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502_61Robotics

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6 views

502_61Robotics

Uploaded by

Sweta K
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Artificial Intelligence through Python


Unit 6 : Robotics
robot
A robot is a machine that looks like a human, and is capable of performing out of box
actions and replicating certain human movements automatically by means of
commands given to it using programming. Examples: Drug Compounding Robot,
Automotive Industry Robots, Order Picking Robots, Industrial Floor Scrubbers and Sage
Automation Gantry Robots, etc.
task planner
A program that converts task-level specifications into manipulator-level specifications.
The task planner must have a description of the objects being manipulated, the task
environment, the robot, and the initial and desired final states of the environment. The
output should be a robot program that converts the initial state into the desired final
state.

Motivations
The important incentives for building robots are social, replacing humans in undesirable
or dangerous jobs, and economic, reducing the cost of manufacturing while improving
its quality.
The real world has the following qualities, that any robot design must take into account:
 inaccessible -- sensors are imperfect, and can only perceive local stimuli
 nondeterministic -- the robot can never be certain an action will work as
expected, since wheels slip, batteries run down, etc.
 nonepisodic -- the effects of an action change over time, so robots should
handle sequential decision problems and learning
 dynamic -- a robot has to know when to think and when to act right away
 continuous -- states and actions are drawn from a continuum of physical
configurations and motions
In general, robots should have the following qualities:
 high reliability -- if a robot fails, it should be able to recover or to call for help
 high speed -- a robot should perform its functions as quickly as needed
 programmability -- the robot should be flexible and easily adaptable to various
tasks
 low cost
The ultimate goal is to build autonomous robots that accept commands telling
them what to do, without needing to specify exactly how.

Task Planning
By virtue of their versatility, robots can be difficult to program, especially for tasks
requiring complex motions involving sensory feedback. In order to simplify
programming, task-level languages exist that specify actions in terms of their effects on
objects.
Example: pin A programmer should be able to specify that the robot should put a pin in
a hole, without telling it what sequence of operators to use, or having to think about its
sensory or motor operators.
Task planning is divided into three phases: modeling, task specification, and
manipulator program synthesis.
There are three approaches to specifying the model state:

By prabhat kumar ( 8936893460 / 7717768178)


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1. Using a CAD system to draw the positions of the objects in the desired
configuration.
2. Using the robot itself to specify its configurations and to locate the object
features.
3. Using symbolic spatial relationships between object features such as (face1
against face2). This is the most common method, but must be converted into
numerical form to be used.
One problem is that these configurations may over constrain the state. Symmetry is an
example; it does not matter what the orientation of a peg in a hole is. The final state
may also not completely specify the operation; for example, it may not say how hard to
tighten a bolt.
The three basic kinds of motions are free motion, guarded motion, and compliant
motion.
An important part of robot program synthesis should be the inclusion of sensor tests for
error detection.

Motion Planning
From the moment we wake up in the morning until our head hits the pillow at night, we
must plan our actions. Planning includes choosing the day's outfit based on the
weather forecast, figuring out what to eat for breakfast, deciding the best route to work
after listening to the traffic reports, and making a schedule of activities for the day. A
large problem in the development of autonomous robots is devising a way to give them
the capabilities to make their own plans in a variety of situations. Motion planning refers
to the computational process of moving from one place to another in the presence of
obstacles.
The degree of difficulty of motion planning in robots varies greatly depending on a
couple of factors: whether all information regarding the obstacles (i.e. sizes, locations,
motions, etc.) is known before the robot moves and whether these obstacles move
around or stay in place as the robot moves. The different possible scenarios are shown
in the following chart:

Static Obstacles Dynamic Obstacles


Completely Known Case I Case II
Partially Known Case III Case IV
The simplest scenario, and therefore the most researched and understood one, is
Case I. In Case I, all obstacles are fixed in their positions, and all details about these
obstacles are known before path planning takes place. The problem for the robot,
which is known as the basic motion planning problem, can be informally stated as
getting from a starting point to an ending point without colliding with any obstacles. This
problem is usually solved in the following two steps:
 Define a graph to represent a geometric structure of the environment.
 Perform a graph search to find a connected component between the node
containing the start point and the node containing the destination point.
The geometric structure of the graph differs depending on which approach is used to
solve the problem. The three most common approaches are
the roadmap approach,
the cell decomposition approach, and
the potential field approach.

By prabhat kumar ( 8936893460 / 7717768178)


3

The Roadmap Approach


This approach is dependent upon the concepts of configuration space and a
continuous path. A set of one-dimensional curves, each of which connect two nodes of
different polygonal obstacles, lie in the free space and represent a roadmap R. That is,
all line segments that connect a vertex of one obstacle to a vertex of another without
entering the interior of any polygonal obstacles are drawn. This set of paths is called
the roadmap. If a continuous path can be found in the free space of R, the initial and
goal points are then connected to this path to arrive at the final solution, a free path. If
more than one continuous path can be found and the number of nodes in the graph is
relatively small, Dijkstra's shortest path algorithm is often used to find the best path.

The Cell Decomposition Approach


The basic idea behind this method is that a path between the initial configuration
and the goal configuration can be determined by subdividing the free space of the
robot's configuration into smaller regions called cells. After this decomposition, is
constructed according to the adjacency relationships between the cells, where the
nodes represent the cells in the free space, and the links between the nodes show that
the corresponding cells are adjacent to each other. From this connectivity graph, a
continuous path, or channel, can be determined by simply following adjacent free cells
from the initial point to the goal point.

The Potential Field Approach


The potential field method involves modeling the robot as a particle moving under
the influence of a potential field that is determined by the set of obstacles and the target
destination. This method is usually very efficient because at any moment the motion of
the robot is determined by the potential field at its location. Thus, the only computed
information has direct relevance to the robot's motion and no computational power is
wasted. It is also a powerful method because it easily yields itself to extensions. For
example, since potential fields are additive, adding a new obstacle is easy because the
field for that obstacle can be simply added to the old one.

By prabhat kumar ( 8936893460 / 7717768178)

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