Danish University Colleges
Robotundervisning med udgangspunkt i små og store robotmanipulatorer Få ideer til indragelse af robotter i undervisningen
Grøn, Helge Glinvad
Publication date:
2016
Link to publication
Citation for pulished version (APA):
Grøn, H. G. (2016). Robotundervisning med udgangspunkt i små og store robotmanipulatorer: Få ideer til indragelse af robotter i undervisningen. Paper præsenteret ved Konference i Installatørnetværket (ERFA- konference) 2017, Fredericia, Danmark.
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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
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
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?
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
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
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)
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)
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/
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
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
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
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 secondConnects 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 outputConfiguration 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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ToBe Automation - Color sorter robot - Introduction
http://www.instructables.com/id /ToBe-Automation-Color-Sorter- Robot-Introduction/
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Links
fra mig til jer
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Links
RoboDK: Simulering og visualisering
http://www.robodk.com/
Universal Robot
http://www.universal- robots.com/
Trossen Robotic robotarm
http://www.trossenrobotics.co m/robotic-arms.aspx
Trossen Robotic HOW-TO
http://learn.trossenrobotics.co m/
PiXY – Simpel vision
http://cmucam.org/projects/c mucam5/wiki/Introduction_an d_Background
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Links – Trossen robotics
PhantomX Pincher (lille robot)
• Pris: 379,95 USD
http://www.trossenrobotics.com/p/Phanto mX-Pincher-Robot-Arm.aspx
PhantomX Reactor (mellem robot) Pris: 549,95 USD
http://www.trossenrobotics.com/p/phanto mx-ax-12-reactor-robot-arm.aspx
WidowX (Stor robot) Pris: 1499,95 USD
http://www.trossenrobotics.com/widowxro botarm
RobotGeek Arduino Basic+
• Pris: 109,95 USD
http://www.trossenrobotics.com/robotgee k-experimenters-kit-basic-plus
PiXY CMUcam5 Pris: 84,95 USD
http://www.trossenrobotics.com/pixy- cmucam5
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Links
UCN Canvas – HGR
Automation Enginnering - Robot vision and technique
https://ucn.instructure.com/courses/7306/
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