Introduction to Robotics

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Topics
Introduction.
History of Robotics.
Advantages and Disadvantage of robots.
Robot Components.
Robot Degree of freedom.
Classification of Robotics.
Robot Characteristics.
Application of robot.
Robot Reference frame.
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 Introduction

Definitions of a Robot
• According to The Robot Institute of America (1979) :
"A reprogrammable, multifunctional manipulator designed to move
materials, parts, tools, or specialized devices through various
programmed motions for the performance of a variety of tasks.”
• According to the Webster dictionary:
“An automatic device that performs functions normally ascribed to
humans or a machine in the form of a human” (Webster, 1993).

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A robot is a programmable mechanical device that can perform
tasks and interact with its environment, without the aid of
human interaction.
A robot is a machine that gathers information about its
environment (senses) and uses that information (thinks) to
follow instructions to do work (acts).
A robot is computer controlled device that combines the
technology of digital computers with the technology of servo
control of articulated chains.
It should be easily reprogrammed to perform variety of tasks.
Sensors enable it to react and adapt to changing conditions.
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Robotics is:
The branch of technology that deals with the design,
construction, operation, and application of robots.
Is the study of machines which can replace human
beings in executing tasks.
An interdisciplinary subject that benefits from
mechanical engineering, electrical and electronic
engineering, computer science,mathematics,physics and
many other disciplines.

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 History of Robotics
In 1921, Karel Capek, a Czech playwright used the term robot first in
his drama named Rossum’s Universal Robots(R.U.R)
The term robot has come from the Czech word robota which means
forced or slave labourer.
The earliest robots as we know them were created in the early 1950s
by George C. Devol, an inventor from Louisville, Kentucky.
He invented and patented a reprogrammable manipulator called
Unimate ,from Universal Automation. 

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In 1958 at the Stanford Research Institute(SRI), Charles Rosen
led a research team in developing a robot called Shakey. 
Shakey was far more advanced than the original Unimate,
which was designed for specialized, industrial applications. 
Shakey could wheel around the room, observe the scene with
his television "eyes," move across unfamiliar surroundings,
and to a certain degree, respond to his environment. 

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In the late 1960s, businessman/engineer Joseph Engleberger acquired

Devol's robot patent and was able to modify it into an industrial robot
and form a company called Unimation to produce and market the
robots. 
For his efforts and successes, Engleberger is known in the industry as
the Father of Robotics.

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Recently Robot development kits are being produced to train
and inspire people in the design and utilization of this technology.
Firms are also working on developing autonomous Robots
capable of speech, vision and some intelligence.
For example ASIMO developed by HONDA has the capability
To walk on plain ground as well as to climb stairs
To talk with people (even if it is limited), to identify someone's voice
To recognize a person
To balance itself
To sense and recognize a variety of stimuli

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Cont..

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Advantages and Disadvantages of Robot
Advantages of robotics:
Cost Effectiveness: There will be no lunchbreaks, holidays, sick leave or
shift time allocated for robotic automation.
Improved Quality Assurance: Few workers enjoy doing repetitive tasks
and after a certain period of time concentration levels will naturally
decline.
Increased Productivity
Work In Hazardous Environments: Some workers in particular
industries can be asked to work in unstable or dangerous environments.
Multitasking.
Perform each task with speed and accuracy.
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Disadvantages of robotics:
Potential Job Losses: If a robot can perform at a faster, more
consistent rate, then the fear is that humans may not be needed at
all.
Initial Investment Costs: The biggest obstacle that will decide
whether or not a company will invest in robotic automation, or wait
until a later stage.
Hiring Skilled Staff: Manufacturers have found it harder to source
skilled staff members to fill the specialised roles in their factories.
Robot can only do what they are told to do they cant improvise.
They needs maintenance and Power source.

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 Robot Components
Five Key components of robotics are:
1. Manipulator: Just like the human arm, the robot consists
of what is called a manipulator having several joints and links
2. End-effector: It is the part mounted on the last link to do
the required job of the robot.
3. Actuator(The Locomotion Device): In the case of Human
Beings the power for the movement of the arm, the palm and
fingers is provided by muscles. The motors used for providing
locomotion in robots are of three types depending on the
source of energy: Electric, Hydraulic or Pneumatic.
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4. The Sensors: Sensors are nothing but measuring instruments which
measures quantities such as position, velocity, force, torque, proximity,
temperature, etc.
Sensors can be:
Internal Sensors: Which measure physical values internal to the system such
as the position, velocity, acceleration, forces, torques of robot joints, and
inertia of the robot links.
External Sensors: Which gather information about the environment
surrounding of the robot, such as distances to objects, light, Visual (camera)
and temperature measurements, and forces encountered when interacts
with the world.
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5. The Controller: The controller directs and controls the
movement of the Manipulator and the End-effector.
The digital computer (both the hardware and the software) acts
as a controller to the robot.

End-effector

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 Robot joints and Links
Joint: Joints are the movable components of the robot that cause relative
motion between adjacent links.
Link: The individual rigid bodies that make up a robot. A robot link is a rigid
member that may have relative motion with respect to all other links.
Links

Joints

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Joints are typically revolute or prismatic in robot manipulators:

Revolute, rotary joint (R): A revolute joint (R), is like a hinge and
allows relative rotation between two links.
Prismatic or sliding joint (P): A prismatic joint (P), allows a translation
of relative motion between two links.

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 Degree of freedom
The number of degrees of freedom that a manipulator possesses is
the number of independent position variables that would have to be
specified in order to locate all parts of the mechanism.
The number of joints represents the number of Degrees of Freedom
(DOF) of the robotic arm.

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Workspace: the portion of the environment that the manipulator’s
end-effector can access.
Based on the type of joints they are classified as: Cartesian,
cylindrical, spherical, SCARA and anthropomorphic Manipulators.

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 Classification of Robotics
Robots Can be classified as Fixed base manipulator
Mobile base
Manipulators( those with fixed base) manipulator
Mobile robots (those with mobile base)

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Robots can also be classified by other criteria such as
geometry, workspace, actuation, control, and application.
Based on Geometry
PPP(Cartesian), RPP (cylindrical),RRP (spherical) and RRR
(articulated).

Cartesian: PPP Cylindrical: RPP Spherical: RRP Articulated: RRR

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Based on workspace :reachable workspace and a

dexterous workspace robot.
Reachable workspace is the volume of space within which
every point is reachable by the end-effector in at least one
orientation.
Dexterous workspace is the volume of space within which
every point can be reached by the end-effector in all
possible orientations.

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Based on Actuation: Robots are typically actuated
electrically, hydraulically, or pneumatically.
Based on Control: Robots can be classified into closed loop
control and open loop control robots.
Based on Application: In the industry the robot can classify
as machine loading, pick and place, welding, painting,
assembling, inspecting, sampling, manufacturing,
biomedical, assisting, remote controlled mobile, and
telerobot.

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 Characteristics Of Robots
• Mobility: It possesses some form of mobility.
• Programmability: It can be programmed to  accomplish a large variety
of tasks. After being programmed, it operates automatically.
• Sensors: On or around the device that are able to  sense the
environment and give useful feedback  to the device.
• Mechanical capability: Enabling it to act on its  environment rather
than merely function as a data  processing or computational device (a
robot is a  machine); and
• Flexibility: It can operate using a range of  programs and manipulates
in a variety of ways. 

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 Application of Robotics
There are many applications of robot :
Agriculture: It is the sector that is the basis of human civilization.
These include seeding, weed control, harvesting, etc.
Manufacturing: There are many repetitive and common tasks in the
manufacturing industry that don’t require any usage of the mind like
welding, assembly, packing, etc.
 Military: They can be used as drones to keep surveillance on the
enemy, they can also be used as armed systems to attack the
opposing forces.
Customer Service: These robots are primarily used in the field of
customer service in high visibility areas to promote robotics.

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Food Preparation: These robot chefs can create food using hundreds of
different recipes. Moley Robotics is one such robotics company that has
created a robotic kitchen with a robot that can cook like a master chef!
Medical Robots: Robots have changed healthcare a lot. The da Vinci
robot that can help surgeons in performing complex surgeries relating
to the heart, head, neck, and other sensitive areas.
Entertainment: Robots are also a big draw in the entertainment
industry and they can be used behind the sets in movies and serials to
manage the camera, provide special effects, etc.
Security: Currently, robotics companies are working on pairing robot
guards with human security consultants.
Space Exploration, Underwater Exploration,Robot attendant at gas
station etc.
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 Coordinates and Robot Reference frame
A coordinate system or reference frame defines a plane or space by
axes from a fixed point called the origin.
Robot targets and positions are located by measurements along the
axes of coordinate systems.
Robots may be moved relative to different coordinate frames
The base coordinate system is located at the base of the robot. It is the
easiest one for just moving the robot from one position to another.
The work object coordinate system is related to the work piece and is
often the best one for programming the robot.

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Thank you!!!

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