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PACHUCA
ROBOTICS I
WORK:
STUDENTS:
LÓPEZ RANGEL JOSUÉ
MONTERRUBIO ROMERO EDUARDO
MUÑOZ OLGUÍN MISAEL
TEACHER:
DR: LUIS IVÁN LUGO VILLEDA
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.
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".
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
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.
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.
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"
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
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
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
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 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