robotics & mechatronics - Engineering and Computing - Florida ...

ROBOTICS & MECHATRONICS
Dr. Sabri Tosunoglu
Department of Mechanical Engineering
Florida International University
Miami, Florida

Overview
• Introduction to robotics
• Industrial robots
• Robot control
• Mobile platforms
• Remote control of robots
• Humanoid robots
• Emerging application areas
• Impact on humans and
society

Robotics
• In general, the term “robotics”
refers to computer control of
mechanical systems.
• Mechatronics, a term coined by
the Japanese, implies the same
concept by explicitly joining the
terms “mechanical” and
“electronics.”
• MECHATRONICS
=
MECHANICAL + ELECTRONICS

Robotics Development Stages
• Initial concepts dates to Da Vinci era
• Industrial robots in assembly and
manufacturing
• Robotic platforms
• Development of humanoid robots
• Diversification of applications
• Expansion of the area defined as robotics

Industrial Robots
• Painting (cars emerged as a big
market)
• Welding, punching, drilling,
milling, honing, cutting
• Assembly operations (especially
in computers and electronics;
however, often seen in consumer
products and appliance assembly
as well)
• Feeder (parts, new material, and
presenter to help other machines)
• Quality control

Industrial Robots
• An industrial robot is designed as a serial arm
similar to human arm but in different scales:
From a few inches long (finger), to 60-feet
feet-
long arms (manipulators) were designed.
• Parts of the arm can rotate or slide depending
on the design.
• Each moving part (called link) is powered by
a separate motor.

Linear Movement of Links
Seiko robot uses
linear movements
between its links (as
opposed to
rotational)

Rotational Movement of Links
ABB robot uses
rotational movements
between its links (as
opposed to translational)

Industrial Robots
A popular industrial
SCARA robot used in
industry to assemble
computer boards

Industrial Robots
Teach pendant
Robot
Controller (special
purpose computer)

Industrial Robot Control
• Each link’s motion is measured by a sensor to
track its movement and correct if necessary.
• Each link is controlled by the motor connected
to it.
• Input to the motor is generated by the computer
after reviewing the sensory data on link
movement.
• Control software orchestrates the flow of
information so as to generate the desired robot
movement.

Control of Robots
Sensors record
physical information
on joints, links,
environment, and
send to the
computer
Computer receives
information from (1) the
sensors, and (2) instructions
from the user on robotic
task, generates and sends
control commands to
motors to achieve the goal

Robots in Space

Mobile Platforms
Unmanned Arial Vehicles
Unmanned Ground Vehicle
Unmanned Surface Vehicles
Unmanned Underwater Vehicles

Casper: Unmanned Vehicle
56 x 50 x 30 cm
16 kg
51 kg payload
Remote controlled
Video capable
Sandia National Labs

Casper: Unmanned Vehicle
Availability:
Price:
System Description:
Length/Width/Height (cm):
Weight (Kg):
Operating Environment:
Size Category:
Primary Control Mode:
ComLink Type:
ComLink Range (m):
Video Capable:
Primary Video:
Video Link Range (m):
Body Material:
Max Speed (Km/h):
Max Run Time (h):
Max Payload Weight (Kg):
Max Payload Size (cu ft):
Power Source:
Prototype
$10,000.00
56.408 / 49.998 / 30.768
15.75
Interior/Exterior
Small
Remote Control Teleoperated
900 MHz, 500mW DSS, 9600 baud
1525
Yes
Unspecified video camera
5000
Graphite-epoxy
3.29
5.5
51.28
0.5
Lead-Acid, 24 V, 7 Ah

Mobile Platforms

Unmanned Aerial Vehicles

Sojourner Prototype on Earth

Sojourner Prototype

Sojourner @ Mars

Sojourner @ Mars

Mars Exploration Rover Egres

Rockey IV JPL

Remote Control: Virtual Reality

Remote Control

Remote Control: Virtual Reality
• Integrate as many senses as possible to create a
feeling of presence at the remote site
• Position feedback (mouse function on a PC)
• Force feedback
• Visual feedback
• 3D vision
• Sound

Force-Reflecting Manual Controller
University
of Texas
at Austin

Humanoid Robots
• Asimo by Honda
• Aibo the Dog by Sony
• QRIO by Sony

QRIO by Sony

QRIO by Sony

New Application Areas
• Medical applications – assisting medical doctors and
operators in remote operations as well as in the
operating room
• Assistive robots to aid handicapped and old people
• Robots to mow the lawn, clean the house, and do
house chores are emerging
• Guard robots for security
• Pet robots with AI capabilities
• Increasingly wider use for military purposes

New Application Areas
• Segway uses the elements
of robotics technology
• Hence, it represents an
example to the
expanding application
areas of robotics

Medical Applications

Impact on Society
• Are the robots taking over jobs
humans need?
• By looking at the numbers, and a
recent UN report, it seems to be so.
• However, perhaps a smaller number
of jobs are replaced by high-end jobs
who build, maintain and run the
robots.
• The UN report suggests that robots
will continue to grow its share in the
workforce regardless of the effects.

Conclusions
• Introduction to robotics
• Industrial robots
• Robot control
• Mobile platforms
• Remote control of robots
• Humanoid robots
• Emerging application areas
• Impact on humans and
society

www.eng.fiu.edu/mme/robotics/egn1033