RoboticsManagement

Electrical
Projects Circuits Dr./ Essam Nabil Dr./ Essam Nabil

Scope of
Presentation
Presentatin Menoufia University
Sessions Policy
Faculty of Engineering
Preliminaries

History of Robots

Definition of Robot

Laws of Robotics

Robot Classifications

What is Robotics?

Degree of Freedom

Robot Components

Robot Configurations

Robot Control System

Robot Kinematics

Robot Applications Prepared By:

Thanks & Questions Dr. Eng. Essam Nabil

27 March 2022 Menoufia University, Faculty of Engineering 1
 RoboticsManagement
Electrical
Projects Circuits Dr./ Essam Nabil Dr./ Essam Nabil

Scope of
Presentation
Presentatin
‫اإلحترام‬ ‫اإلختالف ال‬
Sessions Policy ‫المشاركة‬ ‫البشاشة‬
‫يفسد للود‬
Preliminaries ‫المتبادل‬ ‫الفعالة‬ ‫واإلبتسام‬
History of Robots ‫قضية‬
Definition of Robot

Laws of Robotics

Robot Classifications

What is Robotics?

Degree of Freedom

Robot Components

Robot Configurations

Robot Control System

Robot Kinematics

Robot Applications

Thanks & Questions

27 March 2022 Menoufia University, Faculty of Engineering 2
 RoboticsManagement
Electrical
Projects Circuits Dr./ Essam Nabil Dr./ Essam Nabil

Scope of
Presentation
Presentatin
Sessions Policy
❑ Industrial robot requires sensory feedback to:
Preliminaries
✓ Locate randomly placed object;
History of Robots
✓ Allow for variations in shape of objects;
Definition of Robot

Laws of Robotics
✓ Protect against dangerous and unexpected situations, especially if the robot
Robot Classifications must work close to humans:
What is Robotics? ✓ Allow “intelligent” recovery form error conditions;
Degree of Freedom
✓ Perform quality control.
Robot Components
❑ The main objective of incorporating sensors in robotic system is to enable robots
Robot Configurations
to work in nonstructural and random environments.
Robot
RobotControl
ControlSystems
System

Robot Kinematics
❑ Sensors will make robots more intelligent. But the associated robotic software
Robot Applications
must have the ability to receive data from the sensors and to process the
Thanks & Questions necessary real time information and commands needed for the decision making.
27 March 2022 Menoufia University, Faculty of Engineering 3
 RoboticsManagement
Electrical
Projects Circuits Dr./ Essam Nabil Dr./ Essam Nabil

Scope of
Presentation
Presentatin
Sessions Policy
❑ Sensing - Collecting information about the world
Preliminaries
❑ Sensor - an electrical/mechanical/chemical device that maps an environmental
History of Robots
attribute to a quantitative measurement
Definition of Robot

Laws of Robotics
❑ Each sensor is based on a transduction principle - conversion of energy from one
Robot Classifications form to another as:
What is Robotics? ✓ Thermistor: temperature-to-resistance
Degree of Freedom
✓ Electrochemical: chemistry-to-voltage
Robot Components
✓ Photocurrent: light intensity-to-current
Robot Configurations
✓ Pyroelectric: thermal radiation-to-voltage
Robot
RobotControl
ControlSystems
System

Robot Kinematics
✓ Humidity: humidity-to-capacitance
Robot Applications
✓ Length (LVDT: Linear variable differential transformers): position-to-inductance
Thanks & Questions ✓ Microphone: sound pressure-to-<anything>
27 March 2022 Menoufia University, Faculty of Engineering 4
 RoboticsManagement
Electrical
Projects Circuits Dr./ Essam Nabil Dr./ Essam Nabil

Scope of
Presentation
Presentatin
Sessions Policy
❑ Human sensing and organs:
Preliminaries
✓ Vision: eyes (optics, light)
History of Robots
✓ Hearing: ears (acoustics, sound)
Definition of Robot

Laws of Robotics
✓ Touch: skin (mechanics, heat)
Robot Classifications ✓ Odor: nose (vapor-phase chemistry)
What is Robotics? ✓ Taste: tongue (liquid-phase chemistry)
Degree of Freedom
❑ Extended ranges and modalities:
Robot Components
✓ Vision outside the RGB spectrum [Infrared Camera, see at night]
Robot Configurations

Robot
✓ Active vision [Radar and optical (laser) range measurement]
RobotControl
ControlSystems
System

Robot Kinematics
✓ Hearing outside the 20 Hz – 20 kHz range [Ultrasonic range measurement]
Robot Applications ✓ Chemical analysis beyond taste and smell
Thanks & Questions ✓ Radiation: a, b, g-rays, neutrons, etc
27 March 2022 Menoufia University, Faculty of Engineering 5
 RoboticsManagement
Electrical
Projects Circuits Dr./ Essam Nabil Dr./ Essam Nabil

Scope of
Presentation
Presentatin
Sessions Policy
❑ Internal state (proprioception) v.s. external state (exteroceptive)
Preliminaries
✓ feedback of robot internal parameters, e.g. battery level, wheel position, joint
History of Robots
angle, etc,
Definition of Robot

Laws of Robotics
✓ observation of environments, objects
Robot Classifications ❑ Active v.s. non-active
What is Robotics? ✓ emitting energy into the environment, e.g., radar, sonar
Degree of Freedom
✓ passively receive energy to make observation, e.g., camera
Robot Components
❑ Contact v.s. non-contact
Robot Configurations
❑ Visual v.s. non-visual
Robot
RobotControl
ControlSystems
System

Robot Kinematics
✓ vision-based sensing, image processing, video camera
Robot Applications
❑ There are many different types and classifications of robot sensors available and
Thanks & Questions there are many different parameter measured by these sensors.
27 March 2022 Menoufia University, Faculty of Engineering 6
 RoboticsManagement
Electrical
Projects Circuits Dr./ Essam Nabil Dr./ Essam Nabil

Scope of
Presentation
Presentatin
Sessions Policy
❑ In general, robotic sensors can be divided into two classes:
Preliminaries

History of Robots
➢ Internal state sensors - device being used to measure the position,
Definition of Robot velocity and acceleration of the robot joint and/or end-effector. These
Laws of Robotics devices are potentiometer, tachometers, synchros, resolvers, differential
Robot Classifications transformers, optical interrupters, optical encoders and accelerometer.
What is Robotics?

Degree of Freedom
➢ External state sensors – device being used to monitor the relationship
Robot Components between the robot kinematics and/or dynamics with its task, surrounding,
Robot Configurations or the object being manipulated.
Robot
RobotControl
ControlSystems
System

Robot Kinematics

Robot Applications

Thanks & Questions

27 March 2022 Menoufia University, Faculty of Engineering 7
 RoboticsManagement
Electrical
Projects Circuits Dr./ Essam Nabil Dr./ Essam Nabil

Scope of
Presentation
Presentatin
Sessions Policy
❑ There are many different types of robot sensors available and there are many
Preliminaries
different parameter measured by these sensors, so the application process,
History of Robots
should be carried out in a top down manner, starting with task requirements,
Definition of Robot
and going through several levels of analysis, eventually leading to the
Laws of Robotics

Robot Classifications
selection of a specific device.
What is Robotics? ❑ A taxonomy for sensing to aid this process consists of five levels of refinement
Degree of Freedom leading to sensor selection:
Robot Components
✓ Specification of task requirements :e.g. localization, size confirmation.
✓ Choice of modality :e.g. vision, force, tactile
Robot Configurations

Robot
RobotControl
ControlSystems
System
✓ Specification on sensor attributes :e.g. output, complexity, discrete or continuous.
Robot Kinematics
✓ Specification of operational parameters :eg size, accuracy, cost
Robot Applications
✓ Selection of mechanism :eg switching devices, inductive sensors, CCD vision.
Thanks & Questions
27 March 2022 Menoufia University, Faculty of Engineering 8
 RoboticsManagement
Electrical
Projects Circuits Dr./ Essam Nabil Dr./ Essam Nabil

Scope of
Presentation
Presentatin
Sessions Policy
❑ Insertion Monitoring
Preliminaries
❑ Assembly Verification
History of Robots

Definition of Robot ❑ Detection of Reject Parts

Laws of Robotics
❑ Recognition of Part Types
Robot Classifications
❑ Assembly Test Operations
What is Robotics?

Degree of Freedom ❑ Check Gripper/Tool Operation

Robot Components ❑ Location & Orientation of Parts
Robot Configurations
❑ Workspace Intrusion Detection
Robot
RobotControl
ControlSystems
System

Robot Kinematics
❑ Check Correct Manipulation of Parts
Robot Applications ❑ Analysis of Spatial Relations Between Parts
Thanks & Questions
27 March 2022 Menoufia University, Faculty of Engineering 9
 RoboticsManagement
Electrical
Projects Circuits Dr./ Essam Nabil Dr./ Essam Nabil

Scope of
Presentation
Presentatin
Sessions Policy
❑ Ultrasonics
Preliminaries
❑ Resistive Effects
History of Robots

Definition of Robot ❑ Capacitive Efects

Laws of Robotics
❑ Piezo-Electric Effects
Robot Classifications
❑ Visible Light Imaging
What is Robotics?

Degree of Freedom ❑ Photo-Electric & Infrared

Robot Components ❑ Mechanical Switching
Robot Configurations
❑ Inductive Effects
Robot
RobotControl
ControlSystems
System

Robot Kinematics
❑ Thermal Effects
Robot Applications ❑ Hall Effect
Thanks & Questions
27 March 2022 Menoufia University, Faculty of Engineering 10
 RoboticsManagement
Electrical
Projects Circuits Dr./ Essam Nabil Dr./ Essam Nabil

Scope of
Presentation
Presentatin
Sessions Policy ❑ Cost
Preliminaries
❑ Range
History of Robots

Definition of Robot
❑ Accuracy
Laws of Robotics ❑ Repeatability
❑ Power Requirements
Robot Classifications

What is Robotics?

Degree of Freedom
❑ Output Signal Specification
Robot Components ❑ Processing Reuirements
Robot Configurations
❑ Sensitivity
Robot
RobotControl
ControlSystems
System
❑ Reliability
Robot Kinematics

Robot Applications ❑ Weight

Thanks & Questions ❑ Size
27 March 2022 Menoufia University, Faculty of Engineering 11
 RoboticsManagement
Electrical
Projects Circuits Dr./ Essam Nabil Dr./ Essam Nabil

Scope of
Presentation
Presentatin
Sessions Policy ✓ Accuracy is the closeness of the sensor reading to the true value of
Preliminaries
the variable.
History of Robots

Definition of Robot
✓ It is almost impossible to determine experimentally the true value by any
Laws of Robotics measurement system due to the loading effect and mechanical problems
Robot Classifications (e.g., wear, hysteresis, noise, etc.).
What is Robotics?
✓ Accuracy of the measured signal depends upon the following factors:
Degree of Freedom
➢ Intrinsic accuracy of the sensor itself;
Robot Components

Robot Configurations
➢ Accuracy of the observer;
Robot
RobotControl
ControlSystems
System
➢ Variation of the signal to be measured;
Robot Kinematics ➢ Whether or not the quantity is being truly impressed upon the instrument.
Robot Applications

Thanks & Questions

27 March 2022 Menoufia University, Faculty of Engineering 12
 RoboticsManagement
Electrical
Projects Circuits Dr./ Essam Nabil Dr./ Essam Nabil

Scope of
Presentation
Presentatin
Sessions Policy

Preliminaries

History of Robots

Definition of Robot

Laws of Robotics

Robot Classifications

What is Robotics?

Degree of Freedom

Robot Components

Robot Configurations

Robot
RobotControl
ControlSystems
System (a) Data points with (b) Data points with
Robot Kinematics low accuracy. high accuracy.
Robot Applications

Thanks & Questions

27 March 2022 Menoufia University, Faculty of Engineering 13
 RoboticsManagement
Electrical
Projects Circuits Dr./ Essam Nabil Dr./ Essam Nabil

Scope of
Presentation
Presentatin
Sessions Policy ✓ Precision is a measure of the reproducibility of the measurements,
Preliminaries
i.e., precision is a measure of the degree to which successive
History of Robots
measurements differ from one another.
Definition of Robot

Laws of Robotics ✓ Precision is indicated from the number of significant figures in which it is
Robot Classifications expressed.
What is Robotics?
✓ Significant figures actually convey the information regarding the magnitude
Degree of Freedom
and the measurement precision of a quantity.
Robot Components

Robot Configurations ✓ More significant figures imply greater precision of the measurement.
Robot
RobotControl
ControlSystems
System

Robot Kinematics

Robot Applications

Thanks & Questions

27 March 2022 Menoufia University, Faculty of Engineering 14
 RoboticsManagement
Electrical
Projects Circuits Dr./ Essam Nabil Dr./ Essam Nabil

Scope of
Presentation
Presentatin
Sessions Policy

Preliminaries

History of Robots

Definition of Robot

Laws of Robotics

Robot Classifications

What is Robotics?

Degree of Freedom

Robot Components

Robot Configurations

Robot
RobotControl
ControlSystems
System (a) Data points with (b) Data points with
Robot Kinematics low precision. high precision.
Robot Applications

Thanks & Questions

27 March 2022 Menoufia University, Faculty of Engineering 15
 RoboticsManagement
Electrical
Projects Circuits Dr./ Essam Nabil Dr./ Essam Nabil

Scope of
Presentation
Presentatin
Sessions Policy ✓ If the input is slowly increased from some arbitrary value it will be noticed
Preliminaries
that the output does not change at all until the increment exceeds a certain
History of Robots
value called the resolution or discrimination of the sensor.
Definition of Robot

Laws of Robotics ✓ The resolution of any sensor is the smallest change in the input
Robot Classifications
signal (measured quantity) which can be detected by the sensor.
What is Robotics?

Degree of Freedom ✓ It may be expressed as an accrual value or as a fraction or percentage of the

Robot Components full scale value.
Robot Configurations
✓ The largest change of input quantity for which there is no output of the
Robot
RobotControl
ControlSystems
System

Robot Kinematics
instrument is called the dead zone of that instrument.
Robot Applications

Thanks & Questions

27 March 2022 Menoufia University, Faculty of Engineering 16
 RoboticsManagement
Electrical
Projects Circuits Dr./ Essam Nabil Dr./ Essam Nabil

Scope of
Presentation
Presentatin
Sessions Policy ✓ Resolution is sometimes referred as sensitivity.
Preliminaries
✓ The sensitivity gives the relation between the input signal to a sensor and
History of Robots

Definition of Robot
the output.
Laws of Robotics
✓ Thus, the sensitivity is defined as the ratio of output signal or
Robot Classifications
response of the sensor to a change of input signal i.e. measured
What is Robotics?

Degree of Freedom
quantity.
Robot Components

Robot Configurations

Robot
RobotControl
ControlSystems
System

Robot Kinematics

Robot Applications

Thanks & Questions

27 March 2022 Menoufia University, Faculty of Engineering 17
 RoboticsManagement
Electrical
Projects Circuits Dr./ Essam Nabil Dr./ Essam Nabil

Scope of
Presentation
Presentatin
Sessions Policy

Preliminaries

History of Robots
Sensor Sensor
signal signal
Definition of Robot

Laws of Robotics

Robot Classifications

What is Robotics?

Degree of Freedom Measurand Measurand

Robot Components

Robot Configurations (a) A low-sensitivity (b) A high sensitivity

Robot
RobotControl
ControlSystems
System sensor has low gain. sensor has high gain.
Robot Kinematics

Robot Applications

Thanks & Questions

27 March 2022 Menoufia University, Faculty of Engineering 18
 RoboticsManagement
Electrical
Projects Circuits Dr./ Essam Nabil Dr./ Essam Nabil

Scope of
Presentation
Presentatin
Sessions Policy ✓ A hysteresis loop is obtained if the output curve produced when increasing
Preliminaries
the measurand is different from the output curve produced when decreasing
History of Robots
the measurand.
Definition of Robot

Laws of Robotics

Robot Classifications

What is Robotics?
Sensor
signal
Degree of Freedom

Robot Components

Robot Configurations

Robot
RobotControl
ControlSystems
System

Robot Kinematics Measurand

Robot Applications

Thanks & Questions

27 March 2022 Menoufia University, Faculty of Engineering 19
 RoboticsManagement
Electrical
Projects Circuits Dr./ Essam Nabil Dr./ Essam Nabil

Scope of
Presentation
Presentatin
Sessions Policy Amplitude

Preliminaries 5 mV
History of Robots
Dynamic
Definition of Robot
Time Range
Laws of Robotics
-5 mV
Robot Classifications

What is Robotics? (a) An input signal which exceeds the dynamic range.
Degree of Freedom Amplitude
Robot Components
1V
Robot Configurations

Robot
RobotControl
ControlSystems
System
Time
Robot Kinematics
-1 V
Robot Applications

Thanks & Questions (b) The resulting amplified signal is saturated at 1 V.

27 March 2022 Menoufia University, Faculty of Engineering 20
 RoboticsManagement
Electrical
Projects Circuits Dr./ Essam Nabil Dr./ Essam Nabil

Scope of
Presentation
Presentatin
Sessions Policy Amplitude

Preliminaries

History of Robots

Definition of Robot Time

Laws of Robotics

Robot Classifications

What is Robotics? (a) An input signal without dc offset.

Degree of Freedom
Amplitude
Robot Components

Robot Configurations

Robot
RobotControl
ControlSystems
System Dc offset
Robot Kinematics Time
Robot Applications

Thanks & Questions (b) An input signal with dc offset.

27 March 2022 Menoufia University, Faculty of Engineering 21
 RoboticsManagement
Electrical
Projects Circuits Dr./ Essam Nabil Dr./ Essam Nabil

Scope of
Presentation
Presentatin
Sessions Policy ✓ The time taken by a sensor to approach its true output when subjected to a
Preliminaries
step input is referred to time response. It is more usual, however, to quote a
History of Robots
sensor as having a flat response between specified limits of frequency. This
Definition of Robot

Laws of Robotics
is known as the frequency response.
Robot Classifications

What is Robotics? 1.0

Degree of Freedom

Robot Components
Amplitude
Robot Configurations
0.1
Robot
RobotControl
ControlSystems
System
0.05 Hz 150 Hz
Robot Kinematics
Frequency
Robot Applications

Thanks & Questions

Frequency response of a sensor
27 March 2022 Menoufia University, Faculty of Engineering 22
 RoboticsManagement
Electrical
Projects Circuits Dr./ Essam Nabil Dr./ Essam Nabil

Scope of
Presentation
Presentatin
Sessions Policy ✓ The output is directly proportional to input over its entire range, so that the
Preliminaries
slope of a graph of output versus input describes a straight line.
History of Robots

Definition of Robot

Laws of Robotics

Robot Classifications Output Output

What is Robotics?

Degree of Freedom

Robot Components

Robot Configurations
Input Input
Robot
RobotControl
ControlSystems
System

Robot Kinematics (a) A linear system fits (b) A nonlinear system

Robot Applications the equation y = mx + b. does not fit a straight line.
Thanks & Questions
27 March 2022 Menoufia University, Faculty of Engineering 23
 RoboticsManagement
Electrical
Projects Circuits Dr./ Essam Nabil Dr./ Essam Nabil

Scope of
Presentation
Presentatin
Sessions Policy ✓ To made a meaningful measurement, it is necessary to measure the output of
Preliminaries
a measuring instrument in response to an accurately known input. This
History of Robots
process is known as calibration, and the devices that produce the input are
Definition of Robot

Laws of Robotics
described as calibration standards.
Robot Classifications

What is Robotics?

Degree of Freedom

Robot Components

Robot Configurations

Robot
RobotControl
ControlSystems
System

Robot Kinematics

Robot Applications

Thanks & Questions

27 March 2022 Menoufia University, Faculty of Engineering 24
 RoboticsManagement
Electrical
Projects Circuits Dr./ Essam Nabil Dr./ Essam Nabil

Scope of
Presentation
Presentatin
Sessions Policy
Gas Sensor
Lite-On IR Radio Shack
Preliminaries Solar Cell Remote Receiver Remote Receiver
Metal Detector
History of Robots Accelerometer Gyro Gieger-Muller
Radiation Sensor
Pendulum Resistive
Definition of Robot Tilt Sensors
Piezo Bend Sensor

Laws of Robotics IR Modulator

Compass Receiver
Pyroelectric Detector
Robot Classifications
Resistive Bend Sensors
UV Detector
What is Robotics? CDS Cell
Resistive Light Sensor
Digital Infrared Ranging
Degree of Freedom

Robot Components Pressure Switch Miniature Polaroid Sensor

Touch Switch
Limit Switch
Mechanical Tilt Sensors
Robot Configurations Piezo Ultrasonic Transducers

Robot
RobotControl
ControlSystems
System IR Pin IR Sensor w/lens
Diode
Thyristor
Robot Kinematics Magnetic Sensor

Robot Applications
Hall Effect Polaroid Sensor Board
Magnetic Reed Switch Magnetic Field
IR Reflection IRDA Transceiver Compass
Thanks & Questions Sensor IR Amplifier Sensor Sensors

27 March 2022 Menoufia University, Faculty of Engineering 25

 RoboticsManagement
Electrical
Projects Circuits Dr./ Essam Nabil Dr./ Essam Nabil

Scope of
Presentation
Presentatin
Sessions Policy

Preliminaries

History of Robots

Definition of Robot

Laws of Robotics

Robot Classifications

What is Robotics?

Degree of Freedom

Robot Components

Robot Configurations

Robot Control System

Robot Kinematics

Robot Applications

Thanks &
Thanks & Questions
Questions
27 March 2022 Menoufia University, Faculty of Engineering 26
 RoboticsManagement
Electrical
Projects Circuits Dr./ Essam Nabil Dr./ Essam Nabil

Good Luck
Scope of
Presentation
Presentatin
Sessions Policy

Preliminaries

History of Robots

Definition of Robot
See You in
Laws of Robotics

Robot Classifications
Next Lecture ,,,
What is Robotics?

Degree of Freedom

Robot Components

Robot Configurations

Robot Control System

Robot Kinematics

Robot Applications
With My Best Wishes
Thanks &
Thanks & Questions
Questions
Dr. Eng. Essam Nabil
27 March 2022 Menoufia University, Faculty of Engineering 27