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Presentación de robótica actual
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Robotics in today’s world: Some applications
Dra. America Berenice Morales Dıaz
CINVESTAVUnidad Saltillo
Abril 2014
Dra. America Morales (CINVESTAV) Robotics in today’s world Abril 2014 1 / 41
video
videoDra. America Morales (CINVESTAV) Robotics in today’s world Abril 2014 2 / 41
Outline
1 Robotics history
2 Applications
3 Actual Work
4 Conclusions and future trends
Dra. America Morales (CINVESTAV) Robotics in today’s world Abril 2014 3 / 41
Robotics history
Ancient vision
Greeks: Aristotle writes:
“If every tool, when ordered, or even of its ownaccord, could do the work that befits it... thenthere would be no need either of apprentices forthe master workers or of slaves for the lords.”
Dra. America Morales (CINVESTAV) Robotics in today’s world Abril 2014 4 / 41
The word “Robot” (1921)
Karel Capek’s play “Rossuum’s UniversalRobots”
“Robot” is coined from Czech word “robota”
“Robota” means labor
Dra. America Morales (CINVESTAV) Robotics in today’s world Abril 2014 5 / 41
Trademarks of science fiction
Robot Maria in classic SF movie“Metropolis” of Fritz Lang (1926)
Famous R2-D2 (left) and C3PO(right) in SF saga “Star Wars” ofGeorge Lucas (1977)
Dra. America Morales (CINVESTAV) Robotics in today’s world Abril 2014 6 / 41
Three laws of robotics
According to writer Isaac Asimov:
1 A robot may not harm a human being, or,through inaction, allow a human being to cometo harm.
2 A robot must obey the orders given to it byhuman beings except where such orders wouldconflict with the First Law.
3 A robot must protect its own existence, as longas such protection does not conflict with theFirst or Second Law.
Dra. America Morales (CINVESTAV) Robotics in today’s world Abril 2014 7 / 41
A definition of “Robot”
Robot Institute of America:
Robot is a reprogrammable, multifunctional manipulator designed tomove material, parts, tools, or specialized devices through variableprogrammed motions for the performance of a variety of tasks.
Dra. America Morales (CINVESTAV) Robotics in today’s world Abril 2014 8 / 41
Applications: Industrial Robots
Manufacturing
(a) Cartesian (b) Delta
(c) Manipulator
Fig. 1 : Manufacturing Robots.Dra. America Morales (CINVESTAV) Robotics in today’s world Abril 2014 9 / 41
Industrial robots
Beer industry
(a) Mexico (PiedrasNegras, Coah.)
(b) Holland
(c) Germany (d) Argentina
Dra. America Morales (CINVESTAV) Robotics in today’s world Abril 2014 10 / 41
Medicine
(a) Exosqueleton
(b) Scanner (c) DaVinci
Dra. America Morales (CINVESTAV) Robotics in today’s world Abril 2014 11 / 41
Medicine
Rehabilitation
(a) Prosthesis (b) Rehabilitation
(c) Bionic hand
Dra. America Morales (CINVESTAV) Robotics in today’s world Abril 2014 12 / 41
Space
(a) satellite (b) Kirobo
(c) Curiosity (d) Spiderfab
Dra. America Morales (CINVESTAV) Robotics in today’s world Abril 2014 13 / 41
Household robots
(a) Roomba (b) Luna
(c) Scooba
Dra. America Morales (CINVESTAV) Robotics in today’s world Abril 2014 14 / 41
Entertainment robots
(a) Aibo
(b) Bioloid (c) Lego mindstorms
Dra. America Morales (CINVESTAV) Robotics in today’s world Abril 2014 15 / 41
Autonomous Guided Vehicles
(a) Google car
(b) Line follower (c) Kiva
Dra. America Morales (CINVESTAV) Robotics in today’s world Abril 2014 16 / 41
Humanoids
(a) HRP-2 (b) Nao
(c) Darwin (d) HRP-4
Dra. America Morales (CINVESTAV) Robotics in today’s world Abril 2014 17 / 41
Surveillance
(a) PIAP (b) ASV (c) Riotbot
(d) Drone (e) UAV
Dra. America Morales (CINVESTAV) Robotics in today’s world Abril 2014 18 / 41
Formations
(a) Pioneer (b) UAV
(c) UAV (d) Epucks
Dra. America Morales (CINVESTAV) Robotics in today’s world Abril 2014 19 / 41
What we need to know?
Robotics
Algebra
Differential equations
Control
Electronics
Programming
Mechanics
Phisics
Signal processing
Artificial vision
Dra. America Morales (CINVESTAV) Robotics in today’s world Abril 2014 20 / 41
Actual work
Fig. 2 : The actual and desired coordinates of the unicycle eq. (1).
xi = vi cos(θi)
yi = vi sin(θi) (1)
θi = ωi
Dra. America Morales (CINVESTAV) Robotics in today’s world Abril 2014 21 / 41
Actual work (cont.)
xei = cosθi(xri − xi) + sinθi(yri − yi)yei = −sinθi(xri − xi) + cosθi(yri − yi) (2)
θei = θri − θi
xei = ωiyei − vi + vricosθei
yei = −ωixei + vrisinθei (3)
θei = ωri − ωi
Dra. America Morales (CINVESTAV) Robotics in today’s world Abril 2014 22 / 41
Actual work (cont.)
Fig. 3 : A formation composed of 4 vehicles with a known virtual center.
Dra. America Morales (CINVESTAV) Robotics in today’s world Abril 2014 23 / 41
all-to-all syncronization control
vi = vri cos θei +Kxi
xei + n∑j=1
Cxij(xei − xej)
(4)
ωi = ωri +Kθiθei + vrisin θeiKCyi
θeiαi+yei + n∑
j=1
Cyij(yei − yej )
; for i 6= j (5)
with αi =√K2 + (xei)2 + (yei)2 +
∑nj=1 [(xei − xej)2 + (yei − yej)2]
Dra. America Morales (CINVESTAV) Robotics in today’s world Abril 2014 24 / 41
Tracking
−0.6 −0.4 −0.2 0 0.2 0.4 0.6 0.8
−0.4
−0.2
0
0.2
0.4
0.6
xri,x
i
yr i,y
i
x
1(0),y
1(0)
Robot1
x2(0),y
2(0)
Robot2
x3(0),y
3(0)
Robot3
Trajectory
Fig. 4 : Tracking evolution with control (4) and (5) for three robots swarm.
Dra. America Morales (CINVESTAV) Robotics in today’s world Abril 2014 25 / 41
Incorporation 1 robot
−0.8 −0.6 −0.4 −0.2 0 0.2 0.4 0.6 0.8 1−0.8
−0.6
−0.4
−0.2
0
0.2
0.4
0.6
0.8
xri,x
i
yri,
yi
Cartesian trajectories
x1(0),y
1(0)
Robot1
x2(0),y
2(0)
Robot2
x3(0),y
3(0)
Robot3
Trajectory
Fig. 5 : Entrance of a new element in the formation.
Dra. America Morales (CINVESTAV) Robotics in today’s world Abril 2014 26 / 41
Incorporation multiple robots
−0.8 −0.6 −0.4 −0.2 0 0.2 0.4 0.6 0.8−0.8
−0.6
−0.4
−0.2
0
0.2
0.4
0.6
0.8
xri, x
i
yri, y
i
Cartesian trajectories: multiple merging
x
1(0),y
1(0)
Robot1
x2(0),y
2(0)
Robot2
x3(0),y
3(0)
Robot3
x4(0),y
4(0)
Robot4
x5(0),y
5(0)
Robot5
x6(0),y
6(0)
Robot6
merging ofnew robots
Fig. 6 : Incorporation of several robots with controller in experiments: XYcoordinates.
Dra. America Morales (CINVESTAV) Robotics in today’s world Abril 2014 27 / 41
Experimental Setup
Dra. America Morales (CINVESTAV) Robotics in today’s world Abril 2014 28 / 41
Experimental Setup (cont.)
Dra. America Morales (CINVESTAV) Robotics in today’s world Abril 2014 29 / 41
Experimental Setup (cont.)
Dra. America Morales (CINVESTAV) Robotics in today’s world Abril 2014 30 / 41
Experimental Setup (cont.)
Dra. America Morales (CINVESTAV) Robotics in today’s world Abril 2014 31 / 41
Experimental Setup (cont.)
Dra. America Morales (CINVESTAV) Robotics in today’s world Abril 2014 32 / 41
Implementation
Fig. 7 : Data acquisition for our collision avoidance strategy.
Dra. America Morales (CINVESTAV) Robotics in today’s world Abril 2014 33 / 41
Inertial data adquisition
Fig. 8 : Microcontroller Arduino board with embedded IMU.
Dra. America Morales (CINVESTAV) Robotics in today’s world Abril 2014 34 / 41
Collision avoidance
Two formations in the same path, opposite directions.
−1 −0.5 0 0.5 1−1
−0.8
−0.6
−0.4
−0.2
0
0.2
0.4
0.6
0.8
1
1 23
4
5
6
Cartesian coordinates
xri, xi
yri,yi
Robot1
Robot2
Robot3
Robot4
Robot5
Robot6
Fig. 9 : Cooperative collision avoidance betweeen two formations
Dra. America Morales (CINVESTAV) Robotics in today’s world Abril 2014 35 / 41
Delay effect
Dra. America Morales (CINVESTAV) Robotics in today’s world Abril 2014 36 / 41
Delay effect (cont.)
Dra. America Morales (CINVESTAV) Robotics in today’s world Abril 2014 37 / 41
Delay effect (cont.)
Dra. America Morales (CINVESTAV) Robotics in today’s world Abril 2014 38 / 41
Delay effect (cont.)
Dra. America Morales (CINVESTAV) Robotics in today’s world Abril 2014 39 / 41
Conclusions and future trends
Group coordination in a robot group is an interesting topic that has beenreceive a lot of attention the las decade.
Many applications have been done: drones, surveillance, map recognition,exploration, in the fuel company, among others.
Future trends can be encountered in:
Automated highways (AHDA see:https://www.youtube.com/watch?v=4pMO475heog)Manufacturing systems (see Kiva Systems,https://www.youtube.com/watch?v=lWsMdN7HMuA).
In the future trends we have coordination in unstructured environments forservice robot at home and also in the industry in general for un identicalrobots.
Dra. America Morales (CINVESTAV) Robotics in today’s world Abril 2014 40 / 41
Thanks!, questions???
{america.morales,hugo.gutierrez,hector.perez,flabio.mirelez}@cinvestav.edu.mx
Dra. America Morales (CINVESTAV) Robotics in today’s world Abril 2014 41 / 41