Robot Applications
Copyright © 2014 Dr. Korondi Péter, Halas János, Dr. Samu Krisztián, Bojtos Attila, Dr. Tamás Péter
A tananyag a TÁMOP-4.1.2.A/1-11/1-2011-0042 azonosító számú „ Mechatronikai mérnök MSc tananyagfejlesztés ” projekt keretében készült. A tananyagfejlesztés az Európai Unió támogatásával és az Európai Szociális Alap társfinanszírozásával valósult meg.
Reviewed by: Dr. Husi Géza
Published by: BME MOGI
Editor by: BME MOGI
ISBN 978-963-313-136-7
2014
Table of Contents
- 1. Introduction: Trends in robotics
- 2. Robot middleware
- 3. Universal robot controller
- 4. Internet-based Telemanipulation
-
- 4.1. Abstract
- 4.2. Introduction
- 4.3. General approach of telemanipulation
- 4.4. Master devices as haptic interfaces
- 4.5. Animation of the operator’s hand wearing the sensor glove
- 4.6. Overview of control modes
-
- 4.6.1. Basic Architectures
- 4.6.2. Nonlinear scaling (Virtual coupling impedance)
- 4.6.3. Time delay compensation of internet based telemanipulation
- 4.6.4. Friction compensation for master devices
- 4.7. A complete application example: A handshake via Internet
- 4.8. Conclusions for telemanipulation
- 4.9. References for telemanipulation
- 5. Holonomic based robot for behavioral research
- 6. Fuzzy automaton for describing ethological functions
- 8. Models of Friction
- 9. PCI universal motion control system
- 10. PCI CARD – Specifications
-
- 10.1. Pin-outs and electrical characteristics
- 10.2. Mechanical dimensions
- 10.3. Connecting servo modules
- 10.4. Axis interface modules
-
- 10.4.1. Typical servo configurations
-
- 10.4.1.1. Analogue system with encoder feedback
- 10.4.1.2. Incremental digital system with encoder feedback and differential output
- 10.4.1.3. Incremental digital system with encoder feedback and TTL output
- 10.4.1.4. Incremental digital system with differential output
- 10.4.1.5. Incremental digital system with TTL output
- 10.4.1.6. Absolute digital (CAN based) system
- 10.4.1.7. Absolute digital (CAN based) system with conventional (A/B/I) encoder feedback
- 10.4.2. AXIS – Optical Isolator
- 10.4.3. AXIS – DAC (Digital-to-Analogue Converter)
- 10.4.4. AXIS – Differential breakout
- 10.4.5. AXIS – Breakout
- 12. HAL settings
- 13. RS485 modules
- References
List of Figures
- 1.1. Robot industry market projections [1]
- 1.2. Flexiblity factors
- 1.3. Traditional (upper) and flexible (lower) user interface for industrial robots
- 1.4. Steered vehicle path planning
- 1.5. Marker localisation concept
- 1.6. QR code
- 1.7. Omnidirectional movement
- 1.8. Aesthetic markers, [10]
- 1.9. Robot eye concept
- 1.10. Ethon robots and the aesthetic marker concept
- 2.1. Main use cases of robot middleware
- 2.2. The graphical interface of RTC Builder
- 2.3. The architecture of RT component
- 2.4. The graphical interface of the System Editor of the OpenRTM-aist
- 3.1. The block diagram of the joint controller RTC
- 3.2. Block diagram of the 3 axis CNC controller
- 3.3. Default (a) graphical user interface of LinuxCNC software system
- 3.4. Customized (b) graphical user interface of LinuxCNC software system
- 3.5. (a) Typical system layout of the LinuxCNC based motion controller
- 3.6. (b) Typical system layout of the LinuxCNC based motion controller
- 3.7. RS485 expansion (a) bus
- 3.8. RS485 expansion (b) module concepts
- 3.9. Examples of (a) analogue incremental servo interface
- 3.10. Examples of (b) differential incremental servo interface
- 3.11. Mechanical drawing of the Adept 604-S SCARA robot. m1, m2, m3 are the masses, l1,l2,d0,d3 are the length, q1,q2,q3,q4 are the angles of the corresponding joints. (These data are necessary only for the calculations of robot dynamics: lc1 and lc2 are the masses position on joint 1 and joint 2, respectively.)
- 3.12. Shows (a) control of the modular controller
- 3.13. Shows (b) power amplifier of the modular controller
- 3.14. Shows (c) power electronics shelves of the modular controller
- 4.1. Information streams of the Telemanipulation (adapted from [3])
- 4.2. General concept of the telemanipulation
- 4.3. Ideal Telepresence systems: (a) Revolute motion manipulation, (b) Linear motion manipulation
- 4.4. Layer definition for the general concept of the Internet-based Telemanipulation.
- 4.5. Sensor Layer definition for the general concept of the Internet-based Telemanipulation.
- 4.6. Manipulator Layer definition for the general concept of the Internet-based Telemanipulation.
- 4.7. Layer definition for the general concept of the Internet-based Telemanipulation
- 4.8. Telemanipulation in the virtual reality
- 4.9. Micro/nano teleoperation system
- 4.10. A point type master device
- 4.11. An arm type master device
- 4.12. A glove type master device
- 4.13. Mechanical structure of the sensor glove
- 4.14. Finger movement in the glove
- 4.15. Structure of one D.O.F. of the Sensor Glove
- 4.16. Concept of the Micro Telemanipulation
- 4.17. The photo of the Master Device
- 4.18. The photo of the Slave Device
- 4.19. Object Grasped by 3 Fingers
- 4.20. Contact Point and Contact Frame
- 4.21. Conventional bilateral control schema with force and position feedback
- 4.22. Conventional bilateral control schema with two position control loops
- 4.23. The Configuration of the Smith Predictor
- 4.24. A simple teleoperator with time delay Td.
- 4.25. Telemanipulation with wave variables
- 4.26. Sliding mode based feedback compensation
- 4.27. Discrete-time chattering phenomenon
- 4.28. Controller scheme for position control
- 4.29. Experimental results: Position control tests
- 4.30. Overall control scheme for force control
- 4.31. Experimental results of one joint of glove type device; (left) PID, (right) PID with disturbance observer, angel of motor, torque of human joint, output voltage and estimated disturbance
- 4.32. The geometry setup of wirtual wall touching experiment
- 4.33. Meassurement results of virtual wall touching, depth from the operator’s palm (upper) and the torque (middle)
- 4.34. Visual feedback for the operator
- 4.35. Classical MRAC scheme
- 4.36. Sliding mode based MRAC scheme
- 4.37. Axis X: Comparison of the response of the reference model and the real plant
- 4.38. Axis Y: Comparison of the response of the reference model and the real plant
- 4.39. Tele Handshaking Device: (a) Photo (b) Structure
- 4.40. One DOF linear motion manipulator with virtual impedance
- 4.41. Virtual Impedance with Position Error Correction for a teleoperator system with time delay
- 4.42. Control diagram the Handshaking device
- 4.43. Experimental results of tele handshaking device without time delay (a) Results with VI and without PEC
- 4.44. Experimental results of tele handshaking device without time delay (b) Results with VIPEC
- 4.45. Experimental results of tele handshaking device with 400 ms time delay (a) Results with VI and without PEC
- 4.46. Experimental results of tele handshaking device with 400 ms time delay (b) Results with VIPEC
- 5.1. MogiRobi: the holonomic drive based ethological robot
- 5.2. The concept of the iSPACE and the behaviour attitude
- 5.3. MogiRobi expressing sadness
- 5.4. MogiRobi expressing happiness
- 5.5. Different direction of moving and looking during holonomic movement.
- 5.6. The basement of the robot
- 5.7. The design of the basement
- 5.8. The omnidirectional wheels
- 5.9. The neck of the robot
- 5.10. The ball joint of the head
- 5.11. The head
- 5.12. The gripper
- 5.13. The oscillating mechanical system and the wired servo drive
- 5.14. The tail
- 5.15. The motion control board
- 5.16. The servo control board
- 5.17. The LCD and the control buttons
- 6.1. Diagram of the fuzzy automaton
- 6.2. FRI based Fuzzy Automaton.
- 6.3. FRI behaviour-based structure
- 6.4. Structure of the simulation
- 6.5. Screenshot of the simulation application
- 6.6. A sample track induced by the exploration behaviour component
- 6.7. A sample track induced by the ‘DogGoesToDoor’ behaviour component
- 6.8. Some of the state changes during the sample run introduced in
- 6.9. Fuzzy partition of the following terms: dgro - dog greets owner, dpmo - dog’s playing mood with the owner, dpms - dog’s playing mood with the stranger, dgtt - dog goes to toy, dgtd - dog goes to door, oir - owner is inside, ogo - owner is going outside
- 6.10. Fuzzy partition of the term ddo (distance between dog and owner)
- 6.11. Fuzzy partition of the term danl (dog’s anxiety level)
- 6.12. Fuzzy partition of the term dgto (dog is going to owner) and dgtd (dog is going to the door)
- 8.1. Leonardo da Vinci’s studies about the influence of apparent area upon the force of friction.
- 8.2. Amonton’s sketch of his apparatus used for friction measurement in 1699.
- 8.3. Contact surfaces at microscopic level
- 8.4. Visualization of rigid bodies in contact
- 8.5. The breaking of bristles
- 8.6. Coulomb friction characteristic
- 8.7. Viscous friction combined with Coulomb friction
- 8.8. Viscous friction combined with Coulomb friction and static friction
- 8.9. Stribeck friction characteristic
- 8.10. Steady state friction-velocity curve used for simulation
- 8.11. Karnopp model, stick-slip curve
- 8.12. Seven-parameters model, stick-slip curve
- 8.13. LuGrell model, stick-slip curve
- 8.14. Modified Dahl model, stick-slip curve
- 8.15. M2 model, stick-slip curve
- 8.16. Seven-parameters model, change of friction force during velocity reversals
- 8.17. Seven-parameters model, change of spring force during velocity reversals
- 8.18. Seven parameter model, change of mass velocity during velocity reversals
- 8.19. Seven parameter model, change of displacement during velocity reversals
- 8.20. Dahl model, change of spring force during velocity reversals
- 8.21. Modified Dahl model, change of mass velocity during velocity reversals
- 8.22. Modified Dahl model, change of displacement during velocity reversals
- 8.23. Modified Dahl model, change of displacement during velocity reve
- 8.24. LuGre model, change of spring force during velocity reversals
- 8.25. LuGre model, change of mass velocity during velocity reversals
- 8.26. LuGre model, change of mass displacement during velocity reversals
- 8.27. LuGre model, change of friction force during velocity reversals
- 8.28. Karnopp model, change of mass velocity during velocity reversals
- 8.29. Karnopp model, change of mass displacement during velocity reversals
- 8.30. Karnopp model, change of friction force during velocity reversals
- 8.31. Karnopp model, change of spring force during velocity reversals
- 8.32. M2 model, change of mass velocity during velocity reversals
- 8.33. M2 model, change of mass displacement during velocity reversals
- 8.34. M2 model, change of friction force during velocity reversals
- 8.35. M2 model, change of spring force during velocity reversals
- 8.36. Presliding displacement curve of the seven-parameters friction model
- 8.37. Presliding displacement curve of LuGre model
- 8.38. Presliding displacement curve of Modified Dahl model
- 8.39. Presliding displacement curve of M2 model
- 9.1. Connection layout of PCI card based motion control system
- 10.1. PCI card connectors and LEDs
- 10.2. Pin numbering of RS485-bus connector
- 10.3. Pinout of RS485-bus connector
- 10.4. Equivalent circuit of an output pin. Direction of I/O pins depending on configuration see chapter 4.9
- 10.5. Pin numbering of CAN-bus connector
- 10.6. Pinout of CAN-bus connector
- 10.7. Pin numbering of axis connectors
- 10.8. Pinout of axis connectors
- 10.9. Equivalent circuit of fault input for an axis
- 10.10. Equivalent circuit of enabled outputs
- 10.11. Equivalent circuit of output pins (Step, Direction, and DAC serial line) on axis connectors
- 10.12. Pin numbering of homing & end switch connector
- 10.13. Pinout of homing & end switch connector
- 10.14. Equivalent circuit of input pins
- 10.15. Mechanical dimension
- 10.16. Axis interface modules: Differential line driver, Digital to analogue converter, Optical isolator, Encoder/ reference breakout
- 10.17. Analogue system with encoder feedback
- 10.18. Incremental digital system with encoder feedback and differential output
- 10.19. Incremental digital system with encoder feedback and TTL output
- 10.20. Incremental digital system with differential output
- 10.21. Incremental digital system with TTL output
- 10.22. Absolute digital (CAN based) system
- 10.23. Absolute digital (CAN based) system with conventional (A/B/I) encoder feedback
- 10.24. Block diagram of the optical isolator module connection
- 10.25. Pinout of PCI card (RJ50) connector and power input terminals
- 10.26. Pinout of reference output and encoder input connectors
- 10.27. Equivalent circuit of output pins
- 10.28. Fault signal input equivalent circuit
- 10.29. PCI card (RJ50) input equivalent circuit
- 10.30. RJ50 to PCI card: Fault output equivalent circuit
- 10.31. Block diagram of the digital to analogue converter module connection
- 10.32. Controller side pinout
- 10.33. Machine side pinout
- 10.34. Equivalent circuit of fault signal output
- 10.35. Enable output
- 10.36. Equivalent circuit of fault input circuit
- 10.37. Fault management flowchart
- 10.38. Block diagram of the differential line driver module connection
- 10.39. Controller side pinout
- 10.40. Machine side pinout
- 10.41. Optocoupler
- 10.42. Fault input circuit equivalent circuit
- 10.43. Block diagram of the breakout module connection
- 10.44. Pin numbering of RJ50 and RJ45 modular connectors
- 10.45. Encoder pinout
- 10.46. Encoder pinout
- 10.47. Terminal connector pinout
- 12.1. Step/Dir type reference
- 12.2. Up/Down count (CW/CCW) reference
- 12.3. Quadrant (A/B) type reference
- 13.1. 8-channel relay output module
- 13.2. 8-channel digital input module
- 13.3. 8 channel ADC and 4-channel DAC module
- 13.4. Teach Pendant module
- 13.5. Powering of the nodes
- 13.6. Bus setting
- 13.7. Connecting of the nodes
- 13.8. Node NBC addressing
- 13.9. Relay output module
- 13.10. Numbering of output terminal connector and 24 input
- 13.11. Output connection diagram
- 13.12. Pin assignment table: NO: Normally Open, NC: Normally Closed, COM: Common
- 13.13. Digital input module
- 13.14. Equivalent circuit of digital input lines
- 13.15. Numbering of input terminal connector
- 13.16. Pin assignment table
- 13.17. AD & DC modul
- 13.18. Numbering of the terminal connector
- 13.19. Pin assignment table
- 13.20. Teach pendant module
- 13.21. Connectors and pin numbering of the teach pendant module
- 13.22. Pin assignment table of the digital input connector
- 13.23. Mechanical dimensions
- 13.24. (http://grabcad.com/library/robot-puma-560) Download: 2013. november 2.
- 13.25. Blockdiagram of the control
- 13.26. Connection of the robot and of the control
List of Tables