CS 545: Introduction To Robotics
CS 545: Introduction toRobotics Instructor: Prof. Hadi Moradi,moradi@usc.eduddLectures: M-Th 11:00-12:40, GFS118Office hours: MW 2:30 – 4:00 pm,SAL310, Or by appointmentTAs: Jeong-Yoon Lee jeongyol@usc.eduOffice: SAL 112Office hours: TTH 1:00-2:30PMCS 545: Introduction toRobotics Course web page: Course material: http://www-scf.usc.edu/ csci545Up to date information, lecture notesRelevant dates, links, etc.Robot Modeling and Control by Spong,Hutchinson, and VidyasagarClass format: two sections of 45 minutes1
CS 545: Introduction toRobotics Course overview: fundamentals of roboticsincluding kinematics, dynamics, motionplanning and localization.Prerequisites: CS 455x, i.e., p gprogrammingg principles,pp , discrete mathematicsfor computing, software design and softwareengineering concepts. Some knowledge ofC/C for some programming assignments.CS 545: Introduction toRobotics Grading:25% for midterm25% for final50% for homeworks and projects2
Practical issues Class list: use blackboard.usc.edublackboard usc edu Login with your USC username andpasswordAdministrative Issues Midterm:7/26/09 11:00 - 12:40pm Final: 8/10/10 11:00 - 12:40pmSee also the class web page:http://blackboard usc edu/http://blackboard.usc.edu/3
History Robot: slave Coined in 1921: Playwright by Karel CapekIssac Asimov laws: A robot may not A robot must A robot must Industrial Automation Rigid automation4
Industrial Automation Programmable automation Low-to-midium batches of different typesIndustrial Automation Flexible automation Different types, different batches5
Robots Industrial robots: Tasks: PalletingPick up and placeMill and machine toolingPackagingWeldingMechanical structureActuatorsSensorsControl system6
Robot examples PUMA armK6Symbolic Representation ofJoints7
Definitions: Configuration: Configuration space: State Space: Set of all possible configurationsConfiguration velocitiesWorkspace Reachable workspaceDexterous workspace (subspace of reachable)Classification of RoboticManipulators Power source: Method of control: losedloopApplication area: AssemblyNon-assembly8
Robotic SystemAccuracy vs. Repeatability Accuracy: How close to a given pointRepeatability: How close to previouslytaught point.9
Linear vs. rotational linkWirst Structure10
Articulated Manipulator (RRR)Workspace of RRR11
Parallelogram Linkage Whath isi thehadvantage ofputting theactuation onthe first link?SCARA Manipulator (RRP)Selective Compliant Articulated Robot for Assembly12
Cartesian Manipulator (PPP)WorkspaceComparison13
Parallel ManipulatorsA Typical Problem14
Coordinate FramesForward Kinematics15
Inverse KinematicsInverse Kinematics: Jointangles16
Velocity Kinematics Speed of tool based on the speed ofjointsSingular Configuration Reduction in DOF17
Path planning and TrajectoryPlanningIndependent Joint Control18
Other issues DynamicsMultivariable control:Force control:Computer VisionVi i b d controlVision-basedt lIssues in industrial robots DesignKinematicsInverse kinematicsDynamicsIInverseddynamicsi19
1 CS 545: Introduction to Robotics Instructor: Prof. Hadi Moradi, moradddi@usc.edu Lectures: M-Th 11:00-12:40, GFS118 Office hours: MW 2:30 - 4:00 pm, SAL310, Or by appointmentOr by appointment TAs: Jeong-Yoon Lee jeongyol@usc.edu Office: SAL 112 Office hours: TTH 1:00-2:30PM CS 545: Introduction to Robotics Course web page:Course web page:
The Future of Robotics 269 22.1 Space Robotics 273 22.2 Surgical Robotics 274 22.3 Self-Reconfigurable Robotics 276 22.4 Humanoid Robotics 277 22.5 Social Robotics and Human-Robot Interaction 278 22.6 Service, Assistive and Rehabilitation Robotics 280 22.7 Educational Robotics 283
The VEX Robotics Game Design Committee, comprised of members from the Robotics Education & Competition Foundation, Robomatter, DWAB Technolog y , and VEX Robotics. VEX Robotics Competition Turning Point: A Primer VEX Robotics Competition Turning Point is played on a 12 ft x 12 ft foam-mat, surrounded by a sheet-metal and polycarbonate perimeter.
The VEX Robotics Game Design Committee, comprised of members from the Robotics Education & Competition Foundation, Robomatter, DWAB Technologi es, and VEX Robotics. VEX Robotics Competition In the Zone: A Primer VEX Robotics Competition In the Zone is played on a 12 ft x 12 ft foam-mat, surrounded by a sheet-metal and lexan perimeter.
Page L 235/235e CHASSIS & HAND GUARD 236/236e 240/240e Position Article Quantity Description Kit 1 574 38 33-01 1 HAND GUARD 2 545 12 73-01 1 BOSS SCREW, HAND GUARD 3 545 06 12-01 1 REAR WALL 4 545 22 71-01 1 SCREW, MTG REAR WALL . 6 545 07 14-01 1 PLATE BAR MOUNTING 20 1. Husqvarna .
* Items included in and available only as part of Repair Kit. See page 5 for Repair Kit information. NOTE: Item 16 is not available as a service part at this level. See pages 10 and 11 for shroud parts breakdown. . Use Loctite 545 for pipe fittings. Use Loctite 545 for pipe fittings. Use Loctite 545 for pipe fittings. Use Loctite 545 for pipe .
Stand Tall, Molly Lou Melon Realistic 0-545-49351-X 19.99 Leo the Late Bloomer Fantasy 0-545-49367-6 19.99 Lion Dancer: Ernie Wan’s Chinese New Year Informational 0-545-49365-X 19.99 The Best Story Realistic Fiction 0-545-49366-8 traditions in the book to t
University of Massachusetts Amherst Amherst, MA 01003 413-545-2222 director Dr. Wesley Autio 205 Paige Lab autio@umass.edu 413-545-2963 Administrative Assistant Registrar Carol Redmond Elizabeth Wiernasz 208 Paige Lab 211 Paige Lab 413-545-2222 413-545-3305 cbredmond@umass.edu wiernasz@cns.umass.edu Assistant to the Director Barbara Miller 201 .
(OSH Act) standards because they were rarely exposed to construction jobsite hazards. However, with the increasing roles that designers are playing on worksites, such as being part of a design-build team, it is becoming increasingly important that they receive construction safety training, including information about federal and state construction safety standards. The Occupational Safety .
