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POLYTECHNIC UNIVERSITY OF

PACHUCA

ROBOTICS I

WORK:

TWO LINK PLANAR MANIPULATOR


(PROJECT POSEIDON)

STUDENTS:
LÓPEZ RANGEL JOSUÉ
MONTERRUBIO ROMERO EDUARDO
MUÑOZ OLGUÍN MISAEL

TEACHER:
DR: LUIS IVÁN LUGO VILLEDA

PACHUCA DE SOTO 2010 APRIL 30TH


Introduction
Man has always wanted to create artificial life. He has been determined to give
life to artificial beings to him in his place, or perform repetitive tasks, heavy or
difficult tasks.

According to some authors, such as J. J. C. Smart and Jasia Reichardt, the


first robot in history was Adam created by God. According to this, Adam and
Eve were the first intelligent robots created, and God was the one who
programmed them and gave them the first instructions they should follow. In
Greek mythology there can several stories about the creation of artificial life, for
example, Prometheus created the first man and woman with mud and animated
them with the heaven fire. This way we realize that humanity is obsessed with
creating artificial life since the beginning of all times.

Men created robots as a hobby, their job was to entertain its owner. The
materials used were available to everyone: resistant wood, metals such as
copper and other malleable material, it did not need or require some type of
processing to be used in creation of a robot.

These first robots used mainly brute force to make their moves. These first
machine tools that helped the man to make their job easier wasn’t given the
name of a robot, but were recognized as artifacts or simple machines.
Theoretical Framework

The word robot can refer to both physical robots and virtual software agents, but
the latter are usually referred to as bots. There is no consensus on which
machines qualify as robots, but there is general agreement among experts and
the public that robots tend to do some or all of the following: move around,
operate a mechanical limb, sense and manipulate their environment, and exhibit
intelligent behavior, especially behavior which mimics humans or other animals.

There is conflict about whether the term can be applied to remotely operated
devices, as the most common usage implies, or solely to devices which are
controlled by their software without human intervention. In South Africa, robot is
an informal and commonly used term for a set of traffic lights.

Stories of artificial helpers and companions and attempts to create them have a
long history but fully autonomous machines only appeared in the 20th century.
The first digitally operated and programmable robot, the Unimate, was installed
in 1961 to lift hot pieces of metal from a die casting machine and stack them.
Today, commercial and industrial robots are in widespread use performing jobs
more cheaply or with greater accuracy and reliability than humans.

They are also employed for jobs which are too dirty, dangerous or dull to be
suitable for humans. Robots are widely used in manufacturing, assembly and
packing, transport, earth and space exploration, surgery, weaponry, laboratory
research, and mass production of consumer and industrial goods.

It is difficult to compare numbers of robots in different countries, since there are


different definitions of what a "robot" is. The International Organization for
Standardization gives a definition of robot in ISO 8373: "an automatically
controlled, reprogrammable, multipurpose, manipulator programmable in three
or more axes, which may be either fixed in place or mobile for use in industrial
automation applications." This definition is used by the International Federation
of Robotics, the European Robotics Research Network (EURON), and many
national standards committees.

The Robotics Institute of America (RIA) uses a broader definition: a robot is a


"re-programmable multi-functional manipulator designed to move materials,
parts, tools, or specialized devices through variable programmed motions for
the performance of a variety of tasks." The RIA subdivides robots into four
classes: devices that manipulate objects with manual control, automated
devices that manipulate objects with predetermined cycles, programmable and
servo-controlled robots with continuous point-to-point trajectories, and robots of
this last type which also acquire information from the environment and move
intelligently in response.

There is no one definition of robot which satisfies everyone, and many people
have their own. For example, Joseph Engelberger, a pioneer in industrial
robotics, once remarked: "I can't define a robot, but I know one when I see one."
According to Encyclopaedia Britannica, a robot is "any automatically operated
machine that replaces human effort, though it may not resemble human beings
in appearance or perform functions in a humanlike manner". Merriam-Webster
describes a robot as a "machine that looks like a human being and performs
various complex acts (as walking or talking) of a human being", or a "device that
automatically performs complicated often repetitive tasks", or a "mechanism
guided by automatic controls".

Modern robots are usually used in tightly controlled environments such as on


assembly lines because they have difficulty responding to unexpected
interference. Because of this, most humans rarely encounter robots. However,
domestic robots for cleaning and maintenance are increasingly common in and
around homes in developed countries, particularly in Japan. Robots can also be
found in the military.

While there is no single correct definition of "robot," a typical robot will have
several, or possibly all, of the following characteristics.

It is an electric machine which has some ability to interact with physical objects
and to be given electronic programming to do a specific task or to do a whole
range of tasks or actions. It may also have some ability to perceive and absorb
data on physical objects, or on its local physical environment, or to process
data, or to respond to various stimuli. This is in contrast to a simple mechanical
device such as a gear or a hydraulic press or any other item which has no
processing ability and which does tasks through purely mechanical processes
and motion.

Mental agency

For robotic engineers, the physical appearance of a machine is less important


than the way its actions are controlled. The more the control system seems to
have agency of its own, the more likely the machine is to be called a robot. An
important feature of agency is the ability to make choices. Higher-level cognitive
functions, though, are not necessary, as shown by ant robots.

 A clockwork car is never considered a robot.


 A remotely operated vehicle is sometimes considered a robot (or
telerobot).
 A car with an onboard computer, like Bigtrak, which could drive in a
programmable sequence, might be called a robot.
 A self-controlled car which could sense its environment and make driving
decisions based on this information, such as the 1990s driverless cars of
Ernst Dickmanns or the entries in the DARPA Grand Challenge, would
quite likely be called a robot.
 A sentient car, like the fictional KITT, which can make decisions,
navigate freely and converse fluently with a human, is usually considered
a robot.
Physical agency

However, for many laymen, if a machine appears to be able to control its arms
or limbs, and especially if it appears anthropomorphic or zoomorphic, it would
be called a robot.

 A player piano is rarely characterized as a robot.[14]


 A CNC milling machine is very occasionally characterized as a robot.
 A factory automation arm is almost always characterized as an industrial
robot.
 An autonomous wheeled or tracked device, such as a self-guided rover
or self-guided vehicle, is almost always characterized as a mobile robot
or service robot.
 A zoomorphic mechanical toy, like Roboraptor, is usually characterized
as a robot.[15]
 A mechanical humanoid, like ASIMO, is almost always characterized as
a robot, usually as a service robot.

Even for a 3-axis CNC milling machine using the same control system as a
robot arm, it is the arm which is almost always called a robot, while the CNC
machine is usually just a machine. Having eyes can also make a difference in
whether a machine is called a robot, since humans instinctively connect eyes
with sentience. However, simply being anthropomorphic is not a sufficient
criterion for something to be called a robot. A robot must do something; an
inanimate object shaped like ASIMO would not be considered a robot

Etymology

The word robot was introduced to the public by Czech writer Karel Čapek in his
play R.U.R. (Rossum's Universal Robots), published in 1920. The play begins in
a factory that makes artificial people called robots, but they are closer to the
modern ideas of androids, creatures who can be mistaken for humans. They
can plainly think for themselves, though they seem happy to serve. At issue is
whether the robots are being exploited and the consequences of their
treatment.

However, Karel Čapek himself did not coin the word. He wrote a short letter in
reference to an etymology in the Oxford English Dictionary in which he named
his brother, the painter and writer Josef Čapek, as its actual originator.[16] In an
article in the Czech journal Lidové noviny in 1933, he explained that he had
originally wanted to call the creatures laboři (from Latin labor, work). However,
he did not like the word, and sought advice from his brother Josef, who
suggested "roboti". The word robota means literally work, labor or serf labor,
and figuratively "drudgery" or "hard work" in Czech and many Slavic languages.
Traditionally the robota was the work period a serf had to give for his lord,
typically 6 months of the year. Serfdom was outlawed in 1848 in Bohemia, so at
the time Čapek wrote R.U.R., usage of the term robota had broadened to
include various types of work, but the obsolete sense of "serfdom" would still
have been known.
The word robotics, used to describe this field of study, was coined by the
science fiction writer Isaac Asimov.

Robotic characters, androids (artificial men/women) or gynoids (artificial


women), and cyborgs (also "bionic men/women", or humans with significant
mechanical enhancements) have become a staple of science fiction.

The first reference in Western literature to mechanical servants appears in


Homer's Iliad. In Book XVIII, Hephaestus, god of fire, creates new armor for the
hero Achilles, assisted by robots. According to the Rieu translation, "Golden
maidservants hastened to help their master. They looked like real women and
could not only speak and use their limbs but were endowed with intelligence
and trained in handwork by the immortal gods." Of course, the words "robot" or
"android" are not used to describe them, but they are nevertheless mechanical
devices human in appearance.

The most prolific author of stories about robots was Isaac Asimov (1920–1992),
who placed robots and their interaction with society at the center of many of his
works. Asimov carefully considered the problem of the ideal set of instructions
robots might be given in order to lower the risk to humans, and arrived at his
Three Laws of Robotics:

 A robot may not injure a human being or, through inaction, allow a
human being to come to harm
 A robot must obey orders given to it by human beings, except where
such orders would conflict with the First Law
 A robot must protect its own existence as long as such protection does
not conflict with the First or Second Law

These laws were introduced in his 1942 short story "Runaround", although
foreshadowed in a few earlier stories. Later, Asimov added the Zeroth Law:

 "A robot may not harm humanity, or, by inaction, allow humanity to come
to harm"

The rest of the laws are modified sequentially to acknowledge this.

According to the Oxford English Dictionary, the first passage in Asimov's short
story "Liar!" that mentions the First Law is the earliest recorded use of the word
robotics. Asimov was not initially aware of this; he assumed the word already
existed by analogy with mechanics, hydraulics, and other similar terms denoting
branches of applied knowledge.
PROJECT DESIGN

Mathematical modeling

The modeling used in “Project Poseidon” was the Denavith-


Hartenberg convention.

The D-H parameters are:

Link ai di Alpha (i) q(i)


1 a1 0 0 q1
2 a2 0 0 q2

FIGURE 1. “POSEIDON”
Forward kinematics
X = a 2 cos q1 + q2 + a1 cos q1

Y = a 2 sin q1 + q2 + a1 sin q1

Inverse kinematics
r = (xd^2+yd^2)^(1/2)
gamma = acos((a1^2+a2^2-r^2)/(2*a1*a2))
beta = asin((a2/r)*sin(gamma))
theta = atan2(yd/xd
q1 = theta-beta
q2 = pi-gamma

MatLab Simulation

MatLab m-file

clc; clear all


xd=input('x deseada==>');
yd=input('y deseada==>');
set(gca,'Color','w')
axis([-.35 .35 -.35 .35])
tm=0.01;
a1=.14;
a2=.13;
x0=0;
y0=0;
k1=0;
k2=0;
r=(xd^2+yd^2)^(1/2);
gamma=acos((a1^2+a2^2-r^2)/(2*a1*a2));
betha=asin((a2/r)*sin(gamma));
alpha=atan2(yd, xd);
q1=(alpha-betha);
q2=(pi-gamma);
if (q1<0)
q1=(alpha+betha);
q2=-(pi-gamma);
end
q1=subs(q1(1))
q2=subs(q2(1))
while(abs(k1)<=abs(q1)&& abs(k2)<=abs(q2))
x1=a1*cos(k1);
y1=a1*sin(k1);
x2=a2*cos(k1+k2)+a1*cos(k1);
y2=a2*sin(k1+k2)+a1*sin(k1);
L1=line([x0,x1],[y0,y1],'Color','r','LineWidth',2);
L2=line([x1,x2],[y1,y2],'Color','b','LineWidth',2);

if (q1<0)
k1=k1-tm;
end
if (q1>0)
k1=k1+tm;
end
if (q2<0)
k2=k2-tm;
end
if (q2>0)
k2=k2+tm;
end
daspect([1,1,1])
pause(0.00001)
delete(L1)
delete(L2)
end

L1=line([0,x1],[0,y1],'Color','r','LineWidth',2);
L2=line([x1,x2],[y1,y2],'Color','b','LineWidth',2);

if((abs(k1)<=abs(q1))||(abs(k2)<=abs(q2)))
delete(L1)
delete(L2)
end

while(abs(k2)<=abs(q2))
x1=a1*cos(k1);
y1=a1*sin(k1);
x2=a2*cos(k1+k2)+a1*cos(k1);
y2=a2*sin(k1+k2)+a1*sin(k1);
L1=line([x0,x1],[y0,y1],'Color','r','LineWidth',2);
L2=line([x1,x2],[y1,y2],'Color','b','LineWidth',2);
if (q2<0)
k2=k2-tm;
end
if (q2>0)
k2=k2+tm;
end
daspect([1,1,1])
pause(0.00001)
delete(L2)
delete(L1)
end

while(abs(k1)<=abs(q1))
x1=a1*cos(k1);
y1=a1*sin(k1);

x2=a2*cos(k1+k2)+a1*cos(k1);
y2=a2*sin(k1+k2)+a1*sin(k1);
L1=line([0,x1],[0,y1],'Color','r','LineWidth',2);
L2=line([x1,x2],[y1,y2],'Color','b','LineWidth',2);
if (q1(1)<0)
k1=k1-tm;
end
if (q1>0)
k1=k1+tm;
end
daspect([1,1,1])
pause(0.00001)
delete(L1)
delete(L2)
end
L1=line([0,x1],[0,y1],'Color','r','LineWidth',2);
L2=line([x1,x2],[y1,y2],'Color','b','LineWidth',2);
X1=a1*cos(q1);
Y1=a1*sin(q1);
X2=a2*cos(q1+q2)+a1*cos(q1);
Y2=a2*sin(q1+q2)+a1*sin(q1);
line([0,X1],[0,Y1],'Color','g','LineWidth',2);
line([X1,X2],[Y1,Y2],'Color','g','LineWidth',2);
q1=round(q1*180/pi)
q2=round(q2*180/pi)
X1=a1*cosd(q1);
Y1=a1*sind(q1);
X2=a2*cosd(q1+q2)+a1*cosd(q1);
Y2=a2*sind(q1+q2)+a1*sind(q1);

Graphics

FIGURE 2. RUNNING THE SIMULATION


FIGURE 3. VISUALIZING THE ERROR, THE GREEN ONE IS THE DESIRED
POSITION, AND THE BLUE ONE IS THE REAL POSITION.

In order to control the position of both links, it was necessary to program a PIC
(Programable integrated circuit) using “MPLAB ICD2” as a programmer.

“MikroBasic” was the software used to compile the program we use.

MikroBasic Program

program Brazo

dim i as byte

main:

PORTB = 0
PORTD = 0

TRISB = 0

TRISD = 0

PORTD.1 = 1

Inicio:

while true

'------------------------------------------

for i = 1 to 150

PORTB.0 = 1

Delay_us(1000)

PORTB.0 = 0

Delay_us(19000)

next i

for i = 1 to 150

PORTB.0 = 1

Delay_us(2700)

PORTB.0 = 0

Delay_us(17300)

next i

for i = 1 to 150

PORTB.0 = 1

Delay_us(4550)

PORTB.0 = 0
Delay_us(15450)

next i

'------------------------------------------------------

for i = 1 to 150

PORTB.1 = 1

Delay_us(1350)

PORTB.1 = 0

Delay_us(18650)

next i

for i = 1 to 150

PORTB.1 =1

Delay_us(3050)

PORTB.1 = 0

Delay_us(16950)

next i

for i = 1 to 150

PORTB.1 =1

Delay_us(4750)

PORTB.1 = 0

Delay_us(15250)

next i

'-------------------------------------------------------------

wend

end.
CONCLUSIONS

It is possible to control a two link manipulator with a simple program, each link
at the time. The use of a manipulator of this kind has many applications in
industry.

References

 Cheney, Margaret [1989:123] (1981). Tesla, Man Out of Time. Dorset


Press. New York. ISBN 0-88029-419-1
 Craig, J.J. (2005). Introduction to Robotics. Pearson Prentice Hall. Upper
Saddle River, NJ.
 Needham, Joseph (1986). Science and Civilization in China: Volume 2.
Taipei: Caves Books Ltd.
 Sotheby's New York. The Tin Toy Robot Collection of Matt Wyse, (1996)
 Tsai, L. W. (1999). Robot Analysis. Wiley. New York.
 DeLanda, Manuel. War in the Age of Intelligent Machines. 1991. Swerve.
New York.
 Journal of Field Robotics
 Robotics education website

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