University of Technology, Jamaica School of Engineering Electrical Engineering Control Systems (ELE3007) Assignment 1

Review of the control requirements for a remote controlled mobile robot

Name: Tarick Edwards ID#: 1000199 Date: 23 Oct. 2012 Lecturer: Dr. Dave Muir

Abstract

This review paper consists of studies on the remote controlled mobile robots. There is also comparison between the different type of robot found in research and commercial use. There is particular analysis on control systems of Android humanoid robot with response comparison of real human system.

Introduction

Robots have become a subject of great interest nowadays. In our imagination, a robot is a machine that looks and acts like a human being. Robots are, in fact defined man-made mechanical devices that can move by themselves, whose motion must be modeled, planned, sensed, actuated and controlled, and whose motion behavior can be influenced by programming. The terms robot and robotics are only used. The term robot was first introduced by a Czech dramatist, Karel Capek in his 1921 play Rossums Universal Robots. He was referring to a perfect and tireless worker performing manual labor jobs for human beings. Many people think of robotics as a single area of technology, but in fact robotics encompassed such diverse areas of technology as mechanical, electrical, electronics, systems, computer hardware and software, biology and a host of other advanced technology.

Definition of a Robot
A robot is a re-programmable, multifunctional machine designed to manipulate materials, parts tools, or specialized devices, through variable programmed motions for the performance of a variety of tasks. Robotics Industries Association

A robot is a automatic device that performs functions normally ascribed to humans or machine in the forms of a human. Websters Dictionary

A Brief History of Robots

The acclaimed Czech playwright Karel Capek made the first use of the word robot, from the Czech word for forced labor or serf. The word robotics was first used in Runaround, a short story published in 1942, by Isaac Asimov. But it was until 1956 that a real robot came into existence.

Types of Robots
The types of robots are: 1. Mobile robots Mobile robots are able to move; usually they perform tasks such as searching. Eg. Utechs jambot. 2. Remote-controlled robots In case a robot needs to perform more complicated yet dangerous and undetermined tasks an autonomous robot is not the right choice. Complicated task are still performed best by human with real brain power and high intelligence. A person can guide a robot that perform difficult and usually dangerous task with being on the task is being performed. Eg. Bomb diffusing robot, military missile launching Drones. 3. Autonomous robots Autonomous robots are self-supporting. They run a program that gives them the opportunity to decide on the action to be perform depending on their surroundings. At times, these robots even learn new behavior. Eg. Asimo, Da vinci surgical robot. 4. Industrial robots Most of these robots perform repeating tasks without ever moving. Most robots are working in industries. Especially dull and repeating tasks are suiting for robots. Most industrial robot are robotic arms. Eg. Welding robot arm, gas dispenser robot,etc. 5. Virtual robots. Virtual robots dont exists in real life. Virtual robots are just programs, building blocks of software inside a computer. Ex. Simulation: Matlab, algodoo, 3D Graphic Robot Simulation.

Remote Controlled Mobile Robot Design

Mobile robots can be: Driving Walking Swimming Diving Flying

Remote controlled robots can be: Radio controlled device Voice controller Cable between controller and vehicle Infrared controller Computer based control human control Internet controlled Teleoperation control Brain Machine Interface

Terminology used in robotics

Terminology Some Definitions: 1) Robot An electromechanical machine with more than one degrees-of-freedom (DOF) which is programmable to perform a variety of tasks. 2) Anthropomorphic: Similar to Humans. 3) Manipulator - mechanical arm, with several DOF. 4) Degrees-of-Freedom - the number of independently controllable motions in a mechanical device; the number of motors in a serial manipulator. 5) Mechanism - a 1-DOF machine element.

6) Fixed Automation - designed to perform a single repetitive task. 7) Flexible Automation - can be programmed to perform a variety of tasks. 8) Robot system - manipulator(s), sensors, actuators, communication, computers, interface, hand controllers to accomplish a programmable task. 9) Actuator - motor that drives a joint; generally rotary (revolute) or linear (prismatic); electric, hydraulic, pneumatic, piezoelectric. 10) Cartesian Coordinate frame - dextral, orthogonal, XYZ

11) Kinematics - the study of motion without regard to forces. Cartesian Pose: position and orientation of a coordinate frame. a) Forward Kinematics - given the joint variables, calculate the Cartesian pose. b) Inverse Kinematics - given the Cartesian pose, calculate the joint variables. 12) Position (Translation) - measure of location of a body in a reference frame. 13) Orientation (Rotation) - measure of attitude of a body (e.g. Roll, Pitch, Yaw) in a reference frame. 14) Singularity - a configuration where the manipulator momentarily loses one or more degreesof-freedom due to its geometry. 15) Actuator Space - vector of actuator commands, connected to joint through gear train or other drive. 16) Joint Space - vector of joint variables; basic control parameters. 17) Cartesian Space - Position vector and orientation representation of end-effector; natural for humans. 18) End-effectors - tool or hand at the end of a robot. 19) Workspace - The volume in space that a robots end-effectors can reach, both in position and orientation. 20) Dynamics - the study of motion with regard to forces (the study of the relationship between forces/torques and motion), Composed of kinematics and kinetics. a) Forward Dynamics (simulation) - given the actuator forces and torques, compute the motion. b) Inverse Dynamics (control) - given the desired motion, calculate the actuator forces and torques. 21) Control - causing the robot system to perform the desired task. Different levels.

a) Teleoperation - human moves master, slave manipulator follows. b) Automation - computer controlled (using sensors). c) Telerobotics - combination of the b) and c) 22) Haptics - From the Greek, meaning to touch. Haptic interfaces give human operators the sense of touch and forces from the computer, either in virtual or real, remote environments. Also called force reflection.

Remote controlled mobile robot overview

The basic anatomy of a remote controlled mobile robot typically contains: Controller Remote Controller Drive Sensor End-effectors Arm

Controller
Every remote controlled mobile robot is connected to a computer controller, which interprets the data from remote devices such as joysticks, game remote, TV remote, and sensors such as distance, thermal, IR sensors to perform control action that regulates the components such as the actuators: servo, dc motors, and robotic arms, etc. Some example of Controller used on Remote mobile robots include: PIC, Arduino, Basic Stamps, AVR, Atmel, microcontrollers, etc.

Remote controller
All remote controlled mobile robots require command from a human. A remote controller is used to send electrical signal from the user to the robot which responds to the task. Some common remote control used in robotics include a computer, game console, gesture control using computer vision(wii nunck), RC remote, TV remote, voice command, etc. Robot that uses remote is more user friendly as the user have full control of the mobile robot. More advanced remote controller include, control of Hondas Asimo humanoid robot using brain signals, Googles android humanoid robot using body language control.

Drive
Mobile robots require some means of locomotion to get around their environment. This is mostly achieved by using DC, servo stepper motor to design motion system for robot. Type of motions system design: Driving, Walking, Swimming, Diving, Flying. The links on robotic arms (the section between the joints) are moved into their desired position by the drive. Typically, a drive is powered by pneumatic, hydraulic, pressure, most commonly, electricity. Electric: good precision, good accuracy, stepper or DC servo (most common).

End-effectors (or tool)

The end-effectors could be thought of as the hand on the end of the robotic arm. There are many possible end-effectors including a gripper, electrical probe, vacuum pump, tweezers, scalpel, blowtorch, welding gun, spray gun, axe, hair clippers, or just about anything that do a job. Some robot can change end effectors, and be reprogrammed for different tasks.

Sensors
A device that sends information, in the form of electronics signals back to the controller. Sensors also give the robot controller information about its surroundings and let it know that exact position of the arm, or the state of the world around it. Some common forms of sensors include IR, ultrasonic distance, thermal, line follower sensors. Button and switch act as digital sensors. One of the more interesting areas of sensor development is in the field of computer vision and object recognition. Other types of sensors include ultrasonic, lasers, force/touch etc.

Arm
The arm is the part of the robot that positions the end-effectors and sensors to do their preprogrammed or business. Many arms are built to resemble human arms, and have shoulders, elbows, wrists, even fingers.

Basic Control structure of a Remote mobile Robot

Block diagram of joint control system

The Wifi Robot

The WiFi Robot uses a Wi-Fi connection to send video, audio, and telemetry information, while accepting remote control commands via the same medium, says Roboteq. A web-based desktop PC console app enables remote operation from around the world, says the company.

Mobile Robotic Webcam

This mobile robot can transmit real-time video images with corresponding GPS location to a remote client. The client, simulated using a PC, is integrated with a remote control system to control the robot navigation and webcam adjustment. Examples of its application are real-time mobile surveillance, item searching and vehicle location tracking. System Block Diagram

Simple Analog Balancing Bot

Googles android humanoid robot control systems overview

Fig. The developed android Repliee Q2

Fig. Example facial expression

The DoF configuration of repliee Q2

Block diagram of Repliee Q2

The feedback controller with and without the estimation of the androids joint angle

The marker positions corresponding to each other

The Step Response of the Android

The generated androids motion compared to the performers motion. the number represents the step.

Reference

REMOTE CONTROL ROBOTS (2005-2012) retrieved from http://www.societyofrobots.com

http://www.ed.ams.eng.osaka-u.ac.jp/development/Humaniod/ReplieeQ2_end.htm

Remote control Vehicle (26 October 2012) retrieved from http://en.wikipedia.org/wiki/Remote_control_vehicle

Controllers (23 October 2012) retrieved from http://www.electronicsteacher.com/robotics/robotics-technology/.php

http://www.honda.co.jp/robot/movie

Paper: Generating Natural Motion in an android by Mapping Human Motion

http://www.robotics.utexas.edu.rrg.learn-more/history/