Introduction to robotics and automation for the bachelor of engineering students

intro to robotics

1. EE536OE06 ROBOTICS AND AUTOMATION  Dr. MJ Silvister Raju Assistant Professor Department of Mechanical Engineering

2. Syllabus COURSE OBJECTIVES To define the concepts in kinematics and dynamics of robotic system. To discuss the control strategies of simple robotic system. To illustrate the applications of computer-based control to integrated automation systems. UNIT I INTRODUCTION       9 hours Robot definitions - Laws of robotics - Robot anatomy - History - Human systems and Robotics - Specifications of Robots - Flexible automation versus Robotic technology - Classification applications UNIT II ROBOTIC SYSTEMS       9 hours Basic structure of a robot – Robot end effectors - Manipulators - Classification of robots – Accuracy - Resolution and repeatability of a robot - Drives and control systems – Mechanical components of robots – Sensors and vision systems - Transducers and sensors - Tactile sensors – Proximity sensors and range sensors - Vision systems - RTOS - PLCs - Power electronics

3. Syllabus UNIT III ROBOT KINEMATICS, DYNAMICS AND PROGRAMMING       9 hours Matrix representation - Forward and reverse kinematics of three degree of freedom – Robot Arm – Homogeneous transformations – Inverse kinematics of Robot – Robo Arm dynamics - D-H representation of forward kinematic equations of robots - Trajectory planning and avoidance of obstacles - Path planning - Skew motion - Joint integrated motion – Straight line motion - Robot languages- Computer control and Robot programming/software UNIT IV CONTROL SYSTEM DESIGN       9 hours Open loop and feedback control - General approach to control system design - Symbols and drawings - Schematic layout - Travel step diagram, circuit and control modes - Program control - Sequence control - Cascade method - Karnaugh-Veitch mapping - Microcontrollers - Neural network - Artificial Intelligence - Adaptive Control – Hybrid control UNIT V ROBOT APPLICATIONS       9 hours Material handling - Machine loading, Assembly, inspection, processing operations and service robots - Mobile Robots - Robot cell layouts - Robot programming languages

4. Text books and reference books TEXT BOOKS Nagrath and Mittal, “Robotics and Control”, Tata McGraw-Hill, 2013. Spong and Vidhyasagar, “Robot Dynamics and Control”, John Wiley and sons, 2008. S. R. Deb and S. Deb, ‘Robotics Technology and Flexible Automation’, Tata McGraw Hill Education Pvt. Ltd, 2010. REFERENCE BOOKS Saeed B. Niku, ‘Introduction to Robotics’,Prentice Hall of India, 2013. Mikell P. Grooveret. al., "Industrial Robots - Technology, Programming and Applications",     McGraw Hill, New York, 2008. Richard D Klafter, Thomas A Chmielewski, Michael Negin, "Robotics Engineering – An   Integrated Approach", Eastern Economy Edition,  Prentice Hall of India P Ltd., 2006. Fu K S, Gonzalez R C, Lee C.S.G, "Robotics : Control, Sensing, Vision and  Intelligence", McGraw Hill, 1987

5. Unit 1: INTRODUCTION Lecture 1

6. Robot “Robot” was first introduced into our vocabulary by the Czech Karel Capek in his 1920 play Rossum’s Universal Robots Robota being the Czech word for work. The term has been applied to a great variety of mechanical devices, such as teleoperators, underwater vehicles, autonomous land rovers, etc. Robot Degree of autonomy Under computer control

7. Robotics: An Overview

8. Robotics Robotics is an interdisciplinary sector of science and engineering dedicated to the design, construction and use of mechanical robots.

9. Different definitions Britannica : Robot, any automatically operated machine that replaces human effort, though it may not resemble human beings in appearance or perform functions in a humanlike manner Cambridge dictionary: machine controlled by a computer that is used to perform jobs automatically: The surgery can be carried out by robots. a bomb disposal robot

10. Historical Examples This Photo by Unknown Author is licensed under CC BY-SA This Photo by Unknown Author is licensed under CC BY-NC-ND

11. Robots in Popular Culture

12. Types of Robots This Photo by Unknown Author is licensed under CC BY-NC-ND This Photo by Unknown Author is licensed under CC BY-SA

13. Basics of Robotics Mechanics of robots Robotic elements

14. Robot Rovers and Exoskeletal Robots This Photo by Unknown Author is licensed under CC BY-NC

15. Class 2

16. Industrial Robots This Photo by Unknown Author is licensed under CC BY-SA-NC

17. Future of Robotics Sustained growth : The use of robots in industry continues to grow, with increasing applications and advancements. Innovations : Integrating artificial intelligence and developing new types of robots, such as parallel robots, enhance capabilities and efficiencies. Predictions : Experts predict continued growth in robotic applications across various fields, from manufacturing to autonomous vehicles and domestic tasks.

18. Integration and Systems

19. What is a Robot? Comparison with conventional manipulator : Robots and conventional manipulators share many structural similarities, making them comparable in functionality. Similarities with crane attached to a utility or towing vehicle : When comparing a robot manipulator to a crane on a utility vehicle, one can see a clear resemblance in their structure and operation. Links attached serially with joints : Both robots and cranes consist of multiple links connected in series by joints, allowing for movement and flexibility. Movable "hand" within workspace : The end effector, or "hand," of both systems can be positioned in various locations within their operational range. This Photo by Unknown Author is licensed under CC BY-NC-ND

20. Similarities Between Robots and Cranes Both have links and joints : Robots and cranes are built with segments connected by joints, facilitating movement and articulation. Actuators move the joints : The joints in both systems are powered by actuators, which are responsible for driving the movement. Central controller for actuator control : Both robots and cranes use a central controller to manage the actuators' operations, ensuring coordinated movement. Ability to carry loads : Each system can carry and manipulate loads within their designed capacity, demonstrating their functional capability. This Photo by Unknown Author is licensed under CC BY-NC-ND

21. Differences Between Robots and Manipulators Crane and manipulator controlled by human : Cranes and manipulators require direct human operation, with an operator manually controlling their movements. Robot manipulator controlled by computer or microprocessor : In contrast, robot manipulators are operated by computers or microprocessors, which automate their functions. Computer runs a program to control robot : The actions of a robot manipulator are dictated by a computer program, enabling automated and precise control.

22. Flexibility of Robots

23. Finally! What is robot? Robots: computer-controlled, flexible tasks : Robots are distinguished by their computer-based control systems and ability to perform diverse tasks through reprogramming. Manipulators and cranes: human-controlled, single task operation : Unlike robots, manipulators and cranes rely on human operators and are generally limited to single, specific tasks. Key distinction: computer program control vs. human operator : The fundamental difference lies in control—robots are controlled by programs, while manipulators and cranes are manually operated by humans.

24. Classification of robots

25. Conclusion

26. Laws of robotics

27. Introduction to Asimov's Robots

28. The Three Laws of Robotics First Law : A robot must not harm a human or allow harm through inaction. Second Law : A robot must obey human orders unless it conflicts with the First Law. Third Law : A robot must protect its own existence unless it conflicts with the First or Second Law. General applicability : These laws apply broadly to robots and other machines.

29. Application and Impact Design consideration : Ensuring these laws are embedded in robot design. Purpose of the laws : To ensure safe and ethical robot behavior. Legacy and relevance : Continues to influence modern robotics design and ethics.

30. Definition of robots According to Japan Industrial Robot Association (JIRA) "Manipulator”: a machine that has functions similar to human upper limbs, and moves the objects spatially” “Playback robot”: a manipulator that is able to perform an operation by reading off the memorized information for an operating sequence, which is learned before hand. “Intelligent robot”: a robot that can determine its own behaviour and conduct through its functions of sense and recognition.

31. The British Robot Association (BRA) Industrial robot : "A reprogrammable device with minimum of four degrees of freedom designed to both manipulate and transport parts, tools, or specialized manufacturing implements through variable programmed motions for performance of specific manufacturing task."

32. The Robotics Industries Association (RIA) of USA "A reprogrammable, multifunctional manipulator designed to move material through variable programmed motions for the performance of a variety of tasks." International Standards Organization (ISO) "An industrial robot is an automatic, servo-controlled, freely programmable, multipurpose manipulator, with several areas, for the handling of work pieces, tools, or special devices. Variably programmed operations make the execution of a multiplicity of tasks possible."

33. Summary on definitions Variety of Definitions : Numerous definitions exist, but none comprehensively cover all features of a robot. RIA Definition : Emphasizes programmability. BRA Definition : Qualifies minimum degrees of freedom. JIRA Definition : Fragmented. Resulting Confusion : Difficulty in distinguishing robots from automation and describing their functions. Guideline for Robots : Must respond to stimuli based on environmental information, interpret stimuli, and enact changes.

34. Summary on definitions Functions of robots Decision-Making : Actions defined by programmed instructions. Three Key Functions : Sensing : Using external sensors (e.g., vision, voice, touch, proximity). Decision-Making : Processing information received from sensors. Performing : Executing tasks based on decisions made.

35. Generations of Robots

36. Timeline of robot generations

37. Evolution of the Robotics Industry