Eng.

Thisara Ganegoda
MBA (Reading),B.Tech Eng.( Hon’s)- Mechatronics ,AMIE(SL)
OVERVIEW OF THE
LECTURE
➢ What is Robotics
➢ Asimov three laws
➢ Brief History of Robots
➢ Types of Robots
➢ Trajectory Planning
➢ Jacobians
Learning outcomes
▪ Define the Robotics
▪ Observe the types of
Robots
▪ Identifying the
Dynamic
Characteristics of
Robotics
 • Robot, any automatically operated machine that replaces human

What is effort, though it may not resemble human beings in appearance or

perform functions in a humanlike manner.

a • A reprogrammable, multifunctional, manipulator designed to move

Robot? materials, parts, tools, or specialized devices through various

programmed motions for the performance of a variety of tasks (RIA

1970)

• The term “Robot” was coined by him in his play R.U.R (Rossum's

Universal Robots), which opened in Prague in 1921

 • Branch of engineering that involves the design,
What is a
manufacture, and operation of robots.
Robotics?
 1.) Robots must never harm human beings.
Asimov
Three 2.) Robots must follow instructions from

Laws humans without violating rule 1.

3.) Robots must protect themselves without

violating the other rules

History
.
What is an Engineering Design?
• The process of devising a system, components, a process to

meet desired needs.

• It’s a decision making process , in which basic sciences .

mathematics and engineering sciences are applied to

optimally convert resources to meet a stated objective.

What is an Engineering Design?

•Among the fundamental elements of the design

process is the establishment of objectives and

criteria, synthesis, analysis, construction , testing and

evaluation.
 Engineering Design Process

Source:www.twi-global.com
Scenario 1
Define The Problem
• What is the problem that needs to be solved? Who is the

design product for, and why is it important to find a solution?

What are the limitations and requirements? Engineers need

to ask these types of critical questions regardless of what is

being created.
Brainstorm Possible Solutions
• Good designers brainstorm possible solutions before opting

to start a design, building a list of as many solutions as

possible. It is best to avoid judging the designs and instead

just let the ideas flow.

Research Ideas / Explore Possibilities for
Engineering Design Project
• Use the experience of others to explore possibilities. By

researching past projects you can avoid the problems faced

by others. You should speak to people from various

backgrounds, including users or customers. You may find

some solutions that you had not considered.

Establish Criteria and Constraints
• Having listed potential solutions and determined the needs

of the project alongside research, the next step is to establish

any factors that may constrain of work. This can be done by

revisiting the requirements and bringing together your

findings and ideas from previous steps.

Consider Alternative Solutions
• Consider further solutions to compare the potential

outcomes and find the best approach. This will involve

repeating some of the earlier steps for each viable idea.

Select An Approach
• Once you have assessed your various options you can

determine which approach best meets your requirements.

Reject those that don’t meet your requirements.

Develop A Design Proposal
• Having chosen approach, the next step is to refine and

improve the solution to create a design proposal. This stage

can be ongoing through the length of your project and even

after a product has been delivered to customers.

Make A Model Or Prototype
• Design proposal to make a prototype that will allow you to

test how the final product will perform. Prototypes are often

made from different materials than the final version and are

generally finished to a lesser standard.

Test And Evaluate
• Each prototype will need testing, re-evaluation and

improvement. Testing and evaluation allows you to see

where any improvements are needed.

Refine The Design
• Once testing has been completed, the design can be revised

and improved. This step can be repeated several times as

more prototypes are created and evaluated.

Create The Solution
• After your refinements have been completed and fully

tested, you can decide upon and create your finished

solution. This may take the form of a polished prototype to

demonstrate to customers.
Communicate The Results
• The final stage is to communicate your results. This can be in
the form of a report, presentation, display board, or a
combination of methods. Thorough documentation allows
your finished product to be manufactured to the required
quality standards.

•
 Types of Robots
1.)Manipulators (Robotic Arms)

2.)Mobile Robot

3.) Small Scale Robots

4.) Nano Robots (Molecular Robots)

5.) Parallel Robot Manipulators

 • Trajectory planning consists in finding a time series of
Trajectory
successive joint angles that allows moving a robot from a
Planning starting configuration towards a goal configuration, in order to

achieve a task.
 • The Jacobian maps the joint-space velocity to the end-effector velocity

Jacobian relative to the base coordinate frame. The end-effector velocity equals: ω

in is the angular velocity, υ is the linear velocity, and is the joint-space velocity.

• q with the dot on top represents the joint velocities (i.e. how fast the joint
Robotics is rotating for a revolute joint and how fast the joint is extending or

contracting for a prismatic joint) .

• J is the Jacobian matrix. It is an m rows x n column matrix (m=3 for two dimensions, and

m=6 for a robot that operates in three dimensions). n represents the number of joints.
 • Bishop, R.H. (2008). The mechatronics handbook. Boca Raton,
Fla ; London: Crc Press.
Reference • Angeles, J. (2007). Fundamentals of Robotic Mechanical
Systems. Springer Science & Business Media.
• G. Nakhaie Jazar (2010). Theory of Applied Robotics. Springer
Verlag.
•
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