Robotics: An Introduction

Prof. S.K. Saha

Department of Mechanical Engineering
IIT Delhi
 Outline
• Types of robots
• What is a robot?
• Laws of Robotics
• Robotics Research at IIT Delhi
• Use of Robots
 Humanoid Robots

Asimo (Honda): 120cm; 52kg Qrio (Sony): 58cm; 7kg

 Photo of a Unimate robot
[Courtesy: http://www.robothalloffame.org/inductees/
03inductees/unimate.html]
PUMA Robot
RTX Robot
Other Types: Space Robot
(a) (b)
An AGV: (a) Stand alone; (b) At work
[Courtesy: www.globalspec.com]
 Wheeled
Robots

With Mecanum wheel (Jonsson,

Centre-driven Vehicle 1985) or Omnidirectional wheel
(Carlisle, 1984) (Muir and Neuman, 1987)
 RoboTRAC

A system supported with wheels and legs

Snake-like articulated mobile robot
Sojourner microrover
Legged robot
 Medical Applications

The da Vinci robot for minimally invasive surgery

[Courtesy: http://www.intuitivesurgical.com/products/]
Indian Robot: PPR by Systemantics, India
 Fig. 1.3 (b) Six-axis robot from MTAB India
[Courtesy: http://www.mtabindia.com/robotics/aristorobotics.htm]
Tata Automation Limited
(TAL), Pune
Daksh (DRDO)

18
Defence robot ‘Daksh’ by RDE (DRDO), Pune
[Courtesy: http://en.wikipedia.org/wiki/DRDO_Daksh]
Grey Orange: Warehouse Robots

Source: Google image

Netra (DRDO)
 DRDO’s unmanned aerial vehicle, NETRA
[Courtesy: http://en.wikipedia.org/wiki/DRDO_Netra]
Remotely operated underwater robot by
CMERI, Durgapur
[Courtesy: http://www.cmeri.res.in/rnd/rov.html]
Parallel Architecture in
Machining
 What is a Robot?

• Origin
Robit (Check word) --> Work
Robota (Slav word) --> Menial or slave
labour
Got publicity from the play
Rossum’s Universal Robots (RUR)
[1921]
Karel Capek
 Laws of Robotics
• By Issac Asimov (1940s)
1. A robot may not injure a human being or,
though inaction, allow a human being to
come to harm.
2. A robot must obey the orders given by
human beings, except when such orders
would conflict with the first law.
3. A robot must protect its own existence, as
long as such protection does not conflict
with the first or second law.
First Commercial Robot (1962)

• By Unimation Inc., USA, founded by

Joseph F. Engelberger
(Father of Robotics)
in 1950
• Installed in General Motors plant
 Int. Std. Org. (ISO) Definition

• Robot
An automatically controlled, re-
programmable, multi-purpose
manipulative machine, with or without
locomotion, for use in industrial
automation applications
• Other definitions: Rob. Soc. of Japan, etc.
• Common temrs: Re-programmable, Multi-
purpose
 Programme for Autonomous Robotics
(Sponsored by BARC/BRNS)

29
Research@IIT Delhi
(10 Faculty + 20 Students)

Visit us at http://robotics.iitd.ac.in
 Parallel Robot: SDD’08-10, 12-16

Singularity
 By Students of IIT Delhi

RoboCon RoboMuse 3x, 3xT

RoboMuse 4

RoboMuse 5

Nov.’08-Mar’09 July’15 2019

 Estimated Supply
(China: 1,33,200/year; India: 4,800/year Annually)
 Reasons for Poor Utilization
• Mainly due to
U N E M P L O Y M E N T
[Japan with 3 50 000 robots in 1992 had <
3% unemployment]
• Other reasons
– Lack of proper perspective
– Cheap labour
– Non-availability
– High import cost/High investment
 More Reasons
• R&D Supports: By Govt. only
• Companies involved: Almost nil
• Advanced Research Absorption: Poor
• Questions:
Should We Use Robots? Yes

Do We Need Robots? Yes (modified way)

If yes, how? Let’s see

 Where and How?
• Where? • How?
– In hazardous – Indigenous design
environment – Develop as required
(Chemical, Steel, (Customized design)
Nuclear, … – Make awareness
plants)
– Think it as a
– High precision machine
applications
– Export oriented
products
 When to Use a Robot?

Thumb Rules:
• Is task Dirty, Dull, Dangerous, Difficult?
• Will a human be jobless?
• Is a human willing to do a job?
• Is robot usage economic?
 Summary

• Robotics is explained
• Applications of robots
• Several advanced robots are shown
• When to apply robot was explained.
 Transformation

Prof. S.K. Saha

Department of Mechanical Engineering
IIT Delhi
 Outline

• Definition of Pose
• Rotation representations
– Direction cosines
– Euler angles
• DH Parameters
 Pose ≡ Position + Rotation
P
Z W
V
p p΄

OM M
Translation: 3
o
Rotation: 3 O Y
Total: 6 F
U
X

A moving body Pose or Configuration

 Position Description
p 
 x
[p ] F ≡ py
p 
 z

p = px x + py y + pz z

1  0  0 
     
[ x ] F ≡  0  , [ y ] F ≡  1  , and [ z ] F ≡  0 
0     
  0
   1 
 Orientation Description

1. Direction cosine representation

2. Fixed-axes rotations

3. Euler angles representation

4. Single- and double-axes rotations

5. Euler parameters representation

I will illustrate 1 and 3 only
For Direction Cosines: Coordinate Transformation

Fig. 5.13

px = pu Cα − pv Sα
py = pu Sα + pv Cα
pz = pw
[p]F = QZ [p]M ; QZ is 3×3 Rotation matrix
 Direction Cosine Representation
Refer to Figure

p = puu + pvv + pww …(1)

u = ux x + uy y + uz z …(2)

v = vx x + vy y + vz z … (3)

w = wx x + wy y + wz z
… (4)
Substitute eqs. (2-4) into eq. (1)

p = (puux + pvvx + pwwx)x + (puuy + pvvy + pwwy)y

+ (puuz + pvvz + pwwz)z

px = uxpu + vxpv + wxpw

py = uypu + vypv + wypw

pz = uzpu + vzpv + wzpw

[p]F = Q [p]M
 Direction Cosine Representation
[p]F = Q [p]M
  
 p  p     uT x vT x wTx
 x u 
u v
 x x x w  
[p ] ≡  p p  , Q ≡ u y v y w y  = u T y v T y
 , [p ] M ≡  T
w y
F  y v     T Tz 
   u v w   u z v wTz 
p    z z z  
 p  w 
 z

uTu = vTv = wTw = 1, and

uTv(≡vTu) = uTw(≡wTu) = vTw(≡wTv) = 0

Q is called Orthogonal