Japan SARCOS USA Toyota Japan ECE5463 Introduction Toyota Japan AIST Japan



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