1 A Inishantonrobotics-130912002640-Phpapp02

Robotics
Basics
Prepared by: NISHANT SHARMA

Origin of the word Robot
• The word robot was first used more than 60
years ago by Karel Capek, a Czechoslovakian
writer, in his play R.U.R., or Rossum’s
Universal Robots.
• He derived robot from the Czech word
robota, which means “drudgery” or
“compulsory labor”.
• Later in a letter written by him to Oxford
English Dictionary, he is reported to have
quoted his brother Josef Capek as the actual
originator.
G. Walter’s Robot –The first Robot
• 1948, 1953
• A wheeled machine with motors
• Photocells
• Two vacuum tubes
• Moved toward light if moderate
intensity
• Avoided bright light
Definition of Robotics
• “ A reprogrammable, multifunctional manipulator
designed to move material, parts, tools, or
specialized devices through various programmed
motions for the performance of a variety of tasks”.
• The science of building and programming robots.
Robots in the Media
• Robots have been presented in the media since the 1927
movie “Metropolis”.
What is a Robot?
• A machine whose behavior can be programmed …
• Then, is a VCR a robot?
• Is a tethered machine a robot?
• Surprisingly, there is no exact definition of a robot

• Today, people use ‘robot’ for almost any machine
designed to be clever
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 the orders
given it by human beings except where
such orders would conflict with the First
Law
• Law 3: A robot must protect its own
existence as long as such protection
does not conflict with the First or
Second Law
Automation vs. robots
• Automation –Machinery designed to carry out a specific task
– Bottling machine
(These are
– Dishwasher always better
– Paint sprayer than robots,
because they can
be optimally
• Robots – machinery designed designed for a
to carry out a variety of tasks particular task).
– Pick and place arms
– Mobile robots
– Computer Numerical Control
machines
Types of robots
• Pick and place A SCARA robot (Selective
– Moves items between points Compliant Articulated Robot
Arm): A pick-and-place robot
with angular
x-y-z positioning (Adept
Technology)
– Moves along a programmable path

Continuous path control
a six-axis industrial robot
($60K)(Fanuc Robotics),
but an additional $200K
is often spent for tooling
• Sensory
and programming.
– Employs sensors for feedback
Pick and Place
• Moves items from one point to another
• Does not need to follow a specific path between points
• Uses include loading and unloading machines, placing

components on circuit boards, and moving parts off conveyor
belts.
A cartesian robot for picking and placing circuits on

circuit-boards
Continuous path control
• Moves along a specific path
• Uses include welding, cutting, machining parts.
Robotic seam welding

Sensory
• Uses sensors for feedback.
• Closed-loop robots use

sensors in conjunction with
actuators to gain higher
accuracy – servo motors.
• Uses include mobile robotics,

telepresence, search and
rescue, pick and place with
machine vision.
Kinematics and dynamics of robots
• Degrees of freedom—number of
independent motions
– Translation--3 independent
directions
– Rotation-- 3 independent axes
– 2D motion = 3 degrees of freedom: 2
translation, 1 rotation
– 3D motion = 6 degrees of freedom:
3 translation, 3 rotation
Kinematics and dynamics (cont.)
• Actions
– Simple joints
• prismatic—sliding joint, e.g., square cylinder in
square tube
• revolute—hinge joint
– Compound joints
• ball and socket = 3 revolute joints
• round cylinder in tube = 1 prismatic, 1 revolute
• Mobility
– Wheels
– multipedal (multi-legged with a sequence of
actions)
Robots for 3D Jobs
•Dangerous
•Dull
•Dirty
Ideal Tasks
Tasks which are:
– Dangerous
• Space exploration
• chemical spill cleanup
• disarming bombs
• disaster cleanup
– Boring and/or repetitive
• Welding car frames
• part pick and place
• manufacturing parts.
– High precision or high speed
• Electronics testing
• Surgery
• precision machining.
Definition: (Autonomous)Robot
• A mobile computer situated in the real

world interacting with the environment
through sensors and actuators in order
to perform various intelligent tasks
without constant attention.
• Real robots do not need joy stick

remote controls!
Fundamental Components of Autonomous
Robots
• A brain (or brains)
• Body: physical chassis that holds
other pieces
• Actuators: allows to move.
Motors, hydraulic pistons, lamps,
etc.
• Sensors
• Power source
• Communication
Sensors of Human
• Eyes
• Ears
• Nose
• Skin
• Tongue
• Equilibrium: Balance
• …
• 6th sense(?)
Robot Sensor Types
• Passive Sensors (does not require power
supply)
– Touch
– Temperature
– Balance
– …
• Active Sensors (require power supply)
– Light
– Distance
– Rotation
– Sonar
– …
Sensors for Mobile Robots
• Contact sensors: Bumpers

• Internal sensors
– Accelerometers (spring-mounted masses)
– Gyroscopes (spinning mass, laser light)
– Compasses, inclinometers (earth magnetic field, gravity)
• Proximity sensors
– Sonar (time of flight)
– Radar (phase and frequency)
– Laser range-finders (triangulation, tof, phase)
– Infrared (intensity)
• Visual sensors: Cameras
• Satellite-based sensors: GPS
Weaponised Robot
• Better known as SWORDS.

• The Pentagon's research arm,
the Defense Advanced
Research Projects Agency, also
recently awarded contracts to
aid research of robots that one
day could be dropped into
combat from airplanes and
others meant to scale walls
using electrostatic energy —
also known as "static cling."
Humanoid Robots
• Honda's "ASIMO" Rings
• Opening Bell at the NYSE
• February 15, 2002
More Humanoid Robots: SONY QRIO
• IREX: Seminar and exhibits
How to develop Intelligent Robots?
• The most difficult task
• Developing intelligent and adaptive software is the key
• And even better is that we ec engineers design and fabricate
faster , better , reliable systems on chips and such other
components giving the robotics field the wings it needs to fly.
Why I like Robotics?
• Answer:----->
• Multi-disciplinary learning: all STEM (Science, Technology,
Engineering, and Math) subjects
• Develops critical thinking
• Provides co-operative learning environment
• Teaches real-life lessons, not virtual fantasy
• MIT’s Kismet: a robot
which exhibits expressions,
e.g., happy, sad, surprise,
disgust.
Futurama
• Haptics--tactile sensing
• Other kinematic mechanisms,

• e.g. snake motion
• Robots that can learn
A snake robot (OCRobotics)

Our Conclusions
• Robots make life easier.
• They have variety of applications.
• Masses consider they are better as slaves
• Mass production will be easily achieved.
• Unemployment will increase.
Few Robots in the World
Thank You!
•Queries please…

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Robotics

Prepared by: NISHANT SHARMA

• Surprisingly, there is no exact definition of a robot

– Moves along a programmable path

• Does not need to follow a specific path between points

• Uses include loading and unloading machines, placing

A cartesian robot for picking and placing circuits on

• Uses include welding, cutting, machining parts.

Robotic seam welding

• Closed-loop robots use

• Uses include mobile robotics,

• A mobile computer situated in the real

• Real robots do not need joy stick

• Contact sensors: Bumpers

• Better known as SWORDS.

• Other kinematic mechanisms,

• Robots that can learn

A snake robot (OCRobotics)

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