Introduction To Robotic

Introduction to
Robotics
Sookram Sobhan, Polytechnic University
ssobha01@photon.poly.edu
Outline
What is it?
What can it do?
History
Key components
Applications
Future
Robotics @ MPCRL
What is a Robot: I
Manipulator
What is a Robot: II
Legged Robot Wheeled Robot

What is a Robot: III
Autonomous Underwater Vehicle Unmanned Aerial Vehicle
What Can Robots Do: I
Jobs that are dangerous

for humans
Decontaminating Robot
Cleaning the main circulating pump
housing in the nuclear power plant
What Can Robots Do: II
Repetitive jobs that are

boring, stressful, or labor-
intensive for humans
Welding Robot
What Can Robots Do: III
Menial tasks that human

dont want to do
The SCRUBMATE Robot

Robot Defined
Word robot was coined by a Czech
novelist Karel Capek in a 1920
play titled Rossums Universal
Robots (RUR)
Robota in Czech is a word for
worker or servant Karel Capek
Definition of robot:
Any machine made by by one our members: Robot Institute
of America
A robot is a reprogrammable, multifunctional manipulator
designed to move material, parts, tools or specialized devices
through variable programmed motions for the performance of
a variety of tasks: Robot Institute of America, 1979
Laws of Robotics
Asimov proposed three Laws
of Robotics
Law 1: A robot may not injure

a human being or through
inaction, allow a human being
to come to harm
Law 2: A robot must obey

orders given to it by human
beings, except where such
orders would conflict with a
higher order law
Law 3: A robot must protect its

own existence as long as such
protection does not conflict
with a higher order law
History of Robotics: I
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).
UNIMATE originally automated the

manufacture of TV picture tubes
History of Robotics: II
1978: The Puma (Programmable

Universal Machine for
Assembly) robot is developed
by Unimation with a General
Motors design support
PUMA 560 Manipulator

History of Robotics: III
1980s: The robot industry enters a phase of rapid growth. Many
institutions introduce programs and courses in robotics. Robotics
courses are spread across mechanical engineering, electrical
engineering, and computer science departments.
Adept's SCARA robots Cognex In-Sight Robot Barrett Technology Manipulator

History of Robotics: IV
1995-present: Emerging
applications in small
robotics and mobile
robots drive a second
growth of start-up
companies and research
2003: NASAs Mars Exploration Rovers will launch toward

Mars in search of answers about the history of water on Mars
Knowledgebase for Robotics
Typical knowledgebase for the design and operation of robotics
systems
Dynamic system modeling and analysis
Feedback control
Sensors and signal conditioning
Actuators and power electronics
Hardware/computer interfacing
Computer programming
Disciplines: mathematics, physics, biology,
mechanical engineering, electrical engineering,
computer engineering, and computer science
Key Components
Power conversion
unit
Sensors Actuators
Controller
User interface
Manipulator
linkage
Base
Robot Base: Fixed v/s Mobile
Robotic manipulators used in Mobile bases are typically
manufacturing are examples of platforms with wheels or tracks
fixed robots. They can not attached. Instead of wheels or
move their base away from the tracks, some robots employ
work being done. legs in order to move about.
Robot Mechanism: Mechanical Elements
Gear, rack, pinion, etc.
Cam and Follower

Inclined plane wedge Chain and sprocket
Lever
Slider-Crank
Linkage
Sensors: I
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) Accelerometer
Using Piezoelectric Effect
Robots often need information that is beyond 5 human
senses (e.g., ability to: see in the dark, detect tiny
amounts of invisible radiation, measure movement that is
too small or fast for the human eye to see)
Flexiforce
Sensors: II
Vision Sensor: e.g., to pick bins,

perform inspection, etc.
Part-Picking: Robot can handle In-Sight Vision Sensors

work pieces that are randomly piled
by using 3-D vision sensor. Since
alignment operation, a special parts
feeder, and an alignment pallete
are not required, an automatic
system can be constructed at low
cost.
Sensors: III
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.
Sensors: IV
Example
Infrared Ranging Sensor
KOALA ROBOT
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 for
negotiating tight spaces
Sensors: V
Tilt sensors: e.g., to balance a robot
Example
Tilt Sensor
Planar Bipedal Robot

Actuators: I
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
http://www.ab.com/motion/servo/fseries.html
Actuators: II
Pneumatic Cylinder
Hydraulic Motor Stepper Motor
Pneumatic Motor DC Motor

Servo Motor
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
Controller Hardware: I
Storage devices: e.g., memory to store the
control program and the state of the robot system
obtained from the sensors
Controller Hardware: II
Computational engine that computes the control
commands
RoboBoard Robotics Controller BASIC Stamp 2 Module

Controller Hardware: III
Interface units: Hardware to interface digital
controller with the external world (sensors and actuators)
Analog to Digital Converter Operational Amplifiers
LM358 LM358
LM1458 dual operational amplifier

Industries Using Robots
Agriculture
Automobile
Construction
Entertainment
Health care: hospitals, patient-care, surgery , research, etc.
Laboratories: science, engineering , etc.
Law enforcement: surveillance, patrol, etc.
Manufacturing
Military: demining, surveillance, attack, etc.
Mining, excavation, and exploration
Transportation: air, ground, rail, space, etc.
Utilities: gas, water, and electric
Warehouses
What Can Robots Do?
Industrial Robots
Material handling
Material transfer
Machine loading and/or
unloading Material Handling Manipulator
Spot welding
Continuous arc welding
Spray coating
Assembly
Inspection Assembly Manipulator
Spot Welding Manipulator

Robots in Space
NASA Space Station

Robots in Hazardous Environments
TROV in Antarctica HAZBOT operating in

operating under water atmospheres containing
combustible gases
Medical Robots
Robotic assistant for

micro surgery
Robots at Home
Sony SDR-3X Entertainment Robot Sony Aido

Future of Robots: I
Artificial Intelligence
Cog Kismet
Future of Robots: II
Autonomy
Robot Work Crews Garbage Collection Cart

Future of Robots: III
Humanoids
HONDA Humanoid Robot

Robotics @ MPCRLI
Remote Robot Arm Manipulation

Smart Irrigation System
Smart Cane
Remote Emergency
Notification System
Robotics @ MPCRLII
Type-X
RoboDry
Local Navigation System Safe N Sound Driver

Robotics @ MPCRLIII
Four Legged Hexapod

Metal Mine Surveyor
Audio Enabled Hexapod

RoboVac
To Explore Further
Visit:
http://mechatronics.poly.edu

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Introduction to

Legged Robot Wheeled Robot

Jobs that are dangerous

Repetitive jobs that are

Menial tasks that human

The SCRUBMATE Robot

Law 1: A robot may not injure

Law 2: A robot must obey

Law 3: A robot must protect its

The first industrial

UNIMATE originally automated the

1978: The Puma (Programmable

PUMA 560 Manipulator

Adept's SCARA robots Cognex In-Sight Robot Barrett Technology Manipulator

2003: NASAs Mars Exploration Rovers will launch toward

Cam and Follower

Robot sensors: measure robot configuration/condition

Vision Sensor: e.g., to pick bins,

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

Planar Bipedal Robot

Hydraulic Motor Stepper Motor

Pneumatic Motor DC Motor

RoboBoard Robotics Controller BASIC Stamp 2 Module

Analog to Digital Converter Operational Amplifiers

LM1458 dual operational amplifier

Spot Welding Manipulator

NASA Space Station

TROV in Antarctica HAZBOT operating in

Robotic assistant for

Sony SDR-3X Entertainment Robot Sony Aido

Robot Work Crews Garbage Collection Cart

HONDA Humanoid Robot

Remote Robot Arm Manipulation

Local Navigation System Safe N Sound Driver

Four Legged Hexapod

Audio Enabled Hexapod

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