Lecture 1

Introduction to Robotics
Faculty of Artificial Intelligence

Prepared by
Dr.\ Emad A. Elsheikh
Faculty of Electronic Engineering,
Menoufia University.
 Course Syllabus

Introduction to Robotics – AI312

• Robotics foundation in modeling, design, planning, and

control.
• Class covers relevant results from geometry, kinematics,
static, dynamics, motion planning, and control, providing
the basic methodologies and tools in robotics research
and applications.
• Concepts and models are illustrated through physical
robot platforms, interactive robot simulations, and video
segments relevant to historical research developments or
to emerging application areas in the field.

ROBOTICS
Course Content:

• Module 1: Introduction to Robotics (Weeks 1-2)

• Module 2: Robot Components and Fundamentals (Weeks 3-4)

• Module 3: Programming Robots (Weeks 5-6)

• Module 4: Robot Mobility (Weeks 7-8)

• Module 5: Robot Applications (Weeks 9-10)

• Module 6: Emerging Trends and Ethical Considerations (Weeks 11-12)

 Marks Distribution

• Total = 100 points

➢Mid Term = 20 %
➢Lab Activities and Assignments = 10 %
➢Quizzes =5%

➢Class Participation and Discussions = 5 %

➢Final Project Presentation = 10%

➢Final Exam = 50 %
 Module 1: Introduction to Robotics (Weeks 1-2)

Lecture 1.1:

What Are Robots? Defining Robotics and Its

Applications
What is a robot?

ROBOTICS 6
 Humanoid Robot
Machines that try to mimic human motions and behavior
Definition for Robot:

The Robot Institute of America (1969) defines

robot as a re-programmable, multi-functional
manipulator designed to move materials, parts,
tools or specialized devices through various
programmed motions for the performance of a
variety of tasks.
Asimov’s laws of robotics:

1. A robot may not injure a human being or, through

inaction, allow a human being to come to harm.
2. A robot must obey the orders given it by human
beings except where 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 Laws.
History of Robots
✓ In 1922 a Czech: he used the word "Robota" which means
"workers" to refer to human-like machines.
✓ After World War II, automatic machines were designed to
increase productivity.
✓ In 1946 a playback device was developed by George Devol.
The first numerically controlled machine was built at MIT in
1952.
✓ In 1955 Denavit and Hartenberg developed homogeneous
transformation matrices.
✓ The first industrial robot (Unimation) appeared in 1962.
 History of Robots

✓ In 1983 robots become popular subject in industry and

academia, robotic courses started to be taught.

✓ It was reported that over 5,300 robots were ordered by North

American Companies in 2002.

✓ In 2014, the International Federation of Robots (IFR)

reported that robot sales increased by 29% to 229,261 units.
✓ 2010–present Many new robots, autonomous vehicles, drones,
sensors, and associated devices have appeared and have become
common.
What Is Robotics?
Robotics is the art, knowledge base, and know-how of
designing, applying, and using robots in human endeavors.

Robotic systems consist of not just robots, but also other

devices and systems that are used together with the robots.

Robotics is an interdisciplinary subject that benefits from

mechanical engineering, electrical and electronic
engineering, computer science, cognitive sciences,
biology, and many other disciplines.
Advantages and Disadvantages of Robots

✓ Robotics and automation can increase productivity, safety,

efficiency, quality, and
✓ consistency of products.
✓ Can work in hazardous environments
✓ Robots need no environmental comfort like lighting, air
conditioning, ventilation, and noise protection.

✓ Robots work continuously

✓ Robots always have repeatable precision.
✓ Robots can be much more accurate than humans.
✓ Robots can process multiple stimuli or tasks simultaneously.
Advantages and Disadvantages of Robots
Robots lack the capability to respond in emergencies, unless
the situation is predicted, and the response is included in the
system.
Safety measures are needed to ensure that they do not injure
operators and other machines that are working with them
Robots have limited capabilities in:
– Cognition, creativity, decision making, and understanding
– Degrees of freedom and dexterity
– Sensors and vision systems
– Real-time response
Robots are costly due to:
– Initial cost of equipment and installation
– Need for integration into the manufacturing processes
– Need for peripherals
– Need for training
– Need for programming
Robot Components

Manipulator or rover
consists of the links, joints, and other structural elements of
the robot
End effector
his is the part that is connected to the last joint (hand) of a
manipulator and that generally handles objects

Sawyer robot
 Actuators. Actuators are the “muscles” of the manipulators.
The controller sends signals to the actuators, which in turn
move the robot’s joints and links.

stepper
motor DC motor
Sensors. Sensors are used to collect information about the
internal state of the robot or to communicate with the outside
environment.
Controller. The controller receives its data from the processor
(the brain of the system), controls the motions of the
actuators, and coordinates the motions with the sensory
feedback information.

Processor. The processor is the brain of the robot. It calculates

the motions of the robot’s joints based on the programs it
runs, determines how much and how fast each joint must
move to achieve the desired location and speeds, and oversees
the coordinated actions of the controller and the sensors.

In some systems, the controller and the processor are

integrated together into one unit. In others, they are
separate units.
Software. Three groups of software programs are used in a
robot.

(i) The operating system operates the processor.

(ii) Robotic software calculates the necessary motions
of each joint based on the kinematic equations of the
robot. This information is sent to the controller. This
software may be at many different levels, from machine
language to sophisticated languages used by modern
robots.
(iii) A collection of application-oriented routines and
programs are developed in order to use the robot or its
peripherals for specific tasks, such as assembly, machine
loading, material handling, and so on. This includes
additional vision routines when the robot is equipped with
a vision system.
 Robot Classifications

According to the Japanese Industrial Robot Association

(JIRA) classifies robots into six classes as follows:
• Class 1: Manual Handling Device
• Class 2: Fixed Sequence Robot, Limit switches, Hard stops.
• Class 3: Variable Sequence Robot: similar to class 2, but easy
to be modified.

• Class 4: Playback Robot: manually trained, records the motions

to repeat them later.

• Class 5: Numerical Control Robot: program to describe

movement rather than teaching.

• Class 6: Intelligent Robot: equipped by sensors and program.

According to The Robotics Institute of America (RIA), the
robot should be easily programed,
 The Association Francaise de Robotique (AFR) classifies
robots into four types as follows:
• Type A: Handling Devices with manual control to telerobotic.

• Type B: Automatic handling devices with predetermined

cycles.

• Type C: programmable, servo-controlled robots with

continuous or point-to-point trajectories.

• Type D: similar to type C but with capability to gather

information from the surrounding (have sensors).
 Different Categories of Robot
Terrestrial – robots that move on the ground.
• Mostly wheeled but also with tracks or legs.
• More exotic designs include climbing, rolling, and slithering
robots e.g. Robot Snakes.
Humanoid Robot with AI
 Different Categories of Robot

Aquatic – robots that operate in water.

• Most are neutrally buoyant and use water jets or propellers to
move.
 Different Categories of Robot

Airborne – robots that fly.

• Typically helicopters or fixed-wing aircraft.
• Unusual types include dirigibles (air balloons) and controlled
parachutes.
 Different Categories of Robot

Space – robots that operate in microgravity.

• Independently propelled robots “free flyers” e.g. Satellites
End