Introduction2 of robotics and its types _VY.ppt

obotics, design, construction, and use of machines (robots) to perform tasks done traditionally by human beings. Robots are widely used in such industries as automobile manufacture to perform simple repetitive tasks, and in industries where work must be performed in environments hazardous to humans. Many aspects of robotics involve artificial intelligence; robots may be equipped with the equivalent of human senses such as vision, touch, and the ability to sense temperature. Some are even capable of simple decision making, and current robotics research is geared toward devising robots with a degree of self-sufficiency that will permit mobility and decision-making in an unstructured environment. Today’s industrial robots do not resemble human beings; a robot in human form is called an android.


Robot woman

robot chef
A robot chef cooks a meal at a robot-themed restaurant in Hefei, China.
Japanese roboticist Masahiro Mori proposed that as human likeness increases in an object’s design, so does one’s affinity for the object, giving rise to the phenomenon called the "uncanny valley." According to this theory, when the artificial likeness nears total accuracy, affinity drops dramatically and is replaced by a feeling of eeriness or uncanniness. Affinity then rises again when true human likeness—resembling a living person—is reached. This sudden decrease and increase caused by the feeling of uncanniness creates a “valley” in the level of affinity.

Jacquard loom
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Bioengineering, the application of engineering knowledge to the fields of medicine and biology. The bioengineer must be well grounded in biology and have engineering knowledge that is broad, drawing upon electrical, chemical, mechanical, and other engineering disciplines. The bioengineer may work in any of a large range of areas. One of these is the provision of artificial means to assist defective body functions—such as hearing aids, artificial limbs, and supportive or substitute organs. In another direction, the bioengineer may use engineering methods to achieve biosynthesis of animal or plant products—such as for fermentation processes.

(Read Ray Kurzweil’s Britannica essay on the future of “Nonbiological Man.”)

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1. Robotics, CIMA course
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Dr. Vinod Yadav
Department of Mechanical Engineering
MANIT Bhopal
[email protected]
Courtesy Slides: Prof. JizhongXiao
Introduction and Syllabus
Introduction to ROBOTICS

2. Robotics, CIMA course
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Outline
•Introduction
–What is a Robot?
–Why use Robots?
–Robot History
–Robot Applications
•Syllabus
–Prerequisite, topics
–Textbook and references
–Office hours and contact
–Homework, exams, grading policy
•Robotics Activities

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What is a robot ?
•Origin of the word “robot”
–Czech word “robota”–labor, “robotnik” –workman
–1923 play by Karel Capek –Rossum’s Universal Robots
•Definition:(no precise definition yet)
–Webster’s Dictionary
•An automatic device that performs functions ordinarily
ascribed to human beings washing machine = robot?
–Robotics Institute of American
•A robot (industrial robot) is a reprogrammable, multifunctional
manipulatordesigned to move materials, parts, tools, or
specialized devices, through variable programmed motions
for the performance of a variety of tasks.

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Robot Defined
•Wordrobotwascoinedbya
CzechnovelistKarelCapekin
a1920playtitledRossum’s
UniversalRobots(RUR)
•RobotainCzechisawordfor
workerorservant
Definition of robot:
–Any machine made by one of our members: Robot
Institute of America 
–Arobotisareprogrammable,multifunctionalmanipulator
designedtomovematerial,parts,toolsorspecializeddevices
throughvariableprogrammedmotionsfortheperformanceof
avarietyoftasks:RobotInstituteofAmerica,1979
Karel Capek

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What is a Robot:
Manipulator

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What is a Robot: II
Wheeled RobotLegged Robot

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What is a Robot: III
Unmanned Aerial Vehicle
Autonomous Underwater Vehicle

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What Can Robots Do: I
Decontaminating Robot
Cleaningthemaincirculatingpump
housinginthenuclearpowerplant
Jobs that are
dangerous for humans

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What Can Robots Do: II
Repetitivejobsthat
areboring,stressful,
orlabor-intensivefor
humans
Welding Robot

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What Can Robots Do: III
The SCRUBMATE Robot
Menial tasks that
human don’t want to
do

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Why Use Robots ?
•Application in 4D environments
–Dangerous
–Dirty
–Dull
–Difficult
•4A tasks
–Automation
–Augmentation
–Assistance
–Autonomous

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Why Use Robots ?
•Increase product quality
–Superior Accuracies (thousands of an inch, wafer-handling: microinch)
–Repeatable precision Consistency of products
•Increase efficiency
–Work continuously without fatigue
–Need no vacation
•Increase safety
–Operate in dangerous environment
–Need no environmental comfort –air conditioning, noise protection, etc
•Reduce Cost
–Reduce scrap rate
–Lower in-process inventory
–Lower labor cost
•Reduce manufacturing lead time
–Rapid response to changes in design
•Increase productivity
–Value of output per person per hour increases

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What is a robot ?
•By general agreement, a robot is:
A programmable machine that imitates the actions or
appearance of an intelligent creature–usually a human.
•To qualify as a robot, a machine must be able to:
1) Sensing and perception:get information from its surroundings
2) Carry out different tasks:Locomotion or manipulation, do
something physical–such as move or manipulate objects
3) Re-programmable:can do different things
4) Functionautonomously and/or interact with human beings

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What is Robotics ?
•Roboticsistheart,knowledgebase,and
theknow-howofdesigning,applying,and
usingrobotsinhumanendeavors.
•Roboticsisaninterdisciplinarysubjectthat
benefitsfrommechanicalengineering,
electricalandelectronicengineering,
computerscience,biology,andmanyother
disciplines.

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Laws of Robotics
Asimovproposedthree
“LawsofRobotics”
•Law1:Arobotmaynot
injureahumanbeingor
throughinaction,allowa
humanbeingtocometo
harm.
•Law2:Arobotmustobey
ordersgiventoitbyhuman
beings,exceptwheresuch
orderswouldconflictwitha
higherorderlaw.
•Law3:Arobotmustprotect
itsownexistenceaslongas
suchprotectiondoesnot
conflictwithahigherorder
law.

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Advantages VS. Disadvantages of Robots
Robots increase productivity, safety, efficiency, quality, and consistency of
products.
Robots can work in hazardous environments without the need.
Robots need no environmental comfort.
Robots work continuously without experiencing fatigue of problem.
Robots have repeatable precision at all times.
Robots can be much more accurate than human.
Robots replace human workers creating economic problems.
Robots can process multiple stimuli or tasks simultaneously.
Robots lack capability to respond in emergencies.
Robots, although superior in certain senses, have limited capabilities in Degree
of freedom, Dexterity, Sensors, Vision system, real time response.
Robots are costly, due to Initial cost of equipment, Installation costs, Need for
Peripherals, Need for training, Need forprogramming.

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What are the parts of a robot?
•Manipulator
•Pedestal
•Controller
•End Effectors
•Power Source

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Pedestal
(Human waist)
•Supports the
manipulator.
•Acts as a
counterbalance.

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Controller
(The brain)
•Issues instructions to
the robot.
•Controls peripheral
devices.
•Interfaces with robot.
•Interfaces with
humans.

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End Effectors
(The hand)
•Spray paint
attachments
•Welding attachments
•Vacuum heads
•Hands
•Grippers

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Power Source
(The food)
•Electric
•Pneumatic
•Hydraulic

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Robots degrees of freedom
•Degrees of Freedom:Number of
independent position variables which
would has to be specified to locate all
parts of a mechanism.
•In most manipulatorsthis is usually the
number of joints.

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Pre-History of Robots
•Automata:a machine or control mechanism
designed to follow automatically a
predetermined sequence of operations or
respond to encoded instructions

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•Thefirstindustrial
robot:UNIMATE
•1954:Thefirstprogrammable
robotisdesignedbyGeorge
Devol,whocoinstheterm
UniversalAutomation.Helater
shortensthistoUnimation,
whichbecomesthenameofthe
firstrobotcompany(1962).
UNIMATE originally automated the
manufacture of TV picture tubes
History of Robotics: I

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PUMA 560 Manipulator
History of Robotics: II
1978: The Puma
(Programmable Universal
Machine for Assembly) robot
is developed by Unimation
with a General Motors design
support

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1980s:Therobotindustryentersaphaseofrapidgrowth.Many
institutionsintroduceprogramsandcoursesinrobotics.Robotics
coursesarespreadacrossmechanicalengineering,electrical
engineering,andcomputersciencedepartments.
Adept's SCARA robots Barrett Technology Manipulator
Cognex In-Sight Robot
History of Robotics: III

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2003:NASA’sMarsExplorationRoverswilllaunchtoward
MarsinsearchofanswersaboutthehistoryofwateronMars
1995-present:Emerging
applicationsinsmall
roboticsandmobile
robotsdriveasecond
growthofstart-up
companiesandresearch
History of Robotics: IV

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•Typicalknowledgebaseforthedesignandoperationof
roboticssystems
–Dynamicsystemmodelingandanalysis
–Feedbackcontrol
–Sensorsandsignalconditioning
–Actuatorsandpowerelectronics
–Hardware/computerinterfacing
–Computerprogramming
Knowledgebase for Robotics
Disciplines:mathematics,physics,biology,
mechanicalengineering,electricalengineering,
computerengineering,andcomputerscience

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Key Components
Base
Manipulator
linkage
Controller
Sensors
Actuators
User interface
Powerconversion
unit

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Robot Base: Fixed v/s Mobile
Mobilebasesaretypically
platformswithwheelsortracks
attached.Insteadofwheelsor
tracks,somerobotsemploy
legsinordertomoveabout.
Roboticmanipulatorsusedin
manufacturingareexamplesof
fixedrobots.Theycannot
movetheirbaseawayfromthe
workbeingdone.

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Robot Mechanism: Mechanical Elements
Inclined plane wedge
Slider-Crank
Cam and Follower
Gear, rack, pinion, etc.
Chain and sprocket
Lever
Linkage

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Sensors: I
•Humansenses:sight,sound,touch,taste,andsmell
provideusvitalinformationtofunctionandsurvive
•Robotsensors:measurerobotconfiguration/condition
anditsenvironmentandsendsuchinformationtorobot
controlleraselectronicsignals(e.g.,armposition,
presenceoftoxicgas)
•Robotsoftenneedinformationthatisbeyond5human
senses(e.g.,abilityto:seeinthedark,detecttiny
amountsofinvisibleradiation,measuremovementthatis
toosmallorfastforthehumaneyetosee)
Accelerometer
Using Piezoelectric Effect
Flexiforce Sensor

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In-Sight Vision SensorsPart-Picking:Robotcanhandle
workpiecesthatarerandomlypiled
byusing3-Dvisionsensor.Since
alignmentoperation,aspecialparts
feeder,andanalignmentpallete
arenotrequired,anautomatic
systemcanbeconstructedatlow
cost.
Vision Sensor: e.g., to pick bins,
perform inspection, etc.
Sensors: II

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Partsfittingandinsertion:
Robotscandoprecisefittingand
insertionofmachinepartsbyusing
forcesensor.Arobotcaninsertparts
thathavethephasesaftermatching
theirphasesinadditiontosimply
insertingthem.Itcanautomatehigh-
skilljobs.
ForceSensor:e.g.,parts
fittingandinsertion,
forcefeedbackinrobotic
surgery
Sensors: III

35. Robotics, CIMA course
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Infrared Ranging Sensor
KOALA ROBOT
•6ultrasonicsonartransducerstoexplorewide,openareas
•Obstacledetectionoverawiderangefrom15cmto3m
•16built-ininfraredproximitysensors(range5-20cm)
•Infraredsensorsactasa“virtualbumper”andallowfor
negotiatingtightspaces
Sensors: IV
Example

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Tilt Sensor
Planar Bipedal Robot
Tilt sensors: e.g., to balance a robot
Sensors: V
Example

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Actuators: I
•Commonroboticactuatorsutilizecombinations
ofdifferentelectro-mechanicaldevices
–Synchronousmotor
–Steppermotor
–ACservomotor
–BrushlessDCservomotor
–BrushedDCservomotor
http://www.ab.com/motion/servo/fseries.html

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Hydraulic Motor Stepper Motor
Pneumatic Motor
Servo Motor
Actuators: II
Pneumatic Cylinder
DC Motor

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Controller
Providenecessaryintelligencetocontrolthe
manipulator/mobilerobot
Processthesensoryinformationandcomputethe
controlcommandsfortheactuatorstocarryout
specifiedtasks

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Controller Hardware: I
Storagedevices:e.g.,memorytostorethe
controlprogramandthestateoftherobotsystem
obtainedfromthesensors

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Computationalenginethatcomputesthe
controlcommands
BASIC Stamp 2 Module
RoboBoard Robotics Controller
Controller Hardware: II

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Analog to Digital Converter
Operational Amplifiers
Interfaceunits:Hardwaretointerfacedigital
controllerwiththeexternalworld(sensorsandactuators)
Controller Hardware: III
LM358
LM358
LM1458 dual operational amplifier

43. Robotics, CIMA course
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•Agriculture
•Automobile
•Construction
•Entertainment
•Health care: hospitals, patient-care, surgery , research, etc.
•Laboratories: science, engineering , etc.
•Law enforcement: surveillance, patrol, etc.
•Manufacturing
•Military: demining, surveillance, attack, etc.
•Mining, excavation, and exploration
•Transportation: air, ground, rail, space, etc.
•Utilities: gas, water, and electric
•Warehouses
Industries Using Robots

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What Can Robots Do?
Industrial Robots
Material Handling
Manipulator
Assembly Manipulator
Spot Welding Manipulator
•Materialhandling
•Materialtransfer
•Machineloadingand/or
unloading
•Spotwelding
•Continuousarcwelding
•Spraycoating
•Assembly
•Inspection

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Robots in Space
NASA Space Station

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Robots in Hazardous Environments
TROV in Antarctica
operating under water
HAZBOT operating in
atmospheres containing
combustible gases

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Medical Robots
Roboticassistantfor
microsurgery

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Robots at Home
Sony AidoSony SDR-3X Entertainment Robot

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Future of Robots: I
Cog Kismet
Artificial Intelligence

50. Robotics, CIMA course
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Installed Industrial Robots
Japan take the lead, why? Shortage of labor, high labor cost

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How are they used ?
•Industrial robots
–70% welding and painting
–20% pick and place
–10% others
•Research focus on
–Manipulator control
–End-effector design
•Compliance device
•Dexterity robot hand
–Visual and force feedback
–Flexible automation

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Robot Arm Dexterity

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Robotics: a much bigger industry
•Robot Manipulators
–Assembly, automation
•Field robots
–Military applications
–Space exploration
•Service robots
–Cleaning robots
–Medical robots
•Entertainment robots

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Field Robots

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Field Robots

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Service robots

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Service robots
http://www.irobot.com/
iRobot Scooba Robot
iRobot Verro 600 Pool Cleaning Robot

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Your servant ?

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What is AI ?
•Knowledge representation
•Understanding natural language
•Learning
•Planning and problem solving
•Inference
•Search
•Vision

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Learning and Evolution
•Learning
–Skills vs Task (Map acquisition)
•Learning Methods
–Learning by instruction
–Learning by imitation
–Learning by skill transfer
•Evolution and adaptation

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The early stage of AI

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Autonomous and Intelligence

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The Honda Humanoid (1997)

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Humanoid

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Robot Applications
•Manufacture Industry
–Assembling
–Automation
•Biotechnology
–Micro/Nano manipulation
–Sample Handling
–Automated Analysis

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Robot Applications
•Military Applications

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Military Applications
•DARPA Programs:
(Defense Advanced Research Projects Agency)
Tactical Mobile Robotics

68. Robotics, CIMA course
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Robot Applications
•Fire Fighting, Search and Rescue

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Robot Applications
NASA/DARPA Robonaut project: a humanoid
robot that can function as an astronaut
equivalent for spacewalks. Human operators
on earth can control the robot’s movements
from distance. Website:
http://vesuvius.jsc.nasa.gov/er_er/html/robona
ut/robonaut.html
•Space Robotics:
Mars Exploration Rovers: Spirit and
Opportunity ---twin robot geologists,
landed on Mars: Jan 3, and Jan 24,
2004, and still alive.
Website:
http://marsrovers.jpl.nasa.gov/overview
/

70. Robotics, CIMA course
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Robot Applications
•Robots for Assistive Technology

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Robot Applications
•Entertainment Industry

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Robot Applications
•Entertainment Robots
Sony-Qrio

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Personal Robot ?
•Just as the personal computer is used for automated
information management even in households, robots can be
used to execute domestic tasks.
•Manipulation of bits of information (PC)
•Manipulation of physical objects (PR)
http://www.personalrobots.com

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Architecture of Robotic Systems
•Mechanical Structure
–Kinematics model
–Dynamics model
•Actuators: Electrical, Hydraulic, Pneumatic, Artificial Muscle
•Computation and controllers
•Sensors
•Communications
•User interface
•Power conversion unit
Environmental
sensors
Motion
planner
Controller
Mechanical
Structure
Configuration
sensor

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Summary
•Robotics--interdisciplinary research
–Mechanical design
–Computer science and engineering
–Electrical engineering
–Cognitive psychology, perception and neuroscience
•Research open problems
–Manipulation, Locomotion
–Control, Navigation
–Human-Robot Interaction
–Learning & Adaptation (AI)

76. Robotics, CIMA course
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Outline
•Introduction
–What is a Robot?
–Why use Robots?
–Robot History
–Robot Applications
•Syllabus
–Prerequisite, topics
–Textbook and references
–Homework, exams, grading policy
•Robotics Activities

77. Robotics, CIMA course
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Topics
•Robot Manipulator
–Kinematics model of manipulators
–Dynamic Model of manipulators
–Trajectory generation
–Robot Control
•Mobile Robot
–Kinematic and dynamic model of various wheeled mobile robots
–Feedback control of mobile robots with nonholonomic constraints
–Motion planning
–Mapping and Navigation
•Robot Sensing
–Visual and non-visual sensors
–Sensor fusion algorithms
–Vision and laser based tracking control

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Robotics Lab
•Ground Robots at CCNY
•Wall-Climbing Robots at CCNYVacuum
motor
air out
air out
air in
Vacuum
impeller
Exhaust
(outer)
Exhaust
(inner)

79. Robotics, CIMA course
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Applications
•Building Inspection
–New York City law mandates
the inspection of building
facades every 5 years
–Manual Inspection: time-
consuming, expensive, at a
risk to the human workers
–Automate the process by
wall-climbing robots
•Urban warfare application
–surveillance, reconnaissance,
–intelligence gathering about a
hostile situation in a building
–tools/weapon delivery, etc.
Manual Inspection of building
facades: 2 workers and 1 engineer
riding on suspended scaffold

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Thank you!