Transcript Robot

Introduction to Robotics
and
ASU Robots
Yinong Chen (Ph.D.)
School of Computing, Informatics, and
Decision Systems Engineering
Outline
1
What is a Robot
2
Components of a Robot
3
Examples of Robots and Robot Design
4
ASU-Carl Hayden-Intel Robots
Computer Systems
Multi-user
computer
Workstation
Personal
computer
Laptop
Computer
systems
Mainframe
Generalpurpose
computer
Desktop
Cell phone
PDA
TV
Embedded
system
Airplane
Car
Robot
Game machine
MP3 Player
3
GPS
Specialpurpose
computer
What is a Robot?
• A robot is a mechanical device, it is programmable, and
controllable by a computer or by a human.
• It is usually a system, which, by its appearance or
movements, conveys a sense that it has intent of its own.
Kuka
iRobot
Robosoft
Robotics
Connection
Coroware
Mindstorm
NXT
Robot Body
• The component that holds or connect other
components through links and joints:
Types of Joints
• A ball joint allows rotation
around x, y, and z axes,
• A hinge joint allows rotation
around one axis,
• A slider joint, which allows
movement along one axis.
• A Spring joint, which allows
free movement along all axes.
• Combined
Source: www.impulse-based.de/manual.html
Robot Effectors
• Component to accomplish some desired
physical functions
• Examples:
– Hands/Claws
– Legs
– Wheels
– Cage
– Tools
Robot Actuators (Muscle)
• Actuators are the “muscles” of the robot.
• These can be electric motors, hydraulic
systems, pneumatic systems, or any other
system that can apply forces to the system.
Hydraulic systems
Electric
Pneumatic
Sensor Classes: Ranging sensors
Sensors derive information from environment.
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Ranging sensors, such as
 sonar,
 ultrasonic,
 IR, and
 laser sensors:
These sensors return the distance to
the object.
They typically have two lens (eyes).
One sends out a light beam and the
other receives the reflected beam.
By measuring the time and angle of
reflected beam, the sensors can
measure the distance to the object
Distance = speed x time
Sensor Classes: Other Sensors
There are many types of sensors
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Contact (touch) sensor: A signal is generated when touched
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Compass (magnetic) sensor / Gyro senor (rotation)
GPS (Global Positioning System)
Color sensor: return different value
for different colors
Temperature sensor
Return the temperature
Cameras and microphones
Vehicle accelerometer sensor
Vehicle tire pressure sensor
…
Example:
NXT Robot Body, Sensors and Effectors
Example: NXT Robot Body, Sensors and
Effector
Sonar
Sensor
Touch
Sensor
While (true)
{
if touch sensor pressed
Trigger the motor;
else
if sonar distance < 3 feet
{
while sonar distance < 5
{
}
Trigger the motor;
}
}
Actuator:
Motor
Image from: http://www.gadgetsireland.tv/2007/09/
Effector
ASU-Carl Hayden-Intel-Robotics
http://www.public.asu.edu/~ychen10/
 Seven years of efforts
 Evolving designs and implementations
 Industry – university cooperation
 International cooperation
 University – high school cooperation
 We have a working RaaS
Sensor service
Motor service