Faculty of Engineering

Computer Engineering Department

Subject: Robotics / Grade 4

ROBOTICS
Course Objectives:
This is an introductory course to the world of robotics. The course will present
the basic concepts in robotics.
Classes are used to introduce the theoretical aspects that are augmented with
laboratory testing. The course has
the following objectives:
(1) Define what is a Robot?
(2) Introduce a brief history of Robotics and their relation to Artificial
Intelligence.
(3) Study the basic robot components.
(4) Study methods of robot control and representation.
(5) Use and test a robot system in the laboratory (VEX Clawbot).
Course Description:
Robotics integrates mechanical, electronics and software engineering. This
course offers combined studies in
machine design, computer hardware and software, control and electronics,
enabling students to design computer controlled smart systems.

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 Faculty of Engineering
Computer Engineering Department
Subject: Robotics / Grade 4
Course Syllabus:
COURSE CONTENT
Week Hour Date Topic
Introduction to robotics, a brief history of robotics, their uses
1 7-12/10/2021
and applications.
2 14-19/10/2021 Preliminary definition, control theory, cybernetics.

3 21-25/10/2021 A.I. and robot components.

4 28/10-2/11/2021 Robot movement such as arms, legs and wheels.

Robot movement: active vs. passive actuation and type of

5 4-8/11/2021
actuators.
Sensors: Their use and effectiveness, passive vs. active sensors,
6 11-15/11/2021
simple sensors.

Sensors: complex sensors covering issues related to their

7 18-23/11/2021
effectiveness.
8 25-30/11/2021 application of concept from practical point of view (LAB)

9 2-7/12/2021 Midterm Exam

10 4-8/12/2021 Detailed discussion about typica solution - Mid-Term

Robot Control – Part 1: feedback control, building blocks of

11 18-22/12/2021
control architecture, languages for programming.
12 25-29/12/2021 Robot Control - Part 1 (Continued).

Robot Control – Part 2: a coverage of types of control:

13 1-5/1/2022
deliberative, reactive, hybrid, behavioural and emergent.
14 8-12/1/2022 Application of concept: Autonomous robot (LAB).

15 14-19/1/2022 Final Exam

16 23-26/1/2022 Final Exam

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 Faculty of Engineering
Computer Engineering Department
Subject: Robotics / Grade 4

Course/Student Learning Outcomes:

At the end of this course, the student(s) will be able to meet the minimum employment demand
in the area of robotic systems, encompassing automated assembly plants to driverless vehicles,
or use the course as a pathway into research or further learning.

 An understanding of what makes a “Robot”.

 Have a clear idea about the different actuators that are used to drive a robot.
 Have a clear idea about the different sensors that are used to give feedback to the robot
in its world.
 Understand the difficulties and problems that face designers and engineers in
developing autonomous robot systems.
 Gain the ability to implement and test many of the robotics concepts using a lab model
robot. This will include assembly as well as programming.

COURSE EVALUATION CRITERIA

Method Quantity Percentage (%)

Quiz 1 10
Homework 1 10
Midterm Exam(s) 1 30
Laboratory 1 10
Final Exam 1 40
Total 100

Lecturer Name: Dr. Goran Abdulrahman – goran.abdulrahman@tiu.edu.iq

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 Faculty of Engineering
Computer Engineering Department
Subject: Robotics / Grade 4

Introduction to Robotics
A robot is a programmable mechanical device that can perform tasks and interact
with its environment, without the aid of human interaction. Robotics is the
science and technology behind the design, manufacturing and application of
robots. (vexrobotics*,2017).

• Another definition: a robot is a re-programmable multi-function manipulator

designed to move material parts, tools or specialised devices, through variable
programmed motions for the performance of a variety of tasks (Robotic Institute
of America, 1979).

 Simply, Robotics may be defines as “The Study of Robots”.

The aim of robotics is to design an efficient robot.

• The word robot was coined by the Czech playwright Karel Capek in 1921.

He wrote a play called “Rossum's Universal Robots” that was about a slave class
of manufactured human-like servants and their struggle for freedom.

The Czech word robota loosely means "compulsive servitude.”

The word robotics was first used by the famous science fiction writer, Isaac
Asimov, in 1941.

* http://curriculum.vexrobotics.com/curriculum/intro-to-robotics/what-is-robotics

The word "robotics", used to describe this field of study, was coined accidentally
by the Russian–born, American scientist and science fiction writer, Isaac Asimov
(1920-1992) in 1940s.

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 Faculty of Engineering
Computer Engineering Department
Subject: Robotics / Grade 4

Laws of Robotics

 Law 1: A robot may not injure a human being or through inaction, allow a
human being to come to harm.
 Law 2: A robot must obey orders given to it by human beings, except where
such orders would conflict with a higher order law.
 Law 3: A robot must protect its own existence as long as such protection
does not conflict with a higher order law.

Issac Asimov, 1941

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 Faculty of Engineering
Computer Engineering Department
Subject: Robotics / Grade 4

Advantages of Industrial Robots

 Increased output rates.

 Improved product quality
 Reduced material wastage.
 Accident reduction.
 Reduced labour turnover.
 Greater flexibility and re-programmability.
 Can do repetitive task with accuracy.
 Working at places 24/7

Disadvantages of Industrial Robot

 Replacement of human labour (Greater unemployment).

 Robots are an expensive initial cost.
 Can only do what it is instructed to do; nothing more, nothing less
 Consume energy
 Required maintenance.

Industrial Robots

Industrial robots, as other modern manufacturing systems, are advanced

automation systems that utilize computers as an integral part of their control.
Computers are now a vital part of industrial automations. They run production
lines and control stand-alone manufacturing systems, such as various machine
tools, welders, inspection systems, and laser beam cutters.

Even more sophisticated are the new robots that perform various operations in
industrial plants and participate in full automation of factories.

Industrial robots do not look like human beings but they do the work of humans.

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 Faculty of Engineering
Computer Engineering Department
Subject: Robotics / Grade 4

Example of the Industrial Robotics in car company

Another origin of today's industrial robot can be found in remote manipulators.

A remote manipulator is a device that performs a task at a distance. It can be used
in environments that human workers cannot easily or safely access, e.g. for
handling radio-active materials, or in some deep sea and space applications. The
first master-slave manipulator system was developed by 1948. The concept
involves an electrically powered mechanical arm installed at the operation site,
and a control joystick of geometry similar to that of the mechanical arm.

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 Faculty of Engineering
Computer Engineering Department
Subject: Robotics / Grade 4

Types of Robots
Mobile Robot

Mobile robots are able to move, usually they perform a task such as search areas.
A prime example is the Mars explorer, specifically designed to roam the mars
surface.

Mobile robots are a great help to such collapsed building for survivor’s Mobile
robots are used for a task where people cannot go. Either because it is too
dangerous of because people cannot reach the area that needs to be searched

Walking Robot

Robots on legs are usually brought in when the terrain is rocky and difficult to
enter with wheels. Robots have a hard time shifting the balance and keep them
from tumbling. That’s why most robots with have at least 4 of them, usually they
have 6 legs or more. Even when they lift one or more legs, they still keep their
balance. Development of legged robots is often modelled after insects or
crawfish.

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 Faculty of Engineering
Computer Engineering Department
Subject: Robotics / Grade 4
Stationary Robot

Robots are not only used to explore areas or imitate a human being. Most robots
perform repeating tasks without ever moving an inch. Most robots are ‘working’
in industry settings. Especially dull and repeating tasks are suitable for robots. A
robot never grows tired, it will perform its duty day and night without ever
complaining. In case the tasks at hand are done, the robots will be reprogrammed
to perform other tasks.

Autonomous Robot

Autonomous robots are self-supporting or in other words self-contained. In a way,

they rely on their own ‘brains’.

Autonomous robots run a program that gives them the opportunity to decide on
the action to perform depending on their surroundings. At times these robots even
learn new behaviour. They start out with a short routine and adapt this routine to
be more successful at the task they perform. The most successful routine will be
repeated as such their behaviour is shaped.

Autonomous robots can learn to walk or avoid obstacles they find in their way.
Think about a six-legged robot, at first the legs move at random, after a little while
the robot adjusts its program and performs a pattern which enables it to move in
a direction.

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 Faculty of Engineering
Computer Engineering Department
Subject: Robotics / Grade 4
Remote-control Robot

An autonomous robot is despite its autonomous not a very clever or intelligent

unit. The memory and brain capacity are usually limited; an autonomous robot
can be compared to an insect in that respect. In case a robot needs to perform
more complicated yet undetermined tasks an autonomous robot is not the right
choice.

Complicated tasks are still best performed by human beings with real brainpower.
A person can guide a robot by remote control. A person can perform difficult and
usually dangerous tasks without being at the spot where the tasks are performed.
To detonate a bomb, it is safer to send the robot to the danger area.

Virtual Robot

Virtual robots don't exist in real life. Virtual robots are just programs, building
blocks of software inside a computer.

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 Faculty of Engineering
Computer Engineering Department
Subject: Robotics / Grade 4

Robot Applications

 Exploration
o Space missions
o Robots in the Antarctic
o Exploring volcanoes
o Underwater exploration

 Medical Science
o Surgical assistant (Da Vinci robot)

 Other Application
o Painting
o Surveillance
o Security (for example bomb disposal)
o Home help (grass cutting, nursing)

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 Faculty of Engineering
Computer Engineering Department
Subject: Robotics / Grade 4

Robot Components
Sensors: To collect information about the internal state of the robot, or to
communicate with the outside environment, for example,
Speech, Vision, Acceleration, Temperature, Distance, Touch,
Light, Sound and Position Sense.

Effectors: In robotics, an end effector is a device at the end of a

robotic arm, designed to interact with the environment.

Actuators: Muscles of the manipulators (servomotor, stepper motor, pneumatic

and hydraulic. cylinder).

Controllers: Similar to the cerebellum. It controls and

coordinates the motion of the actuators.

Manipulator: Robot main body (Links and Joints of the robot).

Processor: The brain of the robot. For example, it calculates the motions and the
velocity of the robot’s joints.

Software: Operating system, robotic software and the collection of routines.

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 Faculty of Engineering
Computer Engineering Department
Subject: Robotics / Grade 4

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 Faculty of Engineering
Computer Engineering Department
Subject: Robotics / Grade 4

You can download the ROBOTC software packages from the above link.

Link to Vex Robot video trainer:

http://cmra.rec.ri.cmu.edu/products/cortex_video_trainer/lesson/index_fundame
ntals.html

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