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Robotics PowerPoint PPT Presentation

Robotics Data driven robotics, 3D modeling, Google SketchUP Homework: Google SketchUP: Sign up, download and produce something (your room, a piece of furniture, or Lego???) Old Acronyms Computer Aided Design Computer Aided Manufacturing Computer Integrated Manufacturing

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Robotics

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Robotics l.jpg

Robotics

Data driven robotics, 3D modeling, Google SketchUP

Homework: Google SketchUP: Sign up, download and produce something (your room, a piece of furniture, or Lego???)


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Old Acronyms

  • Computer Aided Design

  • Computer Aided Manufacturing

  • Computer Integrated Manufacturing

  • Manufacturing Resource PlanningEnterprise Resource Planning Companies: Oracle (PeopleSoft), SAP

  • more….


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Data Driven robotics

  • Use data in some form to generate tasks for robot

    • For example, positions on circuit boards for placement and/or testing.

  • Note: automation may be forced by the

    • scale (very small) and

    • precision requirements

  • In addition, shear volume of information makes [flexible] automation better fit


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Robodoc

  • Dr. Bargar, orthopedic surgeon, regarding hip replacements: I design the implant using 21st century CAD/CAM, but I put it in using 18th carpentry.

  • Place pins in hip (fiducial marks / calibration)

  • Use CAT scans to design implant and generate positions for robot arm.


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Build to order manufacturing

  • Data in order generates instructions for manufacturing

    • What set of parts

    • What gets in final package

    • What color, size, etc.


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3D modeling

  • NOTE: prior discussion of how robot through the use of sensors may either

    • Generate by itself the 'world map' or

    • Do without it


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3D modeling

  • Create virtual world consisting of

    • Combinations of primitive shapes, chiefly polyhedra

      • Vertices, edges, faces, PLUS some designation to determine what is inside and what is outside. Can be done in order of the edges constituting the faces

  • Render (show pictures of the world)

  • Perform calculations to answer questions

    • Is there a path

    • production of path for robot


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3D modeling

  • Curved surfaces generally consist of facetted polyhedra

  • May not be visible or important to model builder

  • Does contribute to time requirements, especially for rendering


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3D model

  • Alternative (or additional) approach to use of primitive 3D shapes is to use lines and arcs and operation that generates a 3D shape by sweeping (projecting) the 2D shape

    • Google SketchUP push/pull


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Faces

  • Color

  • Apply (wrap) surface, with specific properties of reflectance


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Rendering

Define position of eye (aka camera), focus point, type of projection, light sources

  • Go from wire frame

    • Show all vertices and edges

      To

  • Picture, with appropriate hidden line / hidden surface removal, shadows

  • Many different methods. Ray tracing is one of the most common


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Google SketchUP 6

  • Available for free

  • There is a Pro version

  • Uses lines, rectangles, arcs, circles, plus implicit dependences (induced objects)

  • 3D Warehouse: user created archive of buildings, stuff, including Lego (but mostly not Mindstorms)

    • Connection with Google Earth


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Google SketchUP

  • [if it is in the lecture room] demonstrate


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Lego Digital Designer

  • Lego offering: free

  • One function is to order the parts after building a model

  • Does not appear to have Mindstorms (technic) parts.

  • http://factory.lego.com/getstarted/


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LDraw.org

  • Organized user group

  • Free download of system files plus part libraries

  • Libraries of Lego parts

    • Official (approved by the organization standards committee) and unofficial

    • It appears that the Mindstorms parts are slowly being added.


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Discussion

  • Each group indicate plans for mapping


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Homework

  • Postings

  • Download Google SketchUP: use and report

    • Let me know if you need an invitation to join gmail.

    • Do tutorials

    • Produce something (house, table, monster?), print and bring to class.

  • Lab: My Block. Complete mapping project

  • Next week (Thursday) mid-term. See guide.


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