ROBOT CONTROL II - Trajectory Planning -Intelligent Robot -Robot Control

Dr. Muawia Mohamed Ahmed

Robot Sensors
Robot from operation view: 1. programmed: in which the robot is taught to perform repetitive tasks via a set of programmed functions. 2. intelligent: that can see and feel using sensing technology. It is more interactive with its environment.

 Robot sensors may be divided into two categories: - Internal sensors: used to detect arm joint position. Used for robot control. - External sensors: deal with the detection of variable such as range, proximity, and touch. External sensors are used for robot guidance and object identification and handling.
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 External sensors can be classified into contact or non-contact sensors. Contact sensors respond to physical contact such as touch. Non-contact sensors such as acoustic or electromagnetic radiation (distance finder).
Non-contact are used to measure range and visual properties of an object.
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 Range sensing: Measure the distance from a reference point (usually in the sensor itself) to objects in the field of operation of the sensor. Range sensors are used for robot navigation and obstacle avoidance. Common range sensing used are: -Triangulation -Structured lighting approach -Time-of-Flight range finder
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 Triangulation: The object is illuminated from a narrow light beam source, which sweeps over the object surface, then sensed by the detector. The line from the detector to the object is distance D, and the line from source to detector is B. From the angle of the source, and B are known, then D is calculated.
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Object

Triangulation

D= B tan

Source Detector

Time of-flight Range Finder

One common approach is using the laser (Go-Return) to measure the range. The distance to the surface is given by: D= cT/2 where T is the pulse transit time and c is the speed of light c= 1 ft/ns 3x108 m/s Ultrasonic is an alternative.
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Proximity (closeness) Sensors

Hall-Effect Sensors: For discovering (Ferromagnetic) metal bodies.
N S Hall-effect sensor

Flux
Ferromag. body

 Bringing the ferromagnetic material close to the semiconductor magnet device will decrease the strength of the magnetic field thus reducing the Lorenz force which will decrease the voltage across the semiconductor.

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Touch (tactile) sensors

Touch sensors are used to obtain information of the contact between the manipulator hand and the object. May be digital or analog touch sensors. Digital to indicate presence or absence of an object (. Analog output a signal proportional to a local force.
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 Touch sensors are essential in the gripper to determine if a part is present between the fingers or not.

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Trajectory Planning
Path vs. Trajectory Path is defined as sequence of robot configurations in particular order without regard for timing of these configurations. Regardless of when B and C are reached, the path is the same.

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 Trajectory is concerned about when each part of the path must be obtained thus specifying timing. Depending on the velocities and accelerations, points B and C may be reached at different times, creating different trajectories.

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 Cartesian-space trajectories describe the path in which an arm must take and thus the motion is known at all times. Cartesian-space trajectories are much more computational intensive than joints space, but yield a controlled and known path.

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Basics of Trajectory Planning

Interpolation Dividing up the Cartesian-space path into many segments which can be described with individual joint angles to create a straight line. The more points, the more accurate

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Joint-space Trajectory Planning

A variety of methods can be used for jointspace planning: 1- Third order polynomials 2- Fifth order polynomials Need initial and final positions, velocities, and accelerations.

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Third-Order Polynomial Trajectory Planning

One way to move joint to new value is using a polynomial to plan the trajectory. In this case, the initial and final boundary conditions are known and the initial and final velocities are zero. These four pieces of information allow us to solve for four unknowns in the following equation

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Fifth-Order Polynomial Trajectory Planning

Third order trajectory only takes into account starting and ending velocity equations, but fifth order takes into account starting and ending accelerations. In this case, the total number of boundary conditions is six, allowing a fifth order polynomial as:
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Intelligent Robot
Task Planning: A basic problem in robotics is planning motions to solve some prespecified task and then controlling the robot as it execute the commands necessary to achieve the task. Planning = deciding an action before acting. An intelligent robot is equipped with sensors.
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 Intelligent robot = Problem-Solving capability State is a particular problem situation The set of all possible states is the space of problem state (or state space). An operator when applied to a state, transforms the state into another state. Solution to a problem is a sequence of operators that transforms an initial state into a goal state.
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Blocks World Example

Consider Robot world consists of a table T and three blocks A, B, C. The initial state of the world is that block A, and B are on the table, and block C is on the top of block A as shown.
C
A B

Configuration of Robot and Blocks

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 The Robot is asked to change the initial state into a goal state as: Block A on the top, Block B in the middle, and Block C on the bottom (stacked).
A

B C

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 Here: State Space is the all possible configurations. Operator is MOVE. MOVE (C,A,T) means move C from A to Table. A state space graphical representation (Tree) could be illustrated as:

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C A B

Initial State

Move (C,A,T)
Move (C,A,B)
B C A A

C
B

Move (B,T,C) B C A

Move (A,T,B)
A

Q: Repeat for C on B and B on A

B C
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 From the graphical illustration it is seen the solution that Robot can obtain consists of the following operator sequence: Move (C,A,T), Move (B,T,C), Move (A,T,B)

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Predicate Logic
In Robot Problem solving a propositional logic is used as a way of representing knowledge Written as wel-formed formulas (wffs). It is RAINING It is SUNNY It RAINING NOT SUNNY It SUNNY NOT RAINING
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Robot Learning
Learning by analogy is a powerful approach in robotics. Robot uses analogy between a current unplanned task and any known similar task to reduce the search for a solution. A semantic data base instead of predicate logic is used as the internal representation of tasks.
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 Initially a set of basic task examples is stored in the system as a knowledge based on past experience. The analogy of two task statement is used to express similarity between them and is determined by a semantic matching procedure.

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Obstacle Avoidance
The Robot should not collide with the objects in the environment. Therefore an ability to plan motions that avoid obstacles is essential to task planner in intelligent robots. Three Algorithms are used

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1. Hypothesize and test 2. Penalty Function 3. Explicit Free Space. Hypothesize and test method consists of three steps: first Hypothesize a candidate path between the initial and final configuration of robot manipulator. Second: test a selected set of configurations along the path for possible collisions,
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 And third if a possible collision is found, propose an avoidance motion by examining the obstacle that causes the collision. (a sensor is important).

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Robot Programming
Robot may be: - Programmed at the factory for special purpose (fixed) - Or general purpose Robot (programmed at the field) How can u communicate with the GPR? Or how can u handle your orders to the robot?
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Three major approaches: 1. discrete speech recognition 2. teach and play 3. high level programming languages

In speech recognition the system recognize a set of words either: from vocabulary or real time (in modern)
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 Teach an play known as guiding is accomplished in three steps: - leading the robot in a slow motion through the required task manually by using push buttons or joy-stick and recording the joint angles at required locations -play back the taught motion (test) - Run the robot at normal speed
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 High level programming provide a more general approach in human-robot communication. Classified into two categories: 1.robot-oriented programming 2. task-level programming.

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 Most robot manufacturers keep their software hidden. This is because these companies do not intend their customers to do their own programming and they sell complete proprietary application packages rather than general purpose software. VAL was one of the first robot languages and was used in Unimate robots.

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Example program: PROGRAM PICKPLACE 1. MOVE P1 2. MOVE P2 3. MOVE P3 4. CLOSEI 0.00 5. MOVE P4 6. MOVE P5 7. OPENI 0.00 8. MOVE P1 .END
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 AL is a general purpose language developed by Stanford University can be executed in VAX computers. It supports both robot-level and task-level. ALGOL like data and control structure. Real time programming.

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 AML is developed by IBM for IBM RS-1 robot with 6-degree of freedom. Support joint-space trajectory. Provides sensor monitoring. Different user interface environment. Provide absolute and relative (taught) motion.
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Robot Control
Robot Control System Task The task of a robot control system is to execute the planned sequence of motions and forces in the presence of unforeseen errors. Errors can arise from: inaccuracies in the model of the robot, tolerances in the work pieces, static friction in joints, mechanical compliance (Response ) in linkages, electrical noise on transducer signals, and limitations in the precision of computation.
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Robot Control Closed Loops

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ROBOT ARM CONTROL

Given the dynamic equations of motion of a manipulator, the purpose of robot arm control is to maintain the dynamics response of the manipulator in accordance with some pre-specified performance criterion. The solution of the control problem is complicated by inertial forces, coupling reaction force, and gravity loading on the links.
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 Current industrial approaches to robot arm control system design treat each joint of the robot arm as a simple joint servomechanism. Two main areas: 1. Joint motion control 2. Cartesian space control

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Disturbances Environment Trajectory (path) Planning

Controller

Manipulator

Sensor

Interface

Basic control block for robot manipulator

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Transfer Function of a single Joint

Single joint robot arm is a continuous time system. For electrically driven manipulators a dc permanent magnet torque is used. It provides max torque with min input power and weight. (go to DC joint example)
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