ROBOTICS

Introduction to automation and robotics

Robot Definitions

An
automatically
controlled,
reprogrammable,
multipurpose
manipulator with three or more axes The International Organization for
Standardization.

A reprogrammable, multifunctional
manipulator designed to move material,
parts, tools, or specialized devices
through various programmed motions
for the performance of a variety of tasks
- The Robot Institute of America.
3 A machine that looks like a human

Three Laws of
Zeroth
Law: A robot may not injure
Robotics

humanity, or, through inaction, allow

humanity to come to harm.
First Law: A robot may not injure a
human being, or, through inaction, allow
a human being to come to harm, unless
this would violate a higher order law.
Second Law: A robot must obey the
orders given to it by human beings,
except where such orders would conflict
with a higher order law.
4Third Law: A robot must protect its own

History of Robotics

1818 - Mary Shelley wrote "Frankenstein" which was about a frightening artificial
lifeform created by Dr. Frankenstein.

1921 - The term "robot" was first used in a play called "R.U.R." or "Rossum's
Universal Robots" by the Czech writer Karel Capek. The plot was simple: man
makes robot then robot kills man!

1941 - Science fiction writer Isaac Asimov first used the word "robotics" to describe
the technology of robots and predicted the rise of a powerful robot industry.

1942 - Asimov wrote "Runaround", a story about robots which contained the "Three
Laws of Robotics":

1954 George Devol designs the first programmable robot

1956 Joseph Engelberger, a Columbia University physics student, buys the rights
to Devols robot and founds the Unimation Company

1961 the first Unimate robot is installed in a Trenton, New Jersey plant of
General Motors to tend a die casting machine

1963 the first robot vision system is developed

1971 the Stanford Arm is developed at Stanford University

1973 the first robot programming language (WAVE) is developed at Stanford

1974 Cincinnati Milacron introduced the T3 robot with computer

1978 Unimation introduces the PUMA robot, based on designs from a General
Motors study
1979 the SCARA robot design is introduced
1986 the underwater robot, Jason, of the Woods Hole Oceanographic Institute,
explores the wreck of the Titanic, found a year earlier by Dr. Robert Barnard.

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1996 Honda unveils its Humanoid robot

Robot anatomy

1818 - Mary Shelley wrote "Frankenstein" which was about a frightening artificial lifeform created by
Dr. Frankenstein.

1921 - The term "robot" was first used in a play called "R.U.R." or "Rossum's Universal Robots" by the
Czech writer Karel Capek. The plot was simple: man makes robot then robot kills man!

1941 - Science fiction writer Isaac Asimov first used the word "robotics" to describe the technology of
robots and predicted the rise of a powerful robot industry.

1942 - Asimov wrote "Runaround", a story about robots which contained the "Three Laws of Robotics":

1948 - "Cybernetics", an influence on artificial intelligence research was published by Norbert Wiener

1956 - George Devol and Joseph Engelberger formed the world's first robot company.

1961 - The first industrial robot was online in a General Motors automobile factory in New Jersey. It was
called UNIMATE.

1963 - The first artificial robotic arm to be controlled by a computer was designed. The Rancho Arm
was designed as a tool for the handicapped and it's six joints gave it the flexibility of a human arm.

1965 - DENDRAL was the first expert system or program designed to execute the accumulated
knowledge of subject experts.

1968 - The octopus-like Tentacle Arm was developed by Marvin Minsky.

1971 - The Stanford Arm was the first electrically powered, computer-controlled robot arm.

1978 PUMA (Programmable Universal Machine for Assembly) robot introduced for assembly by
Unimation, based on designs from a General Motors study.

1979 Development of SCARA type robot (Selective Compliance Arm for Robotics Assembly) .

1986 - Honda developed seven biped robots

1990s Robot development diversified into walking at MIT, Honda, etc., Rehabilitation robots for
health care, as well as robots for defense and space applications.

The robot control loop

Speech, Vision
Acceleration,
Temperature
Position
,Distance
Touch, Force
Magnetic field
,Light
Sound
,PositionSense

Task planning
Plan Classification
Learn
Process data
Path planning
Motion planning
Sense

Think
Act

Output information Move,

Speech
Text, Visuals Wheels Legs
Arms Tracks

Definition
What is the Defination of a Robot?
A reprogrammable multifunctional manipulator

designed to move material,parts, tools or specialized

devices through various programmed motions for the
performance of a variety of Tasks.
Robot Institute of America.

Laws of Robotics
Asimov proposed three Laws of Robotics
Law 1:

A robot may not injure a human being or

through inaction, allow a human being to come to
harm.
Law 2: A robot must obey orders given to it by human
beings, except where such orders would conflict with
the first law.
Law 3: A robot must protect its own existence as long
as such protection does not conflict with the first law.
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The robot control loop

Speech, Vision
Acceleration,
Temperature
Position
,Distance
Touch, Force
Magnetic field
,Light
Sound
,PositionSense

Task planning
Plan Classification
Learn
Process data
Path planning
Motion planning
Sense

Think
Act

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Output information Move,

Speech
Text, Visuals Wheels Legs
Arms Tracks

Types of Robots
Industrial Robots

materials handling
welding
inspection
improving productivity
Laboratory applications

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Types of Robots
Mobile Robots-

Robots that move around on legs,

tracks or wheels.
EgIn 1979 a nuclear accident in
the USA caused a leak of
radioactive material which led to
Production of special robot which
Can handle the radioactive materials.

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Types of Robots
Educational Robots Robotic kits

Are used extensively in education.

Eg-Robolab,Lego and
RoboCup Soccer
Domestic Robots2 typesthose
designed to perform household tasks
and modern toys which are
programmed to do things like talking,
walking and dancing,etc.
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Robot Components
1. Manipulator or Rover: Main body of robot

(Links, Joints, other structural element of the robot)

2. End Effecter: The part that is connected to the last joint
hand) of a manipulator.
3. Actuators: Muscles of the manipulators (servomotor,
stepper motor, pneumatic and hydraulic cylinder).
4. Sensors: To collect information about the internal state of
the robot or To communicate with the outside environment.

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Robot Components
5. Controller: Similar to cerebellum. It controls and

coordinates the motion of the actuators.

6. Processor: The brain of the robot. It calculates the
motions and the velocity of the robots joints, etc.
7. Software: Operating system, robotic software and the
collection of routines.

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SENSORS

Sensors provide awareness of the

environment by sensing things.Sensors are

the core of robots.It is the system that alerts
the robots..
Sensing can be in different forms likeLight
Sound
Heat
Chemicals
Force
Object proximity
Physical orientation/position
Magnetic & Electric Fields
17Resistance

End Effectors
In robotics, anend effectoris the device at

the end of aroboticarm, designed to

interact with the environment.
End effectors may consist of a gripper or a
tool. The gripper can be of two fingers,
three fingers or even five fingers.

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Actuators
Locomotion
Manipulation

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Actuators
LocomotionLegs
Wheels
Other exotic means

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Actuators

Manipulations-

Degrees of freedom
independently controllable components of motion
Arms
convenient method to allow full movement in 3D
more often used in fixed robots due to power & weight
even more difficult to control!
due to extra degrees of freedom
Grippers
may be very simple (two rigid arms) to pick up objects
may be complex device with fingers on end of an arm
probably need feedback to control grip force
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Degrees of Freedom
Each plane in which a robot can maneuver.
ROTATE BASE OF ARM
PIVOT BASE OF ARM
BEND ELBOW
WRIST UP AND DOWN
WRIST LEFT AND RIGHT
ROTATE WRIST

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The Purpose of Robots

Robots are also used for the following tasks:

Dirty Tasks
Repetitive tasks
Dangerous tasks
Impossible tasks
Robots assisting the handicapped
Can operate equipments at much higher
precision than humans.
Cheaper on a long term basis.
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Robotic Applications
EXPLORATION-

Space Missions
Robots in the Antarctic
Exploring Volcanoes
Underwater Exploration
MEDICAL SCIENCE
Surgical assistant
ASSEMBLY- factories Parts- handling
- Assembly
- Painting
- Surveillance
- Security (bomb disposal,etc)
- Home help (grass cutting, nursing)
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