Lecture 1 - Introduction to Robotics.pptx

NOTES OF Robotics

1. Unit I - Lecture 1 Introduction to Robotics Course Title Robotics and Applications Course Code 21CDE09 Class II B . Sc . Computer Science Facilitator Lavanya.G Assistant P rofessor Department of Electronics and Communication System s SRI KRISHNA ARTS AND SCIENCE COLLEGE Department of Electronics and Communication Systems Coimbatore - 641 008 1 1 Unit 1 Lecture 1 : Introduction to Robotics

2. Outline Lecture 1 : Introduction to Robotics Unit 1 2 Introduction to Robotics : History Laws of Robotics Robot Definition Robot Usage Rules Applications

3. History of Robotics Lecture 1 : Introduction to Robotics Unit 1 3 Origin – Traced in Czech word ‘ robota ’ Means - ‘Forced’ / ‘ Compusory labour ’ The word ‘robot’ first appeared in 1921 in the play RUR (“ Rossum's Universal Robots ”) – written by Czech Writer Karel Capek ( 1890-1938 ) Issac Asimov ( 1940 ) – Science fiction stories – envisioned the robot as a helper of mankind Postulated 3 basic rules for robots

4. History of Robotics Lecture 1 : Introduction to Robotics Unit 1 4 Inspired by Asimov’s Books on R obots – Joseph F. Engelberger tried to design a robot in 1950. He along with George C. Devol started UNIMATION Robotics Company in USA – 1958 The first Unimate robot – installed in 1961 in General Motors Automobile Factory – New Jersey.

5. Introduction to Robotics Lecture 1 : Introduction to Robotics Unit 1 5 Japanese Industrial Robot Association (JIRA) : “A device with degrees of freedom that can be controlled.” Class 1 : Manual handling device Class 2 : Fixed sequence robot Class 3 : Variable sequence robot Class 4 : Playback robot Class 5 : Numerical control robot Class 6 : Intelligent robot

6. Introduction to Robotics Lecture 1 : Introduction to Robotics Unit 1 6 Intelligent Environments are aimed at improving the inhabitants’ experience and task performance Automate functions in the home Provide services to the inhabitants Decisions coming from the decision maker(s) in the environment have to be executed.

7. Introduction to Robotics Lecture 1 : Introduction to Robotics Unit 1 7 Decisions require actions to be performed on devices Decisions are frequently not elementary device interactions but rather relatively complex commands Decisions define set points or results that have to be achieved Decisions can require entire tasks to be performed

8. Definition of Robot Lecture 1 : Introduction to Robotics Unit 1 8 What is a robot? An electromechanical device that is : Reprogrammable Multifunctional Sensible for environment 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.

9. Definition of Robot Lecture 1 : Introduction to Robotics Unit 1 9 According to Robot Institute of America (RIA ): It is a reprogrammable multi-functional manipulator designed to move materials, parts, tools or specialized devices through variable programmed motions for the performance of a variety of tasks . There exist several other too given by other societies, e.g., The Japan Industrial Robot Association (JIAR),British Association (BRA), and All others . Reprogrammable , multifunctional manipulator designed to move material through variable programmed motions for the performance of a variety of tasks. (ISO)

10. Introduction to Robotics Lecture 1 : Introduction to Robotics Unit 1 10 All definitions have two points in common. They are ‘ reprogramability ’ and ‘ multifunctionality ’ of robots . Type I : Manipulator

11. Introduction to Robotics Lecture 1 : Introduction to Robotics Unit 1 11 II Type Legged Robot Wheeled Robot

12. Introduction to Robotics Lecture 1 : Introduction to Robotics Unit 1 12 III Type Autonomous Underwater Vehicle Unmanned Aerial Vehicle

13. Robotics Applications Lecture 1 : Introduction to Robotics Unit 1 13 Jobs that are dangerous for humans Decontaminating Robot Cleaning the main circulating pump housing in the nuclear power plant

14. Robotics Applications Lecture 1 : Introduction to Robotics Unit 1 14 Repetitive jobs that are boring, stressful, or labor-intensive for humans Welding Robot

15. Robotics Applications Lecture 1 : Introduction to Robotics Unit 1 15 Manual tasks that human don’t want to do The SCRUBMATE Robot

16. What is Robotics ? Lecture 1 : Introduction to Robotics Unit 1 16 B r a n c h o f t e c h n olo g y t h a t d e a l s w i t h t h e d e s i g n construction Operation application of robots

17. Robotics Applications Lecture 1 : Introduction to Robotics Unit 1 17 Difference between robot and machine : The robot is a mechanical device that can perform physical tasks using the surveillance and control of man. ( or ) use a program that has been defined first (artificial intelligence ). Machine is a mechanical or electrical appliance that send or change the energy to perform or assist in the implementation of human tasks.

18. Robotics Applications Lecture 1 : Introduction to Robotics Unit 1 18 Control of the physical environment Automated blinds Thermostats and heating ducts Automatic doors Automatic room partitioning Personal service robots House cleaning Lawn mowing Assistance to the elderly and handicapped Office assistants Security services

19. Robots in different Industries Lecture 1 : Introduction to Robotics Unit 1 19 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

20. Robotics Applications Lecture 1 : Introduction to Robotics Unit 1 20 Robot Manipulators Mobile Robots

21. Robots in Industrial Applications Lecture 1 : Introduction to Robotics Unit 1 21 Material handling Material transfer Mac h ine loa d ing / unloading Spot welding Continuous arc welding Spray coating Assembly Inspection Material Handling Manipulator Assembly Manipulator

22. Robots in Space Lecture 1 : Introduction to Robotics Unit 1 22 NASA Space Station

23. Robots in Hazardous Environment Lecture 1 : Introduction to Robotics Unit 1 23 TROV in Antar c ti c a operating under water HAZBOT operating in atmospheres containing combustible gases

24. Medical Robots Lecture 1 : Introduction to Robotics Unit 1 24

25. Robots in Military Lecture 1 : Introduction to Robotics Unit 1 25 SPLIT STRIKE: Deployed from a sub’s hull, Manta could dispatch tiny mine-seeking AUVs or engage in more explosive combat. PREDATOR ISTAR GLOBAL HAWK GOLDENEYE

26. Robots at Home Lecture 1 : Introduction to Robotics Unit 1 26 Sony Aido Sony SDR-3X Entertainment Robot

27. Remote Robot – ARM Manipulation Lecture 1 : Introduction to Robotics Unit 1 27

28. Robot – Smart Irrigation Lecture 1 : Introduction to Robotics Unit 1 28

29. Legged Hexapod Lecture 1 : Introduction to Robotics Unit 1 29

30. Hexapod for Disaster Recovery Lecture 1 : Introduction to Robotics Unit 1 30

31. Robotic Vacuum Cleaner Lecture 1 : Introduction to Robotics Unit 1 31

32. Future of Robots: I Lecture 1 : Introduction to Robotics Unit 1 32 Artificial Intelligence Cog Kismet

33. Future of Robots: II Lecture 1 : Introduction to Robotics Unit 1 33 Autonomy Robot Work Crews Garbage Collection Cart

34. Future of Robots: III Lecture 1 : Introduction to Robotics Unit 1 34 Humanoids HONDA Humanoid Robot

35. Laws of Robotics Lecture 1 : Introduction to Robotics Unit 1 35 A r obot m ust n o t h ar m a h u m a n b e i ng, nor t h r ough inaction allow one to come to harm . A robot must always obey human beings, unless that is in conflict with the 1st law . A r obot m u s t p r o t ec t fr o m h ar m , un l e ss t h a t i s i n conflict with the first two laws . A robot may take a human being’s job but it may not leave that person jobless. [Fuller(1999)]

36. Laws of Robotics Lecture 1 : Introduction to Robotics Unit 1 36 Asimov proposed three “Laws of Robotics” and later added the “ zeroth law ”: Law 0: A robot may not injure humanity or through inaction, allow humanity to come to harm Law 1: 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

37. Laws of Robotics Lecture 1 : Introduction to Robotics Unit 1 37 Law 2: A robot must obey orders given to it by human beings, except where such orders would conflict with a higher order law Law 3 : A robot must protect its own existence as long as such protection does not conflict with a higher order law

38. Traditional Industrial Robots Lecture 1 : Introduction to Robotics Unit 1 38 Traditional industrial robot control uses robot arms and largely pre-computed motions Programming using “teach box” Repetitive tasks High speed Few sensing operations High precision movements Pre-planned trajectories and task policies No interaction with humans

39. Introduction to Robotics Lecture 1 : Introduction to Robotics Unit 1 39 Service Robots Security guard Delivery Cleaning Mowing/Cutting Assistance Robots Mobility Services for elderly and People with disabilities

40. Broad Classification of Robots Lecture 1 : Introduction to Robotics Unit 1 40 T3 - Robot Manipulator Industrial and non-industrial or special-purpose

41. Special Purpose Robots Lecture 1 : Introduction to Robotics Unit 1 41 Automatic Guided Vehicles Walking Robots Parallel Robots

42. Automatic Guided Vehicles Lecture 1 : Introduction to Robotics Unit 1 42 These are used in factories for material handling purposes Omni directional Wheel - omni directional wheels give two degree of freedom to move AGV in sideways. AGVs can also used in hospital for nursing, security, and other applictions .

43. Special Purpose Robots Lecture 1 : Introduction to Robotics Unit 1 43 LAURON 6-Legged Walking Robot The LAURON is a 6-legged walking robot actuated by 24 joints. Its head can move in 2 directions, so the robot has a total 26 degrees of freedom . Used in : M ilitary U ndersea exploration Places where rough terrains exits

44. Parallel Robots Lecture 1 : Introduction to Robotics Unit 1 44 A parallel manipulator is a mechanical system that uses several computer-controlled serial chains to support a single platform, or end-effector . Hexa -pod dof Applications: Flight simulator to train pilots of aero planes. Driving simulators for truck and other types of ground vehicle Medical surgery to reduce trembling of a surgeon’s hand during operation .

45. Uses of Robots Lecture 1 : Introduction to Robotics Unit 1 45 Use of robots to deliver treatment - Robotic surgery

46. Uses of Robots Lecture 1 : Introduction to Robotics Unit 1 46 Use of robots to monitor effectiveness of treatment

47. Thumb rules on the decision of a robot usage Lecture 1 : Introduction to Robotics Unit 1 47 Four D s of Robotics: i.e. is the task dirty, dull, dangerous, or difficult ? Robot may not leave a human jobless . Involves asking whether you can find people who are willing to do the job. If not, the job is a candidate for automation or robotics . Robots and automation must make short-term and long-term economic sense.

48. KUKA - Robotics spot welding Lecture 1 : Introduction to Robotics Unit 1 48

49. KUKA - Robotics spot welding Lecture 1 : Introduction to Robotics Unit 1 49

50. Robotics - Summary Lecture 1 : Introduction to Robotics Unit 1 50 Word robot was coined by a Czech novelist Karel Capek in a 1920 play titled Rassum’s Universal Robots (RUR) Robot in Czech is a word for worker or servant Definition of robot : Any machine made by by one our members: Robot Institute of America A robot is a reprogrammable, multifunctional manipulator designed to move material, parts, tools or specialized devices through variable programmed motions for the performance of a variety of tasks : Robot Institute of America, 1979. Karel Capek

51. 51