Lecture #5 - Robotics

Question 1

What are the advantages of robots

Answer 1

1. High Adaptability and easily modifiable
2. Flexible and multi purpose
3. High precision and repeatability; v. good for one specific task
4. Fast
5. Automation of human tasks
6. Automation of machine tasks
7. Collaborative work is possible

Question 2

What are the three step externally before the DT is implemented

Answer 2

1. Feasability Checking
2. Trajectory
3. Collision

Question 3

Describe briefly about the Universal Robot

Answer 3

1. Collaborative robot arm
2. Wildly adopted in industrial applications
3. 6 Degrees of Freedom, +/- 360 Working Range
4. 5kg Payload.

Question 4

What is inverse kinematics

Answer 4

The inverse kinematics involve converting the angles measured to cartesian coordinates.

Question 5

What information do we need to calculate all the trajectories

Answer 5

1. Joint Angles
2. Link Length
3. Joint Limits
4. Inertia

Question 6

Regarding syntax, how do we compile our code to apply standards?

Answer 6

<,> paramteter to structure data

Question 7

Explain what ROS is

Answer 7

ROS stands for Robot Operating System.

1. Framework for Robotics Applications
2. Middleware; interface other applications
3. Define topics and upload data.

Question 8

Explain how ROS works

Answer 8

There are three factors:

1. The engine; Unity
2. Inverse Kinematics
3. Robot arm
4. The engine will give its target transform to the inverse kinematics.
5. The inverse kinematics will give the joint_angle and configuration
6. The engine will give its target joint angles to the robot arm
7. The robot arm will then give its current joint and angles.

The user is interacting with unity and gets back visual feedback.

Three players in this scenario:
1. Unity
2. Inverse Kinematics
3. Robot arm

Unity -> target transform -> inverse kinematics -> joint angle and configuration -> unity -> joint angle and configuration -> robot arm -> current joint angle -> unity -> visual feedback -> user

Question 9

Explain how ROS communications works

Answer 9

It communicates with the broker and receives the data. The node will also talk to the topic (sensor) and gets it back for node 2, which could be the gears.

Question 10

Describe the ROS-Communication interfaces

Answer 10

1. Topic
2. Service
3. Action

Question 11

Give an example using ROS

Question 12

What is the Data Distribution Service (DDS)

Question 13

How explain how Acknack works

Question 14

What’s the main components of a robot

Answer 14

1. Motors
2. Sensors
3. Control

Question 15

Why is the robot an integral part in the CPPS lecture

Answer 15

Physical part - Robot (arm, leg)
Interconnection - Profibus, MGH, OPCUA
Cyber representation - Information model

CPS - connection between the physical and virtual world

Question 16

Why is the robot an integral part in the CPPS lecture

Answer 16

Physical part - Robot (arm, leg)
Interconnection - Profibus, MGH, OPCUA
Cyber representation - Information model

CPS - connection between the physical and virtual world

Question 17

What’s the difference between external and internal collision?

Answer 17

External Collision; the table could be the in the way

Internal Collision; the way that the robot can’t go in certain directions.

Question 18

What is P target?

Answer 18

It defines the position and rotation in space; defines theta A,B,C and X,Y,Z.

Question 19

What is Unified Robot Description Format

Answer 19

Based on an XML format, with the semantics based in the robotic sphere.

The syntax; How do we structure our object how it compiles to apply to standards.

The semantics; The syntax is for the machine, whereas, the semantics has to make sure that it’s human readable. Need to have the same definition of the same attribute or element.

Question 20

What is Unity?