CHAPTER ONE

INTRODUCTION TO
ROBOTS AND ROBOTICS
OUTLINES

Robot and Robotics

Robot application and Robot System

Kinematic arrangement of manipulator

Rigid body motion and Transformation of

coordinates
 CONT.…
DISTRIBUTION
A Few Questions
What is a robot?
What is robotics?
Why do we study robotics?
What are possible applications of robots?
How can we teach robot to perform a particular
task?
Can a human being replaced by a robot?
 Difinitions
The term robot has come from the Czech word, robota,
which means forced or slave laborer
In 1921, karel capek, a Czech playwright, used the term:
robot first in his drama named Rossum’s Universal
Robot (R.U.R)
According to karel capek, robot is a machine look-wise
similar to a human being.
Robot has been defined in various ways
i) According to Oxford English Dictionary
A machine capable of carrying out a complex series of
action automatically, especially one programmable by
computer
ii) According to International Organization for
Standardization (ISO)
An automatically controlled, reprogrammable,
multipurpose manipulator programmable in three or
more axes , which can be either fixed in place or
mobile for in industrial automation applications
iii) According to Robot institute of American (RIA)
It’s reprogrammable, multi-functional manipulator
designed to move materials, parts, tools or
specialized devices through variable programmed
motions for the performance of a variety of tasks.
Note: A CNC machine is not a robot.
CONT.…
Robotics

It’s a science, which deals with the

issues related to design, manufacturing,
usages of robots
In 1942, the term robotics was introduced by Isaac
Asimov in his story named runaround.

In robotics, we use the fundamentals of Physics,

mathematics, mechanical engg…, electronics engg…,
computer science and others.

3 Hs in robotics

3Hs of human beings are copied into

robotics, such as hand, head and heart
APPLICATION OF ROBOTS

Now a days, robots can be used in different areas:

 REMOTE OPERATIONS
medical science,
agriculture,
fire fighting and so on.
Industry
 BRIEF HISTORY OF ROBOTICS
Year Events and Developments
1954  George Devol, create the first “industrial robot”, called the
“Programmable Article Transfer Device”. The father of robot.
1956  Joseph Engleberger, starts the first robotics company,
Unimation. The first industrial robot is unimate.

1957  Launch of the first artificial satellite, Sputnik 1.

1967  General Electric Corporation made a 4-legged vehicle.

1969 'Shakey‘, a mobile robot is developed by SRI (Stanford Research Sputnik I
Institute). 'Shakey' was capable of planning, route-finding and moving objects.
1970  Victor scheinman, demonstrated a manipulator known as
standford arm.Lunokhod I was built and sent to moon by USSR
1973  Richard Hohn of Cincinnati Milacron corporation
manufactured
CONT.…
1975  Raibart at CMC, USA, built a one-legged hopping machine, the
first dynamically stable machine
1978  Unimation, developed PUMA (programmable Universal
Machine for Assemble)
1983  Odetics, introduced a unique experimental six-legged device

1986  ASV (Adaptive Suspension Vehicle) was developed at Ohio PUMA

State University, USA
1997  Pathfinder and Sojourner was sent to the mars by the NASA, USA.

2000  Asimo Humanoid Robot was developed by Honda.

2004  The surface of the mars was explored by spirit and opportunity

2012  Curiosity, was sent to the mars by the NASA,USA.

2015  Sophia (humanoid) was built by Hanson Robotics, Hong Kong. SCARA
ROBOTIC SYSTEMS
ROBOTIC SYSTEMS CAN BE DEFINED AS
INTERCONNECTED, INTERACTIVE, COGNITIVE
AND PHYSICAL TOOLS THAT ARE ABLE TO:

PERCEIVE THE ENVIRONMENT USING

SENSORS.

REASON ABOUT EVENTS.

MAKE PLANS USING ALGORITHMS
IMPLEMENTED IN COMPUTER PROGRAMS.

PERFORM ACTIONS ENABLED BY ACTUATORS.

COMPONENTS OF A ROBOT
• MANIPULATOR / ROVER : THIS IS THE MAIN BODY OF Link
THE ROBOT AND CONSISTS OF LINKS, JOINTS AND
STRUCTURAL ELEMENTS OF THE ROBOT.
LINKS:-Are rigid members connected at joints of the
robots Joint
• END EFFECTOR :THE TOOL, GRIPPER, OR OTHER
DEVICE MOUNTED AT THE END OF A MANIPULATOR,
FOR ACCOMPLISHING USEFUL TASKS.

• GRIPPERS: ARE GENERALLY USED TO GRASP AND

HOLD AN OBJECT AND PLACE IT AT A DESIRED
LOCATION.
 CONT.
• Actuator :Actuator is a mechanism used to drive the processor to allow it to
move to a predetermined point.

• Sensors : Sensors are used to collect information about the internal state of the
robot or to communicate with the outside environment.

• Controller :Controller function as the brain of the robot

Robots have controller that are run by programmed set of instruction written in
code.

The controller receives data from the computer, controls the motions of the
actuator and coordinates these motions with the sensory feedback information.
DEGREES OF FREEDOM
• THE DEGREES OF FREEDOM OF A RIGID BODY IS DEFINED AS
THE NUMBER OF INDEPENDENT MOVEMENTS IT HAS.
DOF = NUMBER OF INDEPENDENTLY DRIVEN JOINT
Cont.…
 CONT..
• They are mainly four types of joints are found in robot manipulators
Revolute (R):- Revolute joint allows a rotation between the two
connecting links.

Prismatic (P):- Prismatic joint allows a pure translation between the two
connecting links

Spherical (S):-The spherical joint between two links allows the

first link to rotate in all possible ways with respect to the
second.
HELICAL OR SCREW JOINT (H):-Allow the motions of a cylindrical joint
where the rotation angle and the translation length are
coupled by a linear equation.
 COMMON KINEMATIC ARRANGEMENTS OF MANIPULATORS

1. ARTICULATED MANIPULATOR (RRR)

The articulated manipulator is also called a revolute, or

anthropomorphic manipulator. e.g ABB IRB1400
2. SPHERICAL MANIPULATOR (RRP)
 By replacing the third or elbow joint in the revolute
manipulator by a prismatic joint one obtains the spherical
manipulator
 3. SCARA Manipulator (RRP)
 The SCARA arm (Selective Compliant Articulated Robot For
Assembly), it is quite different from the spherical manipulator in
both appearance and in its range of applications. the SCARA has z0,
z1, and z2 mutually parallel.
4.CYLINDRICAL MANIPULATOR (RPP)
• The first joint is revolute and produces a rotation about the
base. the second and third joints are prismatic and produces
translational motion.
5.CARTESIAN MANIPULATOR (PPP)

• A manipulator whose first three joints are prismatic is

known as a Cartesian manipulator.
WORK ENVELOPE CONCEPT

• Depending on the configuration and size of the links and wrist joints, robots can
reach a collection of points called a workspace.

• Workspace may be found empirically, by moving each joint through its range of
motions and combining all space it can reach and subtracting what space it cannot
reach.

• A robot's work envelope is its range of movement. it is the shape created when a
manipulator reaches forward, backward, up and down. These distances are
determined by the length of a robot's arm and the design of its axes. each axis
contributes its own range of motion.

RIGID BODY MOTION AND
COORDINATE TRANSFORMATION
• Rigid body motion consists rotation and
translation
• The relationship between objects as well
as objects and manipulators can be
described based on
VECTORS
 Vectors are denoted by lowercase bold
letters like: v, u,…
 A vector v is considered as column matrix
of the following form In three-dimensional
space :

Vectors Vector operations

Transformation matrices and coordinate  The scalar product
system
CONT.…
 Basic vectors of an orthonormal coordinate
system (orthonormal unit length vectors)
 vector satisfy the following equations
product

 Any coordinate system A represented by

matrix using orthonormal units
• CARTESIAN COORDINATE SYSTEMS
 Coordinate transformations
 The orthonormal vectors of related
The goal of this section is to define the coordinate system {B} with respect to
relationship between two coordinate {B} are expressed by:
systems in 3D space

• Coordinate systems are required for

describing position/movement  while related to {A} these vectors can
be written in the form:
  The following vector equation can be
 How to determine the position of a point
written from the triangle
which is known in terms of one coordinate
system with respect to the new coordinate
system defined afterward
 Cont.…
 So the above equation will be

 Homogenous transformations matrices

 Allow us to represent affine transformations by a matrix operation
 Affine transformation is a combination of single transformations such as translation or
rotation
 Homogenous coordinates embed three-dimensional space R3 into P3, the three-
dimensional projective space, which is R4.
 Homogeneous transformation represent the pose of one frame w.r.t another frame
Cont.…
 Homogenous coordinates allow each point (x*, y*, z*) to be represented by any of an
infinite number of four dimensional vectors:

 Using the homogenous coordinates transformation, equation above can be represented in the

• Here, and are Homogeneous Coordinates, is Homogeneous transformation

 Cont…
 Transformation equation can be written in simpler form:

 Transformation matrix encompasses information about the rotation between two

coordinate systems as well as information about the distance between their
origins.
 COMPOUND TRANSFORMATIONS

 The task is to determine the coordinates of

 The problem can be solved in two steps
point 1 with respect to coordinate system
{A}  First, the coordinates of point 1 with
respect to the coordinate system {B}

 The coordinates of point 1 with respect

to the coordinate system {A} are:

 Combining above equations

 Standard transformations
 The relationship between coordinate systems will be defined in
terms of rotations about the x, y or z axes
Cont.…
• C
Homogeneous Transformation

• Pure Transformation • Composition

When transformation is applied with
respect to fixed frames:

A pre-multiplication is required
When transformation is applied with
respect to the mobile( current new) frame:

A post-multiplication is used
Solved Problems
Example 1
A frame {A} is rotated about x, and then its translated a vector (6,-2,10) with respect
to the fixed (initial) frame. Find the homogeneous transformation that describes {B}
with respect to {A}
Solution:-
Example 2
Find homogeneous transformation matrix that represents a rotation of an angle about
the x axis ,followed by a translation of b units along the new x axis, followed by a
translation of d units along the new z axis, followed by a rotation of angleabout the new
z axis.
Solution:-
Example 3
Consider a frame {A} and {B} ,Point P in frame {B} is given by (2, 0, 1), find the coordinates
with respect to frame {A} using Homogeneous transformation matrix.
Solution:-
Example 4
A frame {A} is rotated about x, and then its translated a vector (6,-2,10) with respect to the
fixed (initial) frame. Consider point P=(-5,2,-12) with respect to the new frame {B}.
Determine the coordinates of that point with respect to the initial frame
Solution:-
EXAMPLE 5
Example 6
For the following robot manipulators determine the number of DOF