Roboticsfor School 150930123522 Lva1 App6891

Robotics
for School
2010
www.cyberlabzone.com
The Word Robot
may bring to your
mind a pictures of
this….
Or May BE this….
But a Robot
Need To BE A
Machine
Resembling
Human…
Instead It can as simple as
This…
Humanoids & (AI)Artificial Intelligence
Are all the final outcomes of Robotics

To talk about them now will be to
Early…..
So let us Start
with Some Basic
Right From Ground

ZERO
The Three Laws of Robotics
• A robot may not injure a human being, or,
through inaction, allow a human being to come to
harm.
• A robot must obey the orders given it by human
beings except where such orders would conflict
with the First Law.
• A robot must protect its own existence as long as
such protection does not conflict with the First or
Second Law.
A Brief History of Robotics
• The word robot introduced by Czech playwright Karle Capek: robots
are machines which resemble people but work tirelessly.
• His view is still to be fulfill!
Best soccer player ever Best robot player ever

PUMA SCARA
Two famous robots:

Puma. (Programmable Universal Machine for
Assembly). ‘78.
SCARA. (Selective Compliant Articulated Robot
Assembly). ‘79.
Classification of Robots II AFR
• Type A: Handling Devices with manual control
• Type B: Automatic Handling Devices with predetermined cycles
• Type C: Programmable, servo controlled robots
• Type D: Type C with interactive with the environment
AFR: The Association Française de Robotique

The Origins of Robots
Year: 1250
Bishop Albertus Magnus holds banquet at which guests
were served by metal attendants. Upon seeing this, Saint
Thomas Aquinas smashed the attendants to bits and
called the bishop a sorcerer.
Year:1640
Descartes builds a female automaton which he
calls “Ma fille Francine.” She accompanied
Descartes on a voyage and was thrown
overboard by the captain, who thought she was
the work of Satan.
Year : 1738
Jacques de Vaucanson builds a mechanical duck
made of more that 4,000 parts. The duck could
quack, bathe, drink water, eat grain, digest it and
void it. Whereabouts of the duck are unknown
today.
Year: 1805
Doll, made by Maillardet, that wrote in either
French or English and could draw landscapes.
Year:1940
Sparko, the Westinghouse dog, uses
both mechanical and electrical
components
Year:1960
Industrial Robots created. Robotic Industries Association
states that an
“industrial robot is a re-programmable, multifunctional
manipulator
designed to move materials, parts, tools, or specialized
devices through
variable programmed motions to perform a variety of
tasks.
Year:1960
Shakey is made at Stanford Research Institute
International. It contained a television camera,
range finder, on-board logic, bump sensors,
camera control unit, and an antenna for a radio
link. Shakey was controlled by a computer in a
different room.
Combining these fields we can create a system that can
SENCE
PLAN
ACT
In this Presentation we will study many aspects of robotics.
1. General Robot Structures

2. General Definitions
3. Sensors and Sensor Planning
4. Actuators
5. Vision
6. Artificial Intelligence
7. Motion Planning
8. Mobile Robot
9. Forward Kinematics
10. Inverse Kinematics
General Robot Structures
An Robot normally constitutes of:
– A sequence of mechanical bodies called LINKS.
– Prismatic or revolute JOINTS connecting links.
– ACTUATORS to move these joints.
– SENSORS
• To measure status of robot
• To measure status of environment
– A programmable CONTROL system.
– A SUPERVISION system.
General Definition Robot
Look at a Venn diagram of

Mechanical
Electrical Hardware
Software
Control Systems.
Robotics is the
overlapping area at the
center of the three
Sensor & Sensor Planning
Sensing Planning Acting
information action
about the on the
environment environment
where
is the
truck?
where should I dig?

What is Sensing ?
• Collect information about the world
• Sensor - an electrical/mechanical/chemical device that maps an environmental

attribute to a quantitative measurement
– attribute mixtures - often no one to one map
– hidden state in environment
• Each sensor is based on a transduction principle - conversion of energy from one

form to another
• Also known as transducers
Types Of Sensor
• Active
– send signal into environment and measure
interaction of signal w/ environment
– e.g. radar, sonar
• Passive
– record signals already present in environment
– e.g. video cameras
Sensing for specific tasks
Where is the face?
Actuator Is An
Hydraulic Cylinder Actuators
• A mechanical device for moving or controlling something
• Electric Motors and Drives
• Hydraulic Drives
• Pneumatic Drives
• Internal Combustion hybrids
Electro-hydraulic System Example

Robot vision in social settings
• Humans (and robots) recover information
about objects from the light they reflect
• Human head and eye movements give clues
to attention and motivation
• In a social context, people constantly read
each other’s actions for these clues
• Anthropomorphic robots can partake in this
implicit communication, giving smooth and
intuitive interaction
Artificial Intelligence
Artificial Intelligence is the study of the
computations that make it possible to
perceive, reason, and act.”
Ability to think and learn. The ability to

learn facts and skills and apply them,
especially when this ability is highly
developed.
Motion Planning
•Motion planning is aimed at enabling robots with the
capabilities of automatically deciding and executing a
sequence of motions in order to achieve a task
without collision with other objects in a given
environment.
• Basic Problem: Static obstacles
• Extended Problems: Moving obstacles, Multiple

robots, Dynamic Constraints, Planning with
uncertainties, and etc.
Areas involve Robot Motion planning
• Mars Exploration
Rovers:
– Robot geologists
– Vision System
• 2 panoramic cams
• 2 navigation cams
• 4 hazard avoidance
cams
– Brain: laptop computer
inside the Rovers
Electronics Module
Mobile Robot
• “Mobile” means not stay-put at one place

• Mobile + Robot = Robot that is not stay-put at one
place….thus Mobile Robot can move around in much
larger workspace, seeing, touching, transporting,
manipulating things in various location
Mobile Robot Applications
Construction
Security
Personal affair
Material Handling
Entertainment
Landmines detection
Manipulator kinematics
Type of joints
• Frame assignments
• Link connection description
• Link transformations
• Actuator space
What do we mean by “Intelligence”?
• Open question: where intelligence begins

and ends
• Intelligence (our working definition):

the ability to improve an animal or human’s
likelihood of survival within the real world,
and, where appropriate, to compete or
cooperate successfully with other agents to
do so.
Summary of Robot Behavior
• Presence of stimulus is necessary, but not
sufficient, to evoke a motor response. Only when
stimulus exceeds a threshold does it produce a
response.
• A strength multiplier, or gain g, can be used to
turn off behaviors or alter the response’s relative
strength.
• Responses are encoded in two forms:
– –Discrete encoding: Rule-based methods often used
– –Continuous functional encoding: inverse square law
often used
Advantages of Robots
• Robotics and automation can, in many situation, increase

productivity, safety, efficiency, quality, and consistency of
products
• Robots can work in hazardous environments
• Robots need no environmental comfort
• Robots work continuously without any humanity needs
and illnesses
• Robots have reputable precision at all times
• Robots can be much more accurate than humans, they may
have mile or micro inch accuracy.
• Robots and their sensors can have capabilities beyond that
of humans
• Robots can process multiple stimuli or tasks
simultaneously, humans can only one.
• Robots replace human workers who can create economic
problems www.cyberlabzone.com
Disadvantages of Robots
• Robots lack capability to respond in emergencies, this can cause:
– Inappropriate and wrong responses
– A lack of decision-making power
– A loss of power
– Damage to the robot and other devices
– Human injuries
• Robots may have limited capabilities in
– Degrees of Freedom
– Dexterity
– Sensors
– Vision systems
– Real-time Response
• Robots are costly, due to
– Initial cost of equipment
– Installation Costs
– Need for peripherals
– Need for training
– Need for Programming
Possible Robot Coordinate Frames
New Directions
• Entertainment / social robots
• Humanoid robots
• Swarm / distributed robots
• New robot locomotion mechanisms
• Application-specific robotics
• Medical robots
• Telemedicine
Discussion of Ethics and Philosophy in
Robotics
•Can robots become conscious?
•Is there a problem with using robots in military

applications?
•How can we ensure that robots do not harm

people?

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Robotics

Are all the final outcomes of Robotics

Right From Ground

Best soccer player ever Best robot player ever

Two famous robots:

• Type A: Handling Devices with manual control

• Type B: Automatic Handling Devices with predetermined cycles

• Type C: Programmable, servo controlled robots

• Type D: Type C with interactive with the environment

AFR: The Association Française de Robotique

1. General Robot Structures

Look at a Venn diagram of

Sensing Planning Acting

where should I dig?

• Collect information about the world

• Sensor - an electrical/mechanical/chemical device that maps an environmental

• Each sensor is based on a transduction principle - conversion of energy from one

Where is the face?

• Electric Motors and Drives

• Internal Combustion hybrids

Electro-hydraulic System Example

Ability to think and learn. The ability to

• Basic Problem: Static obstacles

• Extended Problems: Moving obstacles, Multiple

• “Mobile” means not stay-put at one place

• Link connection description

• Open question: where intelligence begins

• Intelligence (our working definition):

• Robotics and automation can, in many situation, increase

• Entertainment / social robots

• Swarm / distributed robots

• New robot locomotion mechanisms

•Is there a problem with using robots in military

•How can we ensure that robots do not harm

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