Robotics in Education Challenges Developing an Adequate Curriculum

1. Robotics in EducationChallenges Developing an Adequate Curriculum Dr. Antonio Soares Florida A&M University Electronic Engineering Technology Antonio.soares@famu.edu

2. Overview • Intro to Robotics • Definitions • Types of Robots • Applications • Industrial Robots • Degree of Freedom • Joints • Coordinates • Complexity • Education Packages • Saturated Market • Technology Crossover • Lego and Boebot • Mechatronics • What’s New!!!

3. Industrial Robots • A machine that resembles a human being and does mechanical routine tasks on command. • An industrial robot is a re-programmable, multifunctional manipulator designed to move materials, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks.

4. What is Robotics? • Robotics is the art, knowledge base, and the know-how of designing, applying, and using robots in human endeavors.

5. Types of Robots • Mobile Robots • Crawling Robots Parallax Mars Explore

6. Types of Robots • Stationary Robots • Autonomous Robots Industrial Robot EET Robot (Mechatronics)

7. Humanoids Robots HONDA (ASIMO) – Biped Robot Fujitsu – Biped Robot

8. Pet Robots Sony (AIBO) – Toy robot

9. Robot Applications Machine loading Pick and place operations Welding Painting Sampling Assembly operation Manufacturing Surveillance Medical applications Assisting disabled individuals Hazardous environments Underwater, space, and remote locations

10. Industrial Robots • A manipulator (or an industrial robot) is composed of a series of links connected to each other via joints. Each joint usually has an actuator (a motor for eg.) connected to it. • These actuators are used to cause relative motion between successive links. One end of the manipulator is usually connected to a stable base and the other end is used to deploy a tool.

11. Industrial Robots Painting Robot

12. Industrial Robot Arms • Manipulator • Pedestal • Controller • End Effectors • Power Source

13. Manipulator • Base • Appendages • Shoulder • Arm • Grippers

14. Pedestal (Human waist) • Supports the manipulator. • Acts as a counterbalance.

15. Controller (The brain) • Issues instructions to the robot. • Controls peripheral devices. • Interfaces with robot. • Interfaces with humans.

16. End Effectors (The hand) • Spray paint attachments • Welding attachments • Vacuum heads • Hands • Grippers

17. Power Source (The food) • Electric • Pneumatic • Hydraulic

18. Manipulator Body • Typically defined as a graph of links and joints A link is a part, a shape with physical properties. A joint is a constraint on the spatial relations of two or more links.

19. Robots degrees of freedom • Degrees of Freedom: Number of independent position variables which would has to be specified to locate all parts of a mechanism. • In most manipulators this is usually the number of joints.

20. Robots degrees of freedom what is the degree 1 D.O.F. 2 D.O.F. 3 D.O.F. A Fanuc P-15 robot. Reprinted with permission from Fanuc Robotics, North America, Inc.

21. Robot Joints Prismatic Joint: Linear, No rotation involved. (Hydraulic or pneumatic cylinder) Revolute Joint: Rotary, (electrically driven with stepper motor, servo motor)

22. Robot Coordinates  Cartesian/rectangular/gantry (3P) : 3 cylinders joint  Cylindrical (R2P) : 2 Prismatic joint and 1 revolute joint  Spherical (2RP) : 1 Prismatic joint and 2 revolute joint  Articulated/anthropomorphic (3R) : All revolute(Human arm)  Selective Compliance Assembly Robot Arm (SCARA): 2 paralleled revolute joint and 1 additional prismatic joint

23. Math Complexity • In Order to Model the Motion of a Manipulator: • Odometry - Position Updates Using Wheals • Kinematics • Inverse Kinematics • Complex PID Controllers

24. Math Complexity • Kinematics • Kinematics is the study of motion without regard for the forces that cause it. • It refers to all time-based and geometrical properties of motion. • It ignores concepts such as torque, force, mass, energy, and inertia.

25. Forward Kinematics • Given the starting configuration of the mechanism and joint angles, compute the new configuration.

26. Advantages And Disadvantages Robots increase productivity, safety, efficiency, quality, and consistency of products. Robots can work in hazardous environments without the need. Robots need no environmental comfort. Robots work continuously without experiencing fatigue of problem. Robots have repeatable precision at all times. Robots can be much more accurate than human. Robots replace human workers creating economic problems. Robots can process multiple stimuli or tasks simultaneously. Robots lack capability to respond in emergencies. Robots, although superior in certain senses, have limited capabilities in Degree of freedom, Dexterity, Sensors, Vision system, real time response. Robots are costly, due to Initial cost of equipment, Installation costs, Need for Peripherals, Need for training, Need for programming.

27. Robots Taking Over? • Design Limitations • we design them, we code the tasks to be performed • Emotionless Machines • Cannot logically reason, and/or plan activities, unless the designer program it to do so. • Ethical Issues

28. Educational Platforms VEX Robotics Lego Robotics Boebot From Parallax

29. Mechatronics – The Solution Robotics is an interdisciplinary subject that benefits from mechanical engineering, electrical and electronic engineering, computer science, biology, and many other disciplines.

30. Conclusions • For K-12 Robot Kits are Appropriate • Plan in Advance • Most of these kits are not easy to follow because they share applications • For Higher Education • Mechatronics with some Industrial robots is Advised

31. Let’s Talk!!! FALL 2012 Technical Elective (All Majors) EET 4931 - SPEC TOP ELECTRO ENG Introduction to Robotics and Automation Instructor: Antonio Soares Antonio.soares@famu.edu