robotmanipulatorer Robotundervisning med udgangspunkt i små og store

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Helge Glinvad Grøn

Adjunkt/Assistant Professor

Robotundervisning med udgangspunkt i små og store robotmanipulatorer

- Få ideer til indragelse af robotter i undervisningen

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Robotundervisning med udgangspunkt i små og store robotmanipulatorer - Få ideer til indragelse af robotter i undervisningen

Fokus på automation og robotteknologi har stor interesse I erhvervslivet I denne tid. Det ønskes i højere grad at automatisere processer – ikke blot I produktionsvirksomheder, men på tværs af en lang række brancher.

For at ruste de studerende til mødet med automatisering vil vi med dette oplæg komme med en række eksempler på hvordan man kan inddrage robotteknologi I undervisningen. Oplægget tager udgangspunkt I en made at lave et “Hands-On” kursus i robotteknologi med bade store og små robotter.

På UCN har vi på kursuset anvendt Universal Robot UR5 og Trossen Robotic Pincher-platform samt PiXY-kamera til Vision.

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Helge G. Grøn

Adjunkt/Assistant Professor Mail: HGR@ucn.dk

Alder: 32

Professionel baggrund:

Adjunkt @ UCN energi og miljø Adjunkt @ K12 (HTX)

Udviklings konsulent (speciel: Embedded HW&SW)

Uddannelse:

M.Sc.E. Electronics Applied signal processing and implementation (AAU)

Velkommen

Ved UCN:

• Underviser Automations- og Energi teknologer ved Energi og miljø

• Underviser AU Automation og drift via Act2Learn

• Forskning udviklings opgaver

• Internationale samarbejder

• Brasilien

• Universitarium

• Forskningsprojekt:

• Bæredygtig vækst del 1

• Professionelle interesser:

• Automation

• Rumfart og raketter

• Robotter

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Agenda

Robotter, Historie og meget mere Robot og UCN

Undervisning – hvordan jeg har gjort og hvad jeg brugte Nogen Udfordringer

Automationsteknolog – studerendes arbejde Links fra mig til jer

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Robotter, historie og meget mere…

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Hvad er en robot?

En mål orienteret maskine der kan sanse, planlægge og agere

- Peter Cooke

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Historie

Imagining robots

270BC - Ctesibius, movable figures with water clocks

Imagining robots

1495 - Leonardo da Vinci, The anthrobot mechanical man

Imagining robots

1921 – First reference to the word

”Robot” in a storytelling

Imagining robots

1942 – Asimov wrote the ”tree laws of

robotics” sci-fi

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Historie

1954 – First programmable robot 1950-1979

The birth of the industrial robot

1963 – First artificial robotic arm to be control by a computer

1976 – microcontroller robot arms

operates in space on Viking 1 and 2

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Historie

Industri 1980 ->

The robotic age takes off

Automotive Humananoids

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Historie og fremtid

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Robotter kommer i mange former og udtryk

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Robotter i bur – Fremtiden???

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Små fleksible robotter - uden bur

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Fremtiden ???

Selvlærende robotter ??

2015 – Tysk forskningsprojekt “RoboHow”

lærer robotten at bage pandekager og

pizzaer

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Typiske industri robotter

Transportplatforme Flexpickers Robot manipulatorer

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Værktøj

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R obot + TED + Mar co Tempes t

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h ttp s://w w w .t ed .c om/t alk s/m ar co_t emp es t_ma ybe _t he_ bes t_r obot _de mo_e ver

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Hvorfor robot …

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Robot og UCN

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Robotteknologi på UCN

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Robot technology I 5ECTS

Vf4 : Robotteknologi 5ECTS

Robot technology II

(Brasilien) 5ECTS Automation

(2/5 ECTS)

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Automation Enginnering

Robot vision and technique (5ECTS)

Semester:

2st semester, Education, Energy and Environment, January 2016.

Credit allotment:

5 ECTS

Minimum attendance requirement

In this course you are expected to attend, attendance is highly advisable but not mandatory.

Course objectives

Contains robotics both theoretically and practically with a focus on robotic arm. The curriculum will included

calculations of physical forces that affect a robot in work, simple vision and programming of robots. Safety of

machinery, in connection with a robot cell according to standard.

Knowledge

The graduate has knowledge about:

Industrial robots and similar devices Robotic systems and integration Safety-related parts of robot systems Vision technique and lighting

Skills

The graduate can:

Participate in the development of larger systems, which includes robot Defining and selecting components and devices for systems with robots Participate in professional and interdisciplinary collaboration with a professional approach along with other actors.

Perform simple robot programming by Teach method

Competencies

The graduate is qualified to:

Prepare and publish technical documentation that meets current regulations for plants with robot

Handle development and building systems with robot accordance with the applicable rules and standards.

Can develop smaller robot programs - after a short introduction to the actual robot arm

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Akadami uddannelse

Modul Vf4: Robot Teknologi (5ECTS)

Eksamen:

Mundtlig prøve med udgangspunkt i et individuelt kort projekt, med ekstern bedømmelse efter 7-trinsskalaen.

Med kort projekt menes, at projektet samlet set

maksimum må være på 8 normalsider svarende til 8 x 2400 tegn inkl. mellemrum. Det korte projekt indgår med en helhedsvurdering som en del af bedømmelsen.

Indhold:

Den studerende undervises i robotteknologi både teoretisk og praktisk med udgangspunkt i en 6 akset robotarm. Der vil blive undervist i beregning af de fysiske kræfter, der har indflydelse på en robot i arbejde.

Der vil blive gennemgået flere forskellige programmeringsmetoder til udførsel af robot

programmering. Sikkerhed og standarder, i forbindelse med en robot og en robot celle i henhold til DS/EN ISO 10218, vil være en obligatorisk del af undervisningen.

Viden

Beskrive forskellen på 3, 5, 6 akset industrirobotter, samt flexpicker typen.

Redegøre for de kræfter, der har indflydelse på vores robot under flytning af emner.

Redegøre for de forskellige bevægemønstre, og hvad der er mest optimalt til den enkelte opgave.

Færdighed

Beregne masse acceleration til dimensionering af robotstørrelse.

Udføre simpel robotprogrammering efter teach metoden.

Kan simulere robotbevægelser i software

Kan definere forskellige ønskelige bevægelsesmønstre for en 5 eller 6 akset robotarm

Kompetencer

Rådgive om valg af robottype til en givet opgave Kan udvikle mindre robotprogrammer - efter en kort introduktion til konkrete robotarms fabrikat.

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Robot technology II (Brasilien)

5ECTS

Samarbejde med PUC Rio

14 dage case work i Brasilien med DK + BR studerende

Emne: Moving platforms

Ved at blive udviklet

Automation

Produktionsteknolog

2/5 ECTS

Ønske om mere vide omkring robotter i automations øje

Ved at blive udviklet

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Undervisning

– hvordan har jeg gjort?

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I

(It)

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K

(Keep)

S

(Simple)

S

(Stupid)

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DS/EN ISO 10218: Robotter og Robotceller

”Hazards associated with robots are well recognized, but the

sources of the hazards are

frequently unique to a particular robot system”

- Introduction

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Automationsteknolog – 5ECTS

Individuel Prøve Simuleringsplatform Gruppe platform

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Individuel test på UR5

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RoboDK

h ttp: //w w w .r obodk.c om/

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30 The hardware platform

PhantomX Pincher Robot Arm Kit Mark II

4 Degree-of-freedom (DOF)

5x AX-12A Dynmixel Actuators (Daisy chain) ArbotiX-M Robotcontroller (Arduino based)

http://www.trossenrobotics.com/p/PhantomX-Pincher-Robot- Arm.aspx

Property

Weight 0,55 [kg]

Vertical reach 350 mm

Horizontal reach 310 mm Lifting capacity @ 150 mm

Lifting capacity @ 200 mm Lifting capacity @ 250 mm

100 g

70 g

40 g

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The hardware platform

Dynamixel AX-12A

https://www.trossenrobotics.com/dynamixel-ax-12-robot- actuator.aspx

Operating Voltage 12V Stall Torque* 15.3 kg·cm

212 oz·in

No-load Speed 59 RPM

0.169sec/60°

Weight 55g

Size 32 x 50 x 40 mm

Resolution 0.29°

Reduction Ratio 1/254

Operating Angle 300° or Continuous Turn

Operating Voltage 9-12V (Recommended Voltage 11.1V)

Max Current 900 mA

Standby Current 50 mA Internal Operating Temp -5°C ~ 70°C

Protocol TTL Half Duplex Async Serial Module Limit 254 valid addresses

Com Speed 7343bps ~ 1Mbps

Position Feedback Yes

Temp Feedback Yes

Load Voltage Feedback Yes Input Voltage Feedback Yes

Compliance/PID Yes

Material Plastic Gears and Body

Motor Cored Motor

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The hardware platform

ArbotiX-M

16MHz AVR microcontroller (ATMEGA644p)

2 serial ports, 1 dedicated to Bioloid servo controller, the other to the XBEE radio/FTDI programming

3 TTL DYNAMIXEL 3-pin style ports onboard,

28 Digital I/O, 8 of which can also function as analog inputs Servo style 3-pin headers (gnd, vcc, signal) on all 28 I/O pins Xbee wireless slot

This board requires either an FTDI cable or ISP for programming.

http://www.trossenrobotics.com/p/arbotix-robot-controller.aspx

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Et gruppesæt

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What Quantity Link

PhantomX Pincher Robot Arm Kit Mark II

x1 https://www.trossenrobotics.com/p/PhantomX- Pincher-Robot-Arm.aspx

RobotGeek Large Workbench

x1 https://www.trossenrobotics.com/robotgeek-large- workbench.aspx

RobotGeek Rotation Knob

x2 https://www.trossenrobotics.com/robotgeek-rotation- knob

RobotGeek Pushbutton x3 https://www.trossenrobotics.com/robotGeek- pushbutton

RobotGeek Joystick x1 https://www.trossenrobotics.com/robotgeek-joystick

RobotGeek Slider x2 https://www.trossenrobotics.com/robotgeek-slider

RobotGeek LED Driver x3 https://www.trossenrobotics.com/robotgeek-led- driver

.5 Inch FSR Kit x1 https://www.trossenrobotics.com/5i-Force-Sensing- Resistor-Kit.aspx

RobotGeek Relay x2 https://www.trossenrobotics.com/robotgeek-relay

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Det kan også blive mere avanceret …

PhantomX Reactor Robot Arm Kit WidowX Robot Arm Kit Mark II

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Arm-link

Cartesian Cylindrical Backhoe

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Pixy (CMUcam5)

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Pixy (CMUcam5)

Small, fast, easy-to-use, low-cost, readily-available vision system

Learns to detect objects that you teach it

Outputs what it detects 50 times per second

Connects to Arduino with included cable. Also works with Raspberry Pi, BeagleBone and similar controllers

All libraries for Arduino, Raspberry Pi, etc. are provided

C/C++ and Python are supported

Communicates via one of several interfaces: SPI,

I2C, UART, USB or analog/digital output

Configuration utility runs on Windows, MacOS and Linux

All software/firmare is open-source GNU-licensed All hardware documentation including schematics, bill of materials, PCB layout, etc. are provided

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Pixy (CMUcam5)

CMUcam5 Pixy - Technical specs

Processor: NXP LPC4330, 204 MHz, dual core

Image sensor: Omnivision OV9715, 1/4", 1280x800 Lens field-of-view: 75 degrees horizontal, 47 degrees vertical

Lens type: standard M12 (several different types available)

Power consumption: 140 mA typical

Power input: USB input (5V) or unregulated input (6V to 10V)

RAM: 264K bytes Flash: 1M bytes

Available data outputs: UART serial, SPI, I2C, USB, digital, analog

Dimensions: 2.1" x 2.0" x 1.4 Weight: 27 grams

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Pixy (CMUcam5)

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Nogen udfordringer

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Frames and the world

𝑋 _𝑂 , 𝑌 _𝑂 , 𝑍 _𝑂 Coordinate base at origin (world frame)

𝑋 _𝑡 , 𝑌 _𝑡 , 𝑍 _𝑡 Coordinate based on Tool (tool frame)

One should always be the main Base.

Always use the same unit of measure in all frames

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Kinematics (Forward & Inverse)

Direct/forward Kinematics

Given the (commanded) joint angles, find the end-effector position

Inverse Kinematics

Given the (desired) end-effector position, find the joint angles that correspond to the end-effector position

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Robot vision (Computer/machine vision)

Peter Cooke defines a robot:

“a goal oriented machine that can sense, plan and act”

Vision is one of humans senses and are therefore also one

natural sense to give to a machine or a robot.

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Automationsteknolog Studerendes arbejde

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Studerendes Freebody diagram

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Lidt videoer fra opgaver til de studerende …

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Intructables

DIY forum

Contests, guides, forum, community

Can be followed step-by-step or downloaded as PDF

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Phantomx pincher Color sorting

http://www.instructables.com/id /Phantomx-Pincher-Color-

Sorting/

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UCN Robotics - PLC Arduino Project

http://www.instructables.com/id /UCN-Robotics-PLC-Arduino-

Project/

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Arbotix arm sorter with conveyor

http://www.instructables.com/id /Arbotix-Arm-Sorter-With-

Conveyor/

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Autonomous Gripforce Stabilizer Robotic Arm

http://www.instructables.com/id /Autonomous-Gripforce-

Stabilizer-Robotic-Arm/

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PhantomX Pincher || Colour Sorting with Pixy CMUcam5

http://www.instructables.com/id /PhantomX-Pincher-Colour-

Sorting-With-Pixy-CMUcam5/

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