INTRODUCTION TO

ROBOTICS
TYPES OF ROBOTS
Types of Robots

 The types of robots are: -

1) Mobile robots.
2) Industrial robots
3) Autonomous robots
4) Remote-controlled robots.
5) Virtual robots.
Mobile Robots

 Mobile robots are able to move, usually they perform tasks such as
searching.
 They are of 2 types:-
1) Rolling robots- Rolling robots have wheels to move around. They can
quickly and easily search. However they are only useful in flat areas.
2) Walking robots- Robots on legs are usually brought in when the terrain is
rocky. Most robots have at least 4 legs; usually they have 6 or more.
Industrial Robots

 Most of these robots perform

repeating tasks without ever
moving.
 Most robots are working in
industries. Especially dull and
repeating tasks are suitable for
robots.
A robot never grows tired; it
 will perform its duty day and
night without ever
complaining.
Autonomous Robots

 Autonomous robots are self-

supporting.
 They run a program that gives
them the opportunity to
decide on the action to
perform depending on their
surroundings.
 At times, these robots even
learn new behavior. They start
out with a short routine and
adapt this routine to be more
successful at the task they
perform. The most successful
routine will be repeated .
Virtual Robots

 Virtual robots don’t exits in real

life. Virtual robots are just
programs, building blocks of
software inside a computer.

A virtual robot can simulate a
real robot or just perform a
repeating task.
Search engines use such kind
 of robots. They search the
World Wide Web and send the
information to the search
engines.
FIELDS OF ROBOTICS
 Robotics

Mechanics
Embedded AI, ML, Simulation
Electronics and IOT
and Coding Automation Software
Dynamics
 Electronics

Motors and
Sensors Communication Circuit Designing
Regulators
TYPES OF SENSORS
 Infrared sensor
 Photoresistor
 Ultrasonic sensor
 PIR sensor
 Soil moisture sensor
 Temperature sensor
 Pressure sensor
 Smoke detector
 Humidity and rain detector
 Piezoelectric sensor
 Tilt sensor
 Colour sensor
INFRARED SENSOR
Introduction
 The device consists of an Infrared Transmitter, an
Infrared Detector, and support circuitry.
 It only requires three connections.
 When it detects an obstacle within range it will
send an output low.
INFRARED SENSOR
Working principle
The emitter is simply an IR LED (Light Emitting Diode) and the detector is simply an IR photodiode
which is sensitive to IR light of the same wavelength as that emitted by the IR LED.

When IR light falls on the photodiode, the resistances and these output voltages, change in
proportion to the magnitude of the IR light received.
INFRARED SENSOR
Pin description
Communication

 Bluetooth
 Bluetooth Low Energy (BLE)
 Wifi
 NFC
 Zigbee
 IR
Communication Protocols

 SPI
 I2C
 UART
 CAN
Circuit Designing

 Requirement
 Logic design on paper
 Component Selection
 Simulation on software
 Debugging
 PCB designing
 TYPES OF MOTORS:
1. Brushed DC motors:
• Motor controller is used to rotate the motor in two directions.
• It is quite expensive.
• Pulse-width modulation.
• Gear reducer is used to reduce speed and increase torque
2. Brushless DC motors:
• Electronic speed control unit is used.
• Offer greater reliability, torque and have other good characteristics.
3. Stepper motors:
• Magnetic poles on stator.
• Provide current to the coils at a predefined sequence.
• Special stepper motor controller.
4. Servo motors:
• Servo motors are integrated with control system.
• Feedback system is present to provide correct positioning.
• Pulse width modulation.
• Used to construct robot arms.
Voltage Regulators

Linear regulators-
 These regulators comprise of devices that operate in their linear region.
Switching regulators-
 They rapidly switch a series device on and off.
MECHANICS AND DYNAMICS
Robot Configurations
• Cartesian (3P)
– Three Degrees of freedom (DOF) are linear & at right angles
to each other.
– Rectangular Workspace.
• Cylindrical (R2P)
– Two DOFs are linear and one DOF is rotational.
– Cylindrical Workspace.
• Spherical (2RP)
– One DOF is linear and two DOFs are rotational.
– Spherical Workspace.
• Articulated (3R)
– All three DOFs are rotational.
– Irregular Workspace.
Types of Joints

Joints Motions Degree of Freedom

Revolute joint Rotary motion One

Prismatic joint Sliding motion One

Cylindrical joint One sliding & one rotary motion Two

Planar joint Two sliding & one rotary motion Three

Screw pair One translatory & one rotary motion Two

Spherical joint Three rotarymotion three

Types of Kinematics
EMBEDDED SOFTWARE CODING
LANGUAGES USED

 Python
 Embedded C
Python

 Used by data scientists, AI, ML researchers.

 Used in developing and visualizing deep learning model.
 Used in automation and IOT.
 Raspberry pi programming language is python.
 Used in cloud and edge computing.
 Used in VLSI industry now a days.
 Platform used is Jupyter notebook and spyder.
 Jupyter notebook and spyder available in anaconda navigator.
Important Libraries

 Open CV
 Numpy
 Pandas
 Matplotlib
 Scikit-Learn
 Tensorflow
 Keras
 Seaborn
 Introduction to Embedded Systems

 What is an embedded system ?

An embedded system is a computer system with a dedicated function within
a larger mechanical or electrical system, sometimes with real-time
computing constraints. It is embedded as part of a complete device often
including hardware and mechanical parts.

Simply, it is application-specific systems which contain hardware and

software tailored for a particular task and are generally part of a larger
system.

sensor actuator

switch indicator
 Introduction to Embedded Systems

 Micro-Controller concepts
3
1
Code Compilation process
File.i File.s
File.c
Preprocessor Compiler Assembler

File.o

Other object files

Linker script Linker

Library files

File.map File.hex
Compilers

 Industry demand eclipse based compilers like Atollic TrueStudio,

STM32CubeIDE, System WorkBench.
 GCC based compilers like Keil uVision 5, IAR workbench.
 In IAR degugging is easy and can see complete call stack.
 For Arduino, Arduino IDE is used.
 Other compilers are Atmel Studio.
IOT
Introduction to IOT

 The Internet of Things (IoT) is the network of physical objects or "things"

embedded with electronics, software, sensors, and network connectivity,
which enables these objects to collect and exchange data.

 IoT allows objects to be sensed and controlled remotely across existing

network infrastructure, creating opportunities for more direct integration
between the physical world and computer-based systems, and resulting in
improved efficiency, accuracy and economic benefit.
 The IOT can be viewed as a gigantic network consisting of networks and
devices and computers connected through a series of intermediate
technologieswhere numerous technologieslike RFIDs, wireless
connections may act as enablers of this connectivity.

 Tagging Things : Real-time item traceability and addressability by RFIDs.

 Feeling Things : Sensors act as primary devices to collect data from the
environment.
 Shrinking Things : Miniaturization and Nanotechnology has provoked the ability
of smaller things to interact and connect within the “things” or “smart devices.”
 Thinking Things : Embedded intelligence in devices through sensors has formed
the network connection to the Internet. It can make the “things” realizing the
intelligent control.
Home Automation
Popular Technologies

 Bluetooth Low Energy (BLE)

 WIFI
 Apps, Android (Java Programming Language)
 Microcontroller (ARM Based)
 Sensors
 Edge Computing
 AI, ML
 GSM and GPRS
AI/ML/AUTOMATION
Applications

 Computer vision
 Driverless cars
 Natural language processing(NLP)
 Industrial automation
SIMULATION SOFTWARE
V-REP
 V-Rep is widely used by robotics researchers.
 Involves mechanics and dynamics.
 Can simulate real-time working of robot.
 Can change basic working of robots using LUA.
PROTEUS

 Designing and simulating electronics circuits.

 Used by PCB designers.
 Install arduino and related libraries to simulate.
 Simulation of robots involving microcontroller.
INDUSTRIAL
MICROCONTROLLER
 Companies

 STMicroelectronics
 Microchip
 NXP (Free Scale Semiconductor)
 Cypress

NOTE: These all are based on ARM architecture and hence used by most of
the Indian industries.
SCHEMATICS
STM32

 Available in wide range of cores and architectures.

 Used by many industries in India.
 Online course available.
 Helps to know the backend processes.
 Can be configured and initialize using STM32CubeMX software.
 Great tool to know about schematics, hardware, software and protocols.
 Contains provision for AI and Touch Graphics.
Thank You