INTRODUCTION

t o ROBOTICS

C p E B OT 4 4 P
 Introduction
Definition for Robot:

• The Robot Institute of America (1969) defines robot as a re-

programmable, multi- functional manipulator designed to move
materials, parts, tools or specialized devices through various
programmed motions for the performance of a variety of tasks

• Word robot was coined by a Czech novelist Karel Capek in a

1920 play titled Rassum’s Universal Robots (RUR).

Introduction to Robotics 2
 Asimov’s laws of robotics:

A robot must obey the

A robot may not injure a A robot must protect its
orders given it by human
human being or, through own existence as long as
beings except where
inaction, allow a human such protection does not
such orders would
being to come to harm. conflict with the First or
conflict with the First
Second Laws.
Law.

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 History of Robots

The first industrial robot: UNIMATE

1954: The first programmable robot is designed by
George Devol, who coins the term Universal Automation.
He later shortens this to Unimation, which becomes the
name of the first robot company (1962).

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 History of Robots

The PUMA
1978: The Puma (Programmable Universal
Machine for Assembly) robot is developed by
Unimation with a General Motors design support.

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 History of Robots
1980s: The robot industry enters a phase of rapid
growth. Many institutions introduce programs and courses Adept’s SCARA robots

in robotics. Robotics courses are spread across mechanical

engineering, electrical engineering, and computer science
departments.

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Barrett Technology Manipulator
Cognex In-Sight Robot
 History of Robots
1995-present: Emerging applications in small
robotics and mobile robots drive a second growth
of start-up companies and research.

2003: NASA’s Mars Exploration Rovers will launch

toward Mars in search of answers about the history
of water on Mars.
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 Classification of Robots

According to the
structural capability of According to the control
robot
• Mobile robot • Limited Sequence Control
• Fi xe d r o b o t • Playback with Point - to-Point
Control
• Playback with Continuous
Path Control
• Intelligent Control

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 Classification of Robots

According to the structural capability of robot

Mobile robot: A mobile robot is an automatic machine that is capable of

locomotion.
Example: spying robot.

Fixed Robot: Most industrial robots are fixed with the base, but the arms
are moving.

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 Classification of Robots
According to the control
Limited Sequence Control: It is an elementary control type. It is used for
simple motion cycles, such as pick-and- place operations.

Playback with Point-to-Point Control: Playback control uses a

controller with memory to record motion sequences in a work cycle, as well as associated
locations and other parameters, and then plays back the work cycle during program
execution.

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 Classification of Robots

Playback with Continuous Path Control: Continuous path control

refers to a control system capable of continuous simultaneous control of two or more axes.

Intelligent Control : An intelligent robot exhibits behavior that makes it seems to

be intelligent. For example, it may have capacity to interact with its ambient surroundings;
decision-making capability; ability to communicate with humans; ability to carry out
computational analysis during the work cycle; and responsiveness to advanced sensor
inputs.

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 Components of a Robot
Mechanical platforms or hardware base is a mechanical device,
such as a wheeled platform, arm, fixed frame or other construction, capable of interacting
with its environment and any other mechanism involve with his capabilities and uses.

Sensors systems is a special feature that rest on or around the robot.

Joints provide more versatility to the robot itself and are not just a point that connects
two links or parts that can flex, rotate, revolve and translate.

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 Components of a Robot
Controller functions as the "brain" of the robot. Robots today have controllers that are
run by programs - sets of instructions written in code.

Power Source is the main source of energy to fulfill all the robots needs.

Artificial intelligence represents the ability of computers to "think" in ways

similar to human beings.

Actuators are the muscles of robot. An actuator is a mechanism for activating process
control equipment by the use of pneumatic, hydraulic or electronic signals.
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 TYPES OF ROBOTS

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 Types of Robots
Manipulator

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 Types of Robots
Legged Robot

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 Types of Robots
Wheeled Robot

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 Types of Robots
Autonomous Underwater Vehicle

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 Types of Robots
Unmanned Aerial Vehicle

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 ROBOT MECHANISM

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 Accelerometer
Using Piezoelectric Effect

ROBOT MECHANISM

SENSORS
• Human senses: sight, sound, touch, taste, and smell provide us vital
information to function and survive.

• Robot sensors: measure robot configuration/condition and its

environment and send such information to robot controller as
electronic signals (e.g., arm position, presence of toxic gas)
Flexiforce Sensor
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 ROBOT MECHANISM

VISION SENSORS
• Vision Sensor: e.g., to pick bins, perform inspection, In-Sight Vision Sensors

etc.

• Part-Picking: Robot can handle In-Sight Vision

Sensors work pieces that are randomly piled by
using 3-D vision sensor.
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Introduction to Robotics
 ROBOT MECHANISM
Force Sensors
• Force Sensor: e.g., parts fitting and insertion, force feedback in
robotic surgery.

• Parts fitting and insertion: Robots can do precise fitting and

insertion of machine parts by using force sensor. A robot can
insert parts that have the phases after matching their phases in
addition to simply inserting them. It can automate high skill jobs.
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Introduction to Robotics
 ROBOT MECHANISM
Infrared Ranging Sensor

Proximity Sensors
KOALA ROBOT
In robotics, a proximity sensor is used to detect objects
that are close to a robot and measure the distance
between a robot and particular objects without making
physical contact.
• 6 ultrasonic sonar transducers to explore wide, open
areas
• Obstacle detection over a wide range from 15cm to
3m
• 16 built-in infrared proximity sensors (range 5-20cm)
• Infrared sensors act as a “virtual bumper” and allow 24
Introduction to Robotics
for negotiating tight spaces
 ROBOT MECHANISM
Tilt Sensors
Tilt sensors: e.g., to balance a robot

• Tilt sensors, also known as

inclinometers, measure the slope, angle or tilt
of objects based on gravity.

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Introduction to Robotics
 Actuators/Muscles
Common robotic actuators utilize combinations of different electro-
mechanical devices

• – Synchronous motor

• – Stepper motor

• – AC servo motor

• – Brushless DC servo motor

• – Brushed DC servo motor

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Introduction to Robotics
 Actuators/Muscles
Pneumatic Motor

Pneumatic Cylinder
Muscle Wire

Hydraulic Motor

Stepper Motor Servo Motor

DC Motor 27
Introduction to Robotics
 Controller
• Provide necessary intelligence to control the
manipulator/mobile robot.

• Process the sensory information and compute the

control commands for the actuators to carry out
specified tasks.

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Introduction to Robotics
 Storage Hardware
• Storage devices: e.g., memory to store the
control program and the state of the robot
system obtained from the sensors

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Introduction to Robotics
 BASIC Stamp 2 Module

Computation Hardware
• Computational engine that computes the
RoboBoard Robotics Controller
control commands

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Introduction to Robotics
 Analog to Digital Converter

Interface Hardware
• Interface units: Hardware to interface digital Operational Amplifiers

controller with the external world (sensors and

actuators).
LM358
LM358

LM1458 dual 31
Introduction to Robotics
operational amplifier
 ROBOT ANATOMY

Joint-link scheme for robot manipulator 32

Introduction to Robotics
 Robot Anatomy
• Joints and Links:
The manipulator of an industrial robot consists of a series of joints
and links. Robot anatomy deals with the study of different joints and
links and other aspects of the manipulator's physical construction. A
robotic joint provides relative motion between two links of the robot.

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Introduction to Robotics
Robot Anatomy
Types of Joints
a) Linear joint (type L joint)
• The relative movement between the input link and the
output link is a translational sliding motion, with the axes of
the two links being parallel.

b) Orthogonal joint (type U joint)

• This is also a translational sliding motion, but the input and
output links are perpendicular to each other during the
movement. 34
 Robot Anatomy
Types of Joints
c) Rotational joint (type R joint)
• This type provides rotational relative motion, with the axis of
rotation perpendicular to the axes of the input and output links.
d) Twisting joint (type T joint)
• This joint also involves rotary motion, but the axis or rotation is
parallel to the axes of the two links.
e) Revolving joint (type V-joint, V from the “v” in
revolving)
• In this type, axis of input link is parallel to the axis of rotation of the
joint. However, the axis of the output link is perpendicular to the 35

axis of rotation.
Robot Anatomy
Types of Joints

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Robotic Arm Configurations
Common body-and-arm configurations are as follows.

1) Polar coordinate arm configuration

2) Cylindrical coordinate arm configuration

3) Cartesian coordinate arm configuration

4) Jointed arm configuration

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 Robotic Arm Configurations
Common body-and-arm configurations are as follows.

1) Polar coordinate arm configuration

2) Cylindrical coordinate arm configuration

3) Cartesian coordinate arm configuration

4) Jointed arm configuration

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 Polar coordinate arm configuration(RRP)

This configuration allows

manipulation of objects on the floor.

Drawbacks:
i. Low mechanical stiffness
ii. Complex construction
iii. Position accuracy decreases with the increasing
radial stroke.

Applications: Machining, spray painting

Example: Unimate 2000 series, MAKER 110
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 Cylindrical coordinate arm configuration
(RPP)
The cylindrical configuration uses two
perpendicular prismatic joints and a revolute
joint. The cylindrical configuration offers
good mechanical stiffness.

Drawback: Accuracy decreases as the

horizontal stroke increases.

Applications: suitable to access narrow horizontal

capabilities, hence used for machine loading
operations.
Example: GMF model M-1A.
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 Cartesian coordinate arm configuration
(PPP)
Cartesian coordinate or rectangular
coordinate configuration is constructed by
three perpendicular slides, giving only
linear motions along the three principal
axes.
Drawbacks:
o limited manipulability
o low dexterity (not able to move quickly and easily)

Applications: use to lift and move heavy loads.

Example: IBM RS-1
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 Jointed arm configuration (RRR) or
articulated configuration

Jointed arm configurations are

similar to that of human arm.

Applications: Arc welding, Spray coating.

Example: SCARA robot (Selective

compliance Assembly Robot Arm)

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 Robot Wrist

• Roll (R) axis – involves rotation of the

wrist mechanism about the arm axis.

• Pitch (P) axis – involves up or down

rotation of the wrist.

• Yaw (Y)axis - involves right or left

rotation of the wrist.

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 Degree of Freedom
In mechanics, the degree of freedom (DOF) of a mechanical system
is the number of independent parameters that define its
configuration. It is the number of parameters that determine the state
of a physical system and is important to the analysis of systems of
bodies in mechanical engineering, aeronautical engineering, robotics,
and structural engineering.

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 Degree of Freedom

Translation: Rotation:

1. Moving up and down 1. Tilts for ward and

(heaving); backward (pitching);
2. Moving left and right 2. Swivels left and right
(swaying); (yawing);
3. Moving for ward and 3. Pivots side to side
backward (surging); (rolling).

Scientific findings 45
 Open Loop and Closed
Loop Control System

• Open Loop Control System

In this kind of control system, the output doesn’t change
the action of the control system otherwise; the working of
the system which depends on time is also called the
open-loop control system.

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Introduction to Robotics
 Open Loop and Closed
Loop Control System

• Closed-Loop Control System

The closed-loop control system can be defined

as the output of the system that depends on the
input of the system.

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Introduction to Robotics
Thank you

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