INTRODUCTION TO ROBOTICS

Lab 25%
1. Lab Reports 5%
2. Lab Exams 10% ( 02 lab exams )
3. Projects 10% ( 02 projects )

Intro to Robotics.

robot (noun).
What is a Robot?

A robot is .
An electromechanical device that is ,

Programmable
Multifunctional
Sensible for Environment

What is in the Name?

How does one define Robot?
Oxford American Dictionary:
A machine capable of carrying out a complex series of actions automatically,
especially one programmed by a computer.
Merriam-Webster Dictionary:
1. A machine that looks and acts like a human being.

2. An efficient but insensitive person.

3. A device that automatically performs repetitive tasks.
4. Something guided by automatic controls.

Robotics - Definition
The study of Robotics concerns itself with the desire to synthesize some aspects
of human function by the use of mechanisms, sensors, actuators and computers

WIKIPEDIA
Robotics is the engineering science and technology of robots, and their design,
manufacturing, application, and structural disposition. Robotics is related to
electronics, mechanics, and software.

Robotics - Definition
Robot Institute of America
An automatic device that performs functions normally ascribed to humans or a
machine in the form of a human

Fields used in Robotics

Combining these fields we can create a system that can

Robots Today
Demining

Surgical

Industrial

Humanoid

Rescue
Educational

Entertainment

Space

UAV

Main Objectives

Form a combined (Hybrid) control strategy

Build a model of the manipulator

Apply the control strategy on the model

Test the model

Design and Simulate a flexible manipulator

Introduction

Tool/Grip

Sensors

Joints
Rigid
Flexible

Controller
Modeling
Control

Links
Rigid
Flexible

Power supply
Electrical
Pneumatic
Hydraulic

Main Classes of Design

Joint actuator drives
Electrical
Geometry or
Kinematic
Stepper
or DC Motors structure
Inexpensive, clean and quiet

Method
of control
Pneumatic
(pressured air)
Inexpensive -Difficult to control

ApplicationCommonly
area used for grippers
Hydraulic (pressured oil)

High speed, torque & lifting loads

Expensive, noisy & leaky

Main Classes of Design

Joint actuator drives

Cartesian
Manipulator
Geometry or Kinematic structure
Cylindrical Manipulator
Method of control
Spherical Manipulator
Revolute
Manipulator
Application area
SCARA Manipulator
Parallel & Hyper redundant

Main Classes of Design

Geometry or Kinematic structure

Cartesian Manipulator
PPP

x
y
z

Main Classes of Design

Geometry or Kinematic structure

Cylindrical Manipulator
RPP

Main Classes of Design

Geometry or Kinematic structure

Spherical Manipulator
RRP

Main Classes of Design

Geometry or Kinematic structure

Revolute Manipulator
RRR

Main Classes of Design

Geometry or Kinematic structure

SCARA Manipulator
RRP

Main Classes of Design

Geometry or Kinematic structure
Parallel & Hyper redundant

Parallel manipulators

hyper-redundant robots

Main Classes of Design

Joint actuator drives
Geometry
or Kinematic structure
Servo robots
Method
of control
Non-Servo
robots
Application area

Main Classes of Design

Method of control
Servo robots
Closed loop controller
Non-ServoFeedback
robots Controller

Main Classes of Design

Method of control
Servo robots Opened loop controller
Non-Feedback Controller
Non-Servo robots

Main Classes of Design

Joint actuator drives
Geometry or Kinematic
Assembly structure
robots
Small electrically driven

Method of control

Revolute or SCARA
Special fixtures & jigs
Interaction force sensing &control

Application area
Non-Assembly robots
Welding - spray painting
Handling loading etc

Main Classes of Design

Application area
Mining
Agriculture
Ship building
Medical use
Space exploration
Inspection jobs
Waste tank cleanup
Nuclear applications
Handicapped assistance
Deep underwater Sampling
Man-robot cooperative work
Entertainment (Robot arm rides)
Remote handling applications
Home applications (e.g. toy robots)
Industrial applications (welding, cutting etc)
Human tasks (pushing, writing, page flipping )