+4 McGill Dept Of Mechanical Engineering MECH572 Introduction To robotics Fall 2004
MECH572 Introduction To Robotics Fall 2004 Dept. Of Mechanical Engineering
Course Topics Introduction Mathematical Background Rigid-Body Mechanics Robotic Kinematics Robotic dynamics
Course Topics • Introduction • Mathematical Background • Rigid-Body Mechanics • Robotic Kinematics • Robotic Dynamics
Text Angeles, J., 2002, Fundamentals of robotic Mechanical systems Theory, Methods and Algorithms, 2nd Edition, Springer-Verlag, New York References: Craig, J. 1989. Introduction to Robotics. Mechanics and Control 2nd Edition, Addison-Wesley Publishing Company, Reading Ma Paul,R. P, 1981, Robot Manipulators. Mathematics, Programming and Control, The MIT Press, Cambridge, MA Asada,H. and stoline, J-J.. 1986. Robot Analysis and Control John Wiley and Sons, Inc, New York Lung-Wen Tsai, 1999 Robot Analysis, John Wiley sons
Text: Angeles, J., 2002, Fundamentals of Robotic Mechanical Systems, Theory, Methods and Algorithms, 2 nd Edition, Springer-Verlag, New York References: Craig, J., 1989., Introduction to Robotics. Mechanics and Control, 2 nd Edition, Addison-Wesley Publishing Company, Reading MA Paul, R. P., 1981, Robot Manipulators. Mathematics, Programming and Control, The MIT Press, Cambridge, MA Asada, H. and Stoline, J-J.E. 1986, Robot Analysis and Control, John Wiley and Sons, Inc, New York. Lung-Wen Tsai, 1999 Robot Analysis, John Wiley & Sons
Marking scheme Course Assignments 10% Midterm Exam 30% Final exam 60
Marking Scheme: • Course Assignments 10% • Midterm Exam 30% • Final Exam 60%
Introduction Basic definitions Robot- Any automated machine programmed to perform specific mechanical functions in the manner of a man Robotics-the science dealing with design, construction and operation of robots Main research areas of robotics- Mechanical Manipulation, Computer Vision and Artificial Intelligence(Al) History 1923 Robot entered into English Vocabulary 1950s: Computer-based control appeared 1960/70s: Academic research started 1980/90s: Research and education advanced Applications in manufacture, space, underwater, military, etc -2000s: Medical, personal assistance/domestic, entertainment
Introduction Basic Definitions: •Robot – Any automated machine programmed to perform specific mechanical functions in the manner of a man •Robotics – the science dealing with design, construction and operation of robots •Main Research Areas of Robotics – Mechanical Manipulation, Computer Vision and Artificial Intelligence (AI) History: –1923: “Robot” entered into English Vocabulary –1950s: Computer-based control appeared –1960/70s: Academic research started –1980/90s: Research and education advanced Applications in manufacture, space, underwater, military, etc. –2000s: Medical, personal assistance/domestic, entertainment, …
Introduction Scope of the course Robotic mechanical Systems Definition of system: A group or combination of interrelated, interdependent, or interacting elements forming a collective entity
Introduction Scope of the Course – Robotic Mechanical Systems Definition of System: A group or combination of interrelated, interdependent, or interacting elements forming a collective entity
Introduction Application example Mars exploration(NASA Viking Mission, 1975)
Introduction Application example – Mars exploration (NASA Viking Mission, 1975)
Introduction CANADARM 1 Wrist Ya Joint Wrist CCTV Light Wrist Pitch Joint Elbow CCTV Lower Arm Boom End Effector Pan/Tilt (Opt ions) MPM-Upper Arm Upper Arm Boom Wrist Roll MRL .Wrist Joint MRL -Lower Arm Elbow Pitch Joint Shoulder Brace Major Specification Shoulder Pitch Joint DOF: 6 shoulde Orbiter Yaw Joint Length: 15.2 Weight: 410 Kg Max Payload 266,000 Ks
Introduction CANADARM 1 Major Specification: DOF: 6 Length: 15.2 m Weight: 410 Kg Max Payload: 266,000 Kg
Introduction Canadarm I installed on US space Shuttle
Introduction Canadarm 1 installed on US space Shuttle
Introduction CanadarmI viewed from the window of space shuttle
Introduction Canadarm1 viewed from the window of space shuttle