Introduction to Robotics

Daniel Gómez Lendinez

daniel.glendinez@alumnos.uc3m.es
Mechanical Engineering Degree
Mobile Robotics Group
Escuela Politécnica Superior
Universidad Carlos III de Madrid
¿Do you know any robot?
 Robot
●
A programmable robot is a manipulator capable
of performing various functions designed to
move materials, parts, tools or certain devices
through variable programmed motions and
designed to perform certain tasks.

●
The term robot was introduced by the Czech
Karel Capek in 1921, and comes from the
combination of the Czech word "robota" which
means "forced labor" and "robotnik" which
means servant.
 Robot
• “The robots are machines which resemble
people but work tirelessly”
Is this meaning correct today?

Best football player Best robot football player

 Robotics
● The word robotics was first used by scientist and science
fiction writer Isaac Asimov in 1942. He proposed the so-
called laws of robotics:

• 0) A robot may not take any action, or through inaction

allow anyone to make, that is detrimental to humanity,
even if it conflicts with other laws.

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

inaction, allow it to be damaged.

• 2) A robot must obey orders given it by human beings

except where such orders would conflict with earlier laws.

• 3) A robot must protect its own existence.

 Robot parts
●
The robots have rigid
body, in which there are
links with movement.

●
The links are joined
together by joints that
allow movement.

Sensors: tools for collecting

Effectors: tools for implementation

 Sensors
The sensors can perceive what is happening in the
environment, these include:

- Self-perception
- Perception of force
- Tactile
- The sonar
- Camera data
 Self-perception
Encoders, are attached to joints and
provide very precise data on the
angle.
Odometer: used by robots to measure
changes in position based on the
rotation of the wheels.
Orientation: using compasses or
gyroscopes.
Accelerometers: Measured velocity
changes.
Tachometer: Measures the engine RPM.
 Sensors
• Force sensor. It has the ability to
detect forces, allows compliant
movements where the robot can move
in one direction while maintaining
contact and a fixed pressure.

• Tactile perception. Uses an elastic

material and an outline of perception
by which to measure the distortion of
the material that is touching.
Deformation is calculated.
 Sensors
• Sonar. Use the time it takes a sound
pulse produced by the sensor to
reach an object and be reflected by
it. It is good to avoid obstacles and
keep track of a target near, but not
used for mapping.

• Camera. It is used to capture

scenes of the environment.

• To facilitate the work of the robot is

the robot they label reads and lets
you know its exact location.
 Effectors
They are tools for implementation:

- Device that produces effects on the

environment under control of the robot.
- Are provided with an actuator that
converts soft commands in physical
movements.
- Are electric motors or pneumatic or
hydraulic cylinders.

– Suction Cups
– Vise grips
– Screwdrivers
– Soldering irons
 Effectors
Effectors are used in two ways:
• Locomotion: adjust the • Handling: moving objects
location of the robot on in the environment.
the environment.
• Capable of transporting
• The motion being worth objects in the work
of the knee is very environment.
difficult for robots. • Two types of movements:
• Swivel: about an axis
• Wheels and tires are • Prismatic: linear movement
more efficient. (piston in the cylinder)
 Locomotion
• Walker stable: they can stop at any stage of
their march without falling.
• They are slow and inefficient in energy
consumption
• Dynamically stable, have good performance if
they are in motion.
• Use a rhythmic movement of 4, 2 or 1 legs.
Fall if they hit something.
• Wheels and tires. Versus anthropomorphic
limbs are more efficient, easier to control,
easier to build and difficult to move and aim in
any direction.
 Manipulation
• Effectors are carrying objects in the
environment. Is studied by the kinematics.

• The kinematics is the study of

correspondence between the movements of
the actuator and the movement obtained.

For a robot to reach the last link in any position and

orientation are necessary 6 joints.
Equivalency
TYPES OF JOINTS
 Degree of Freedom
●
A mechanical robot consists of a series
of elements or links connected by
joints that allow relative motion
between each two consecutive links.

• Each of the independent movements that can make

every joint is called "degree of freedom” (DOF).
 Work space
●
Workload volume to perform its task
●
Defined in Euclidean space
●
Is constructed by drawing the boundaries of
each element (link) and each joint

Spherical
RRP
APLICATIONS
 Robots Clasification
• Robot manipulators. Known as industrial robots.
Are articulated arms.

• Mobile Robots. Allow mobility of the robot,

increasing the autonomy of the manipulator.

• Autonomous Robots. Conduct their activities

without human intervention.

• Tele-robotics. Effectors operation through a

local network or Internet.
 Industrial Robots
● An industrial robot is a
programmable multifunctional
manipulator designed to move
material, parts, tools or space
through various movements,
programmeA for implementing the
various tasks.

● It is intended that the robot is

programmed not only not be at
certain levels of autonomy.
 Uses in Industry
• Welding. Allow quality, consistency and speed.
Welding can be by-point arc and lasers.

• Painted by atomatización. Allows the consistency,

repeatability, reduction of losses and errors.

• Assembly operations. Widely used by the

automotive industry and the microchip industry, it
avoids the tedious and repetitive, allowing planning.

• Material handling. Especially the load on pallets.

 Mobile Robots
●
They are equipped with
mechanisms of transport, as
wheels, treads, legs. Continue
their journey by remote control
or guided by information
received from its environment
through its sensors.
●
In the case of the industry can
continue to color dots on the
floor, lines or radio broadcasts.
●
Should be equipped with
cameras and computer vision
can avoid obstacles.
 Automomus Robots
●
An autonomous agent is
one whose behavior is
based primarily on its own
existence, but being able
to use some knowledge
already integrated.

●
It is he who learns from
experience.
 Tele-robótica
●
In this case the tasks of
perception of the
environment, planning and
handling complex are
performed by humans.
●
The operator acts in real
time closed loop control a
high level.
●
The system may allow
sensory feedback to the
operator of the
environment.
CLASIFICATION
Land rover
Flying
Acuatic
Space
School
Bioprotesis
Androids
 Bibliography
●
John Craig, “Introduction to robotics,” Addison
Wesley.
●
G. Dudek and M. Jenkin, “Computational
Principles of Mobile Robotics,” Cambridge
University Press.