Health Care RoboticsC h a p t e r

Robotics

C h a p t e r 26

Chapter 26 1

Chapter 26 2

O u t l i n e

•Robots, Effectors, and Sensors

•Localization and Mapping

•Motion Planning

•Motor Control

Chapter 26 3

R o b o t s

•Physical agents that perform tasks

•Effectors

•Legs, wheels, joints and grippers

•Sensors

•Perceive environment

•Cameras, radars, lasers, microphones, gyroscopes

•Environment: partially observable, stochastic

Chapter 26 4

R o b o t H a r d w a r e

•Anthropomorphic robots

•Head and two arms

•i.e. The Terminator/The Jetsons

•Manipulators

•Robot arms

•Bolted to table or floor, used for assembly

•Mobile robots

•Wheels, legs or rotors

•Quadcopter drones

•Vacuum cleaners

•Autonomous cars/rovers

•Legged robots

•Travers terrain inaccessible with wheels

R o b o t s

Chapter 26 5

https://www.123rf.com/photo_24969140_packaging–line–with–robotic–arm–at–work.html

https://www.resna.org/sites/default/files/conference/2016/other/campeau_lecours.html

M o b ile R o b o t s

Chapter 26 6

https://mars.nasa.gov/msl/home

https://www.skydio.com/pages/skydio-2

M a n i p u l a t o r s

R

P

RR

Configuration of robot specified by 6 numbers

⇒6 degrees of freedom (DOF)