ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS

M ODULE 1 - I NTRODUCTION

Ashitava Ghosal1
1 Department of Mechanical Engineering
&
Centre for Product Design and Manufacture
Indian Institute of Science
Bangalore 560 012, India
Email: [email protected]

NPTEL, 2010

. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 1 / 28
 .
. .1 C ONTENTS

.
. .2 L ECTURE 1
Introduction to Robotics
Types and Classification of Robots
The Science of Robots
The Technology of Robots

.
. .3 M ODULE 1 – A DDITIONAL M ATERIAL
References and Suggested Reading

. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 2 / 28
O UTLINE

.
. .1 C ONTENTS

.
. .2 L ECTURE 1
Introduction to Robotics
Types and Classification of Robots
The Science of Robots
The Technology of Robots

.
. .3 M ODULE 1 – A DDITIONAL M ATERIAL
References and Suggested Reading

. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 3 / 28
C ONTENTS OF L ECTURE

Introduction & Brief history.

Types and classification of robots.
Science of robotics.
Technology of robotics.

. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 4 / 28
C ONTENTS OF L ECTURE

Introduction & Brief history.

Types and classification of robots.
Science of robotics.
Technology of robotics.

. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 4 / 28
C ONTENTS OF L ECTURE

Introduction & Brief history.

Types and classification of robots.
Science of robotics.
Technology of robotics.

. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 4 / 28
C ONTENTS OF L ECTURE

Introduction & Brief history.

Types and classification of robots.
Science of robotics.
Technology of robotics.

. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 4 / 28
I NTRODUCTION
Origin of the word robot in 1923 — translation of Czech play R. U. R
(Rossum’s Universal Robot, 1921) by Karel Capek (Capek, 1975).
From Czech word ‘robota’ meaning slave labour!!
Designed to replace human beings, and depicted as very efficient and
lacking emotion – even now this description is prevalent!!. Robots
rebel against their human masters and destroy the entire human race
except one man so that he can continue making robots!
Unfortunately, the formula gets lost in the destruction.
Asimov (Asimov 1970) in story ‘Roundabout’ coins robotics in his
three laws of robotics — Robots are portrayed as harmless and in
control of humans!
First modern industrial robot patent in 1954 by George C. Devol (US
Patent No. 2,988,237) for Universal Automation or Unimation.
First robot manufactured by Unimation, Inc. (Founded by J.
Engelberger and George C. Devol) called Unimate was purchased by
General Motors for their Trenton, New Jersey automobile plant, and
used for die-cast handling and spot welding.. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 5 / 28
I NTRODUCTION
Origin of the word robot in 1923 — translation of Czech play R. U. R
(Rossum’s Universal Robot, 1921) by Karel Capek (Capek, 1975).
From Czech word ‘robota’ meaning slave labour!!
Designed to replace human beings, and depicted as very efficient and
lacking emotion – even now this description is prevalent!!. Robots
rebel against their human masters and destroy the entire human race
except one man so that he can continue making robots!
Unfortunately, the formula gets lost in the destruction.
Asimov (Asimov 1970) in story ‘Roundabout’ coins robotics in his
three laws of robotics — Robots are portrayed as harmless and in
control of humans!
First modern industrial robot patent in 1954 by George C. Devol (US
Patent No. 2,988,237) for Universal Automation or Unimation.
First robot manufactured by Unimation, Inc. (Founded by J.
Engelberger and George C. Devol) called Unimate was purchased by
General Motors for their Trenton, New Jersey automobile plant, and
used for die-cast handling and spot welding.. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 5 / 28
I NTRODUCTION
Origin of the word robot in 1923 — translation of Czech play R. U. R
(Rossum’s Universal Robot, 1921) by Karel Capek (Capek, 1975).
From Czech word ‘robota’ meaning slave labour!!
Designed to replace human beings, and depicted as very efficient and
lacking emotion – even now this description is prevalent!!. Robots
rebel against their human masters and destroy the entire human race
except one man so that he can continue making robots!
Unfortunately, the formula gets lost in the destruction.
Asimov (Asimov 1970) in story ‘Roundabout’ coins robotics in his
three laws of robotics — Robots are portrayed as harmless and in
control of humans!
First modern industrial robot patent in 1954 by George C. Devol (US
Patent No. 2,988,237) for Universal Automation or Unimation.
First robot manufactured by Unimation, Inc. (Founded by J.
Engelberger and George C. Devol) called Unimate was purchased by
General Motors for their Trenton, New Jersey automobile plant, and
used for die-cast handling and spot welding.. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 5 / 28
I NTRODUCTION
Origin of the word robot in 1923 — translation of Czech play R. U. R
(Rossum’s Universal Robot, 1921) by Karel Capek (Capek, 1975).
From Czech word ‘robota’ meaning slave labour!!
Designed to replace human beings, and depicted as very efficient and
lacking emotion – even now this description is prevalent!!. Robots
rebel against their human masters and destroy the entire human race
except one man so that he can continue making robots!
Unfortunately, the formula gets lost in the destruction.
Asimov (Asimov 1970) in story ‘Roundabout’ coins robotics in his
three laws of robotics — Robots are portrayed as harmless and in
control of humans!
First modern industrial robot patent in 1954 by George C. Devol (US
Patent No. 2,988,237) for Universal Automation or Unimation.
First robot manufactured by Unimation, Inc. (Founded by J.
Engelberger and George C. Devol) called Unimate was purchased by
General Motors for their Trenton, New Jersey automobile plant, and
used for die-cast handling and spot welding.. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 5 / 28
I NTRODUCTION
Origin of the word robot in 1923 — translation of Czech play R. U. R
(Rossum’s Universal Robot, 1921) by Karel Capek (Capek, 1975).
From Czech word ‘robota’ meaning slave labour!!
Designed to replace human beings, and depicted as very efficient and
lacking emotion – even now this description is prevalent!!. Robots
rebel against their human masters and destroy the entire human race
except one man so that he can continue making robots!
Unfortunately, the formula gets lost in the destruction.
Asimov (Asimov 1970) in story ‘Roundabout’ coins robotics in his
three laws of robotics — Robots are portrayed as harmless and in
control of humans!
First modern industrial robot patent in 1954 by George C. Devol (US
Patent No. 2,988,237) for Universal Automation or Unimation.
First robot manufactured by Unimation, Inc. (Founded by J.
Engelberger and George C. Devol) called Unimate was purchased by
General Motors for their Trenton, New Jersey automobile plant, and
used for die-cast handling and spot welding.. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 5 / 28
I NTRODUCTION
Origin of the word robot in 1923 — translation of Czech play R. U. R
(Rossum’s Universal Robot, 1921) by Karel Capek (Capek, 1975).
From Czech word ‘robota’ meaning slave labour!!
Designed to replace human beings, and depicted as very efficient and
lacking emotion – even now this description is prevalent!!. Robots
rebel against their human masters and destroy the entire human race
except one man so that he can continue making robots!
Unfortunately, the formula gets lost in the destruction.
Asimov (Asimov 1970) in story ‘Roundabout’ coins robotics in his
three laws of robotics — Robots are portrayed as harmless and in
control of humans!
First modern industrial robot patent in 1954 by George C. Devol (US
Patent No. 2,988,237) for Universal Automation or Unimation.
First robot manufactured by Unimation, Inc. (Founded by J.
Engelberger and George C. Devol) called Unimate was purchased by
General Motors for their Trenton, New Jersey automobile plant, and
used for die-cast handling and spot welding.. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 5 / 28
I NTRODUCTION
Space Shuttle Arm
http://en.wikipedia.org/wiki/Canadarm

PUMA 560 Robot MARS Rover http://www.dlr.de/en/

http://vlabs.iitkgp.ernet.in/MRLab/experiment1.html

Robotic Surgery
System – Can be
remotely operated
via Internet

Industrial Robots from Fanuc Robotics, Japan da Vinci Surgical Robot (Patient Cart)
http://www.fanucindia.com/ http://www.intuitivesurgical.com/

A popular kit
for making
robots

http://world.honda.com/ASIMO/history/ http://mindstorms.lego.com/en-us/Default.aspx

Figure 1: Some modern robots

. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 6 / 28
I NTRODUCTION
D EFINITION

No clear definition of a “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”.
Currently the term “robots” are used more broadly as an “intelligent
agent, physical or virtual, capable of doing a task autonomously or
with guidance”.
Robot – An electro-mechanical machine with sensors, electronics and
guided by computers.
Key concept is re-programmable and the extent of programming —
distinguishes a robot from CNC machine tools.

. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 7 / 28
I NTRODUCTION
D EFINITION

No clear definition of a “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”.
Currently the term “robots” are used more broadly as an “intelligent
agent, physical or virtual, capable of doing a task autonomously or
with guidance”.
Robot – An electro-mechanical machine with sensors, electronics and
guided by computers.
Key concept is re-programmable and the extent of programming —
distinguishes a robot from CNC machine tools.

. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 7 / 28
I NTRODUCTION
D EFINITION

No clear definition of a “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”.
Currently the term “robots” are used more broadly as an “intelligent
agent, physical or virtual, capable of doing a task autonomously or
with guidance”.
Robot – An electro-mechanical machine with sensors, electronics and
guided by computers.
Key concept is re-programmable and the extent of programming —
distinguishes a robot from CNC machine tools.

. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 7 / 28
I NTRODUCTION
D EFINITION

No clear definition of a “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”.
Currently the term “robots” are used more broadly as an “intelligent
agent, physical or virtual, capable of doing a task autonomously or
with guidance”.
Robot – An electro-mechanical machine with sensors, electronics and
guided by computers.
Key concept is re-programmable and the extent of programming —
distinguishes a robot from CNC machine tools.

. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 7 / 28
I NTRODUCTION
D EFINITION

No clear definition of a “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”.
Currently the term “robots” are used more broadly as an “intelligent
agent, physical or virtual, capable of doing a task autonomously or
with guidance”.
Robot – An electro-mechanical machine with sensors, electronics and
guided by computers.
Key concept is re-programmable and the extent of programming —
distinguishes a robot from CNC machine tools.

. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 7 / 28
I NTRODUCTION

Advances in robotics has closely followed the explosive development of

computers and electronics.
According to Wikipedia article, Devol used his patent on magnetic
recording devices for the “brains” of his Unimate.
First computer, ENIAC, was developed at University of Pennsylvania in
1946 and the first transistor device was built by Shockley and Pearson
in Bell Labs in late 1940’s1 .
Another key ingredient, concept of feedback control — first textbook
on feedback control is by Prof. Norbert Wiener of MIT in 1948.
Feedback allows execution of a programmed (desired) motion by a
robot (and a large number of devices) with the required accuracy.

1 First patent for a transistor was by physicist Julius Edgar Lilienfeld of Canada in

1925. . . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 8 / 28
I NTRODUCTION

Advances in robotics has closely followed the explosive development of

computers and electronics.
According to Wikipedia article, Devol used his patent on magnetic
recording devices for the “brains” of his Unimate.
First computer, ENIAC, was developed at University of Pennsylvania in
1946 and the first transistor device was built by Shockley and Pearson
in Bell Labs in late 1940’s1 .
Another key ingredient, concept of feedback control — first textbook
on feedback control is by Prof. Norbert Wiener of MIT in 1948.
Feedback allows execution of a programmed (desired) motion by a
robot (and a large number of devices) with the required accuracy.

1 First patent for a transistor was by physicist Julius Edgar Lilienfeld of Canada in

1925. . . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 8 / 28
I NTRODUCTION

Advances in robotics has closely followed the explosive development of

computers and electronics.
According to Wikipedia article, Devol used his patent on magnetic
recording devices for the “brains” of his Unimate.
First computer, ENIAC, was developed at University of Pennsylvania in
1946 and the first transistor device was built by Shockley and Pearson
in Bell Labs in late 1940’s1 .
Another key ingredient, concept of feedback control — first textbook
on feedback control is by Prof. Norbert Wiener of MIT in 1948.
Feedback allows execution of a programmed (desired) motion by a
robot (and a large number of devices) with the required accuracy.

1 First patent for a transistor was by physicist Julius Edgar Lilienfeld of Canada in

1925. . . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 8 / 28
I NTRODUCTION

Advances in robotics has closely followed the explosive development of

computers and electronics.
According to Wikipedia article, Devol used his patent on magnetic
recording devices for the “brains” of his Unimate.
First computer, ENIAC, was developed at University of Pennsylvania in
1946 and the first transistor device was built by Shockley and Pearson
in Bell Labs in late 1940’s1 .
Another key ingredient, concept of feedback control — first textbook
on feedback control is by Prof. Norbert Wiener of MIT in 1948.
Feedback allows execution of a programmed (desired) motion by a
robot (and a large number of devices) with the required accuracy.

1 First patent for a transistor was by physicist Julius Edgar Lilienfeld of Canada in

1925. . . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 8 / 28
I NTRODUCTION

Advances in robotics has closely followed the explosive development of

computers and electronics.
According to Wikipedia article, Devol used his patent on magnetic
recording devices for the “brains” of his Unimate.
First computer, ENIAC, was developed at University of Pennsylvania in
1946 and the first transistor device was built by Shockley and Pearson
in Bell Labs in late 1940’s1 .
Another key ingredient, concept of feedback control — first textbook
on feedback control is by Prof. Norbert Wiener of MIT in 1948.
Feedback allows execution of a programmed (desired) motion by a
robot (and a large number of devices) with the required accuracy.

1 First patent for a transistor was by physicist Julius Edgar Lilienfeld of Canada in

1925. . . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 8 / 28
I NTRODUCTION
Initial robot usage was primarily in industrial application such as
part/material handling, welding and painting and few in handling of
hazardous material.
Most initial robots operated in teach-playback mode, and mostly used
to replace ‘repetitive’ and ‘back-breaking’ tasks.
Growth and usage of robots slowed significantly in late 1980’s and
early 1990’s due to “lack of intelligence” and “ability to adapt” to
changing environment – Robots were essentially blind, deaf and
dumb!!
Last 15 years or so, sophisticated sensors and programming allow
robots to act much more “intelligently”, autonomously and react to
changes in environments faster.
Present-day robots
Used in cluttered workspaces in homes and factories,
Interact safely with humans in close proximity,
Operate autonomously in hazardous environments,
Used in entertainment and in improving quality of life.
. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 9 / 28
I NTRODUCTION
Initial robot usage was primarily in industrial application such as
part/material handling, welding and painting and few in handling of
hazardous material.
Most initial robots operated in teach-playback mode, and mostly used
to replace ‘repetitive’ and ‘back-breaking’ tasks.
Growth and usage of robots slowed significantly in late 1980’s and
early 1990’s due to “lack of intelligence” and “ability to adapt” to
changing environment – Robots were essentially blind, deaf and
dumb!!
Last 15 years or so, sophisticated sensors and programming allow
robots to act much more “intelligently”, autonomously and react to
changes in environments faster.
Present-day robots
Used in cluttered workspaces in homes and factories,
Interact safely with humans in close proximity,
Operate autonomously in hazardous environments,
Used in entertainment and in improving quality of life.
. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 9 / 28
I NTRODUCTION
Initial robot usage was primarily in industrial application such as
part/material handling, welding and painting and few in handling of
hazardous material.
Most initial robots operated in teach-playback mode, and mostly used
to replace ‘repetitive’ and ‘back-breaking’ tasks.
Growth and usage of robots slowed significantly in late 1980’s and
early 1990’s due to “lack of intelligence” and “ability to adapt” to
changing environment – Robots were essentially blind, deaf and
dumb!!
Last 15 years or so, sophisticated sensors and programming allow
robots to act much more “intelligently”, autonomously and react to
changes in environments faster.
Present-day robots
Used in cluttered workspaces in homes and factories,
Interact safely with humans in close proximity,
Operate autonomously in hazardous environments,
Used in entertainment and in improving quality of life.
. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 9 / 28
I NTRODUCTION
Initial robot usage was primarily in industrial application such as
part/material handling, welding and painting and few in handling of
hazardous material.
Most initial robots operated in teach-playback mode, and mostly used
to replace ‘repetitive’ and ‘back-breaking’ tasks.
Growth and usage of robots slowed significantly in late 1980’s and
early 1990’s due to “lack of intelligence” and “ability to adapt” to
changing environment – Robots were essentially blind, deaf and
dumb!!
Last 15 years or so, sophisticated sensors and programming allow
robots to act much more “intelligently”, autonomously and react to
changes in environments faster.
Present-day robots
Used in cluttered workspaces in homes and factories,
Interact safely with humans in close proximity,
Operate autonomously in hazardous environments,
Used in entertainment and in improving quality of life.
. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 9 / 28
I NTRODUCTION
Initial robot usage was primarily in industrial application such as
part/material handling, welding and painting and few in handling of
hazardous material.
Most initial robots operated in teach-playback mode, and mostly used
to replace ‘repetitive’ and ‘back-breaking’ tasks.
Growth and usage of robots slowed significantly in late 1980’s and
early 1990’s due to “lack of intelligence” and “ability to adapt” to
changing environment – Robots were essentially blind, deaf and
dumb!!
Last 15 years or so, sophisticated sensors and programming allow
robots to act much more “intelligently”, autonomously and react to
changes in environments faster.
Present-day robots
Used in cluttered workspaces in homes and factories,
Interact safely with humans in close proximity,
Operate autonomously in hazardous environments,
Used in entertainment and in improving quality of life.
. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 9 / 28
I NTRODUCTION
S AMPLING OF ROBOT A PPLICATION

Industrial robots: Fanuc ArcMate 120iB/10L welding robot and

material handling robots.
Many other examples in this website.
Hazardous environment:
Radioactive environment and use of robots for clean-up in
Three mile island, Chernobyl and recently in Fukushima, Japan, using
PackBot robots, for measurement of radiation and taking pictures.
Deep sea: Discovery of Titanic by submersible Alvin and underwater
robots Argo, 1985, Jason Junior, 1986.
Space: Shuttle Remote Manipulator System is used to deploy and
retrieve satellite and other equipment.
Electronic assembly and pharmaceutical manufacturing in clean rooms:
Human presence introduces dirt and is hazardous to the product! (See
example of electronics assembly using robots)

. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 10 / 28
I NTRODUCTION
S AMPLING OF ROBOT A PPLICATION

Industrial robots: Fanuc ArcMate 120iB/10L welding robot and

material handling robots.
Many other examples in this website.
Hazardous environment:
Radioactive environment and use of robots for clean-up in
Three mile island, Chernobyl and recently in Fukushima, Japan, using
PackBot robots, for measurement of radiation and taking pictures.
Deep sea: Discovery of Titanic by submersible Alvin and underwater
robots Argo, 1985, Jason Junior, 1986.
Space: Shuttle Remote Manipulator System is used to deploy and
retrieve satellite and other equipment.
Electronic assembly and pharmaceutical manufacturing in clean rooms:
Human presence introduces dirt and is hazardous to the product! (See
example of electronics assembly using robots)

. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 10 / 28
I NTRODUCTION
S AMPLING OF ROBOT A PPLICATION (C ONTD .)

Autonomous mobile robots/vehicles: Mars Exploration Rover Mission,

and DARPA Grand Challenge (2008)
Robotic surgery using da Vinci robot.
Micro and nano robots at Carnegie Mellon & KTH, Sweden.
Other miscellaneous robots: Robocup Soccer 2010, and dancing Sony
robots, robotic fish, NASA Robonaut humanoid space robot from
this website.
Japanese humanoid robot capable of feeling pain and facial
expressions can be seen at this website.

. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 11 / 28
I NTRODUCTION
S AMPLING OF ROBOT A PPLICATION (C ONTD .)

Autonomous mobile robots/vehicles: Mars Exploration Rover Mission,

and DARPA Grand Challenge (2008)
Robotic surgery using da Vinci robot.
Micro and nano robots at Carnegie Mellon & KTH, Sweden.
Other miscellaneous robots: Robocup Soccer 2010, and dancing Sony
robots, robotic fish, NASA Robonaut humanoid space robot from
this website.
Japanese humanoid robot capable of feeling pain and facial
expressions can be seen at this website.

. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 11 / 28
I NTRODUCTION
S AMPLING OF ROBOT A PPLICATION (C ONTD .)

Autonomous mobile robots/vehicles: Mars Exploration Rover Mission,

and DARPA Grand Challenge (2008)
Robotic surgery using da Vinci robot.
Micro and nano robots at Carnegie Mellon & KTH, Sweden.
Other miscellaneous robots: Robocup Soccer 2010, and dancing Sony
robots, robotic fish, NASA Robonaut humanoid space robot from
this website.
Japanese humanoid robot capable of feeling pain and facial
expressions can be seen at this website.

. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 11 / 28
I NTRODUCTION
S AMPLING OF ROBOT A PPLICATION (C ONTD .)

Autonomous mobile robots/vehicles: Mars Exploration Rover Mission,

and DARPA Grand Challenge (2008)
Robotic surgery using da Vinci robot.
Micro and nano robots at Carnegie Mellon & KTH, Sweden.
Other miscellaneous robots: Robocup Soccer 2010, and dancing Sony
robots, robotic fish, NASA Robonaut humanoid space robot from
this website.
Japanese humanoid robot capable of feeling pain and facial
expressions can be seen at this website.

. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 11 / 28
I NTRODUCTION
I MPORTANT DATES IN HISTORY OF ROBOTS

1770 – Mechanism-driven life-like machines that can draw, play

instruments, and clocks made in Germany and Switzerland.
1830 – Cam programmable lathe invented.
1923 – Karel Capek’s play R.U.R.
1942 – Asimov coins the word ‘robotics’ and gives his three laws of
robotics.
1946 – ENIAC, the first electronic computer, developed at the
University of Pennsylvania.
1947 – The first servo electric-powered tele-operated robot at MIT.
1948 – Book on feedback control, Cybernetics, written by Prof.
Norbert Weiner of MIT.
1948 – Transistor invented at Bell Laboratories.
1952 – IBM’s first commercial computer, IBM 701, marketed.
1954 – First programmable robot patented and designed by Devol.
. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 12 / 28
I NTRODUCTION
I MPORTANT DATES IN HISTORY OF ROBOTS (C ONTD .)
1955 – Paper by J. Denavit and R. S. Hartenberg (1955) provides a
notation to describe links and joints in a manipulator.
1959 – Unimation Inc. founded by Engelberger; CNC lathe
demonstrated at MIT.
1961 – General Motors buys and installs the first Unimate at a plant
in New Jersey to tend a die casting machine.
1968 – Shakey, first mobile robot with vision capability, made at SRI.
1970 – The Stanford Arm designed with electrical actuators and
controlled by a computer.
1973 – Cincinnati Milacron’s (T3) electrically actuated, mini-computer
controlled industrial robot.
1976 – Viking II lands on Mars and an arm scoops Martian soil for
analysis.
1978 – Unimation develops PUMA, which can still be seen in many
research labs. . . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 13 / 28
I NTRODUCTION
I MPORTANT DATES IN HISTORY OF ROBOTS (C ONTD .)
1981 – Robot Manipulators by R. Paul, one of the first textbooks on
robotics.
1982 – First educational robots introduced by Microbot and Rhino.
1983 – Adept Technology, maker of SCARA robot, started.
1995 – Intuitive Surgical formed to design and market surgical robots.
1997 – Sojourner robot sends back pictures of Mars; the Honda P3
humanoid robot, started in 1986, unveiled.
2000 – Honda demonstrates Asimo humanoid robot capable of
walking.
2001 – Sony releases second generation Aibo robot dog.
2004 – Spirit and Opportunity explore Mars surface and detect
evidence of past water.
2007 – Humanoid robot Aiko capable of demonstrating feeling of pain.
2009 – Micro-robots and emerging field of nano-robots marrying
biology with engineering.
. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 14 / 28
O UTLINE

.
. .1 C ONTENTS

.
. .2 L ECTURE 1
Introduction to Robotics
Types and Classification of Robots
The Science of Robots
The Technology of Robots

.
. .3 M ODULE 1 – A DDITIONAL M ATERIAL
References and Suggested Reading

. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 15 / 28
T YPES AND C LASSIFICATION OF ROBOTS

Various ways of classifying a robot

Fixed or mobile.
Serial or parallel.
According to degree of freedom (DOF).
Rigid or flexible.
Control – point-to-point, autonomy and “intelligence”.
Most older industrial robots – fixed base and consisting of links
connected by actuated joints.
Many modern robots can move on factory floors, uneven terrains or
even walk, swim and fly (see Module 9 for wheeled mobile robots)!

. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 16 / 28
T YPES AND C LASSIFICATION OF ROBOTS

Various ways of classifying a robot

Fixed or mobile.
Serial or parallel.
According to degree of freedom (DOF).
Rigid or flexible.
Control – point-to-point, autonomy and “intelligence”.
Most older industrial robots – fixed base and consisting of links
connected by actuated joints.
Many modern robots can move on factory floors, uneven terrains or
even walk, swim and fly (see Module 9 for wheeled mobile robots)!

. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 16 / 28
T YPES AND C LASSIFICATION OF ROBOTS

Various ways of classifying a robot

Fixed or mobile.
Serial or parallel.
According to degree of freedom (DOF).
Rigid or flexible.
Control – point-to-point, autonomy and “intelligence”.
Most older industrial robots – fixed base and consisting of links
connected by actuated joints.
Many modern robots can move on factory floors, uneven terrains or
even walk, swim and fly (see Module 9 for wheeled mobile robots)!

. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 16 / 28
T YPES AND C LASSIFICATION OF ROBOTS (C ONTD .)
S ERIAL V S . PARALLEL Top Platform

Forearm
Spherical Joint
Waist Shoulder
Prismatic
Joint

Actuator
Motion

U Joint

Extensible Leg
Three rotations at Wrist
Fixed Base
PUMA 560 Serial Robot
Figure 3: Parallel robot – Gough-Stewart
Figure 2: PUMA 560 serial robot
platform

Serial robot – a fixed base, links and joints connected sequentially and
ending in a end-effector (see Module 3).
Parallel robot – More than one loop, no natural end-effector (see
Module 4).
. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 17 / 28
T YPES AND C LASSIFICATION OF ROBOTS (C ONTD .)
DOF
Degree of freedom (DOF) determines capability of a robot and the
number of actuated joints (see Module 3, Lecture 1).
6 (DOF) required for arbitrary task in three dimensional space
Painting and welding can be done by 5 DOF (fixed base) robot.
Electronics assembly usually done by 4 DOF SCARA robot.
For extra flexibility and working volume, a 5 or 6 DOF robot is
mounted on a 2 or 3 DOF gantry or a wheeled mobile robot.
Redundant robot with more than 6 DOF for avoiding obstacles, more
flexibility etc.
First three joints (in fixed robots) are classified as Cartesian, spherical,
cylindrical or anthropomorphic.
Cartesian, spherical and cylindrical – motion described by Cartesian,
spherical or cylindrical coordinates.
Anthropomorphic – human arm like.
SCARA – Selective Compliance Adaptive Robot Arm – used in
electronic assembly.
Last three joints in fixed base serial robots form a wrist – orients the
end-effector. . . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 18 / 28
T YPES AND C LASSIFICATION OF ROBOTS (C ONTD .)
DOF
Degree of freedom (DOF) determines capability of a robot and the
number of actuated joints (see Module 3, Lecture 1).
6 (DOF) required for arbitrary task in three dimensional space
Painting and welding can be done by 5 DOF (fixed base) robot.
Electronics assembly usually done by 4 DOF SCARA robot.
For extra flexibility and working volume, a 5 or 6 DOF robot is
mounted on a 2 or 3 DOF gantry or a wheeled mobile robot.
Redundant robot with more than 6 DOF for avoiding obstacles, more
flexibility etc.
First three joints (in fixed robots) are classified as Cartesian, spherical,
cylindrical or anthropomorphic.
Cartesian, spherical and cylindrical – motion described by Cartesian,
spherical or cylindrical coordinates.
Anthropomorphic – human arm like.
SCARA – Selective Compliance Adaptive Robot Arm – used in
electronic assembly.
Last three joints in fixed base serial robots form a wrist – orients the
end-effector. . . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 18 / 28
T YPES AND C LASSIFICATION OF ROBOTS (C ONTD .)
DOF
Degree of freedom (DOF) determines capability of a robot and the
number of actuated joints (see Module 3, Lecture 1).
6 (DOF) required for arbitrary task in three dimensional space
Painting and welding can be done by 5 DOF (fixed base) robot.
Electronics assembly usually done by 4 DOF SCARA robot.
For extra flexibility and working volume, a 5 or 6 DOF robot is
mounted on a 2 or 3 DOF gantry or a wheeled mobile robot.
Redundant robot with more than 6 DOF for avoiding obstacles, more
flexibility etc.
First three joints (in fixed robots) are classified as Cartesian, spherical,
cylindrical or anthropomorphic.
Cartesian, spherical and cylindrical – motion described by Cartesian,
spherical or cylindrical coordinates.
Anthropomorphic – human arm like.
SCARA – Selective Compliance Adaptive Robot Arm – used in
electronic assembly.
Last three joints in fixed base serial robots form a wrist – orients the
end-effector. . . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 18 / 28
T YPES AND C LASSIFICATION OF ROBOTS (C ONTD .)
R IGID V S . F LEXIBLE

Figure 4: PUMA 700 series industrial robot Figure 5: Space shuttle robot arm

Most industrial robots are built heavy and rigid – for required accuracy.
Minimising weight for space applications – links and joints are flexible!
(See Module 8).

. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 19 / 28
T YPES AND C LASSIFICATION OF ROBOTS (C ONTD .)
C ONTROL AND M ODE OF O PERATION

Most older industrial robots were teach and playback

Robot is taken (manually) through the tasks and positions recorded.
During actual operation, the robot plays back the taught sequence.
Very time consuming to teach and robot cannot react to any changes
in the environment.
Computer controlled – inputs are given from a computer often after
being tried out in an off-line programming system.
Sensor driven – Sensors are used to avoid obstacles and take decisions.
Intelligent – Robot can ‘learn’ about the environment using artificial
intelligence (AI) and perform efficiently.
Motion planning and control is discussed in Module 7.

. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 20 / 28
T YPES AND C LASSIFICATION OF ROBOTS (C ONTD .)
C ONTROL AND M ODE OF O PERATION

Most older industrial robots were teach and playback

Robot is taken (manually) through the tasks and positions recorded.
During actual operation, the robot plays back the taught sequence.
Very time consuming to teach and robot cannot react to any changes
in the environment.
Computer controlled – inputs are given from a computer often after
being tried out in an off-line programming system.
Sensor driven – Sensors are used to avoid obstacles and take decisions.
Intelligent – Robot can ‘learn’ about the environment using artificial
intelligence (AI) and perform efficiently.
Motion planning and control is discussed in Module 7.

. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 20 / 28
T YPES AND C LASSIFICATION OF ROBOTS (C ONTD .)
C ONTROL AND M ODE OF O PERATION

Most older industrial robots were teach and playback

Robot is taken (manually) through the tasks and positions recorded.
During actual operation, the robot plays back the taught sequence.
Very time consuming to teach and robot cannot react to any changes
in the environment.
Computer controlled – inputs are given from a computer often after
being tried out in an off-line programming system.
Sensor driven – Sensors are used to avoid obstacles and take decisions.
Intelligent – Robot can ‘learn’ about the environment using artificial
intelligence (AI) and perform efficiently.
Motion planning and control is discussed in Module 7.

. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 20 / 28
T YPES AND C LASSIFICATION OF ROBOTS (C ONTD .)
C ONTROL AND M ODE OF O PERATION

Most older industrial robots were teach and playback

Robot is taken (manually) through the tasks and positions recorded.
During actual operation, the robot plays back the taught sequence.
Very time consuming to teach and robot cannot react to any changes
in the environment.
Computer controlled – inputs are given from a computer often after
being tried out in an off-line programming system.
Sensor driven – Sensors are used to avoid obstacles and take decisions.
Intelligent – Robot can ‘learn’ about the environment using artificial
intelligence (AI) and perform efficiently.
Motion planning and control is discussed in Module 7.

. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 20 / 28
T YPES AND C LASSIFICATION OF ROBOTS (C ONTD .)
C ONTROL AND M ODE OF O PERATION

Most older industrial robots were teach and playback

Robot is taken (manually) through the tasks and positions recorded.
During actual operation, the robot plays back the taught sequence.
Very time consuming to teach and robot cannot react to any changes
in the environment.
Computer controlled – inputs are given from a computer often after
being tried out in an off-line programming system.
Sensor driven – Sensors are used to avoid obstacles and take decisions.
Intelligent – Robot can ‘learn’ about the environment using artificial
intelligence (AI) and perform efficiently.
Motion planning and control is discussed in Module 7.

. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 20 / 28
O UTLINE

.
. .1 C ONTENTS

.
. .2 L ECTURE 1
Introduction to Robotics
Types and Classification of Robots
The Science of Robots
The Technology of Robots

.
. .3 M ODULE 1 – A DDITIONAL M ATERIAL
References and Suggested Reading

. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 21 / 28
T HE S CIENCE OF ROBOTS
New robots with improved capabilities made every day.
Technology changes but the basic science/principles change more
slowly.
Basic ingredients – kinematics, dynamics, control, sensing and
programming.
Kinematics – motion of a object in three dimensional space without
worrying about the cause.
6 degrees of freedom (DOF) – 3 translations and 3 rotations of a rigid
link(see Module 2).
6 actuators at joints to achieve 6 DOF – direct and inverse kinematics
problem (see Module 3 and Module 4).
Linear and angular velocities of rigid bodies and links (see Module 5)
Loss/gain of DOF in velocities and ability to apply/resist external
force/moment.
Serial and parallel manipulator kinematics.
. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 22 / 28
T HE S CIENCE OF ROBOTS
New robots with improved capabilities made every day.
Technology changes but the basic science/principles change more
slowly.
Basic ingredients – kinematics, dynamics, control, sensing and
programming.
Kinematics – motion of a object in three dimensional space without
worrying about the cause.
6 degrees of freedom (DOF) – 3 translations and 3 rotations of a rigid
link(see Module 2).
6 actuators at joints to achieve 6 DOF – direct and inverse kinematics
problem (see Module 3 and Module 4).
Linear and angular velocities of rigid bodies and links (see Module 5)
Loss/gain of DOF in velocities and ability to apply/resist external
force/moment.
Serial and parallel manipulator kinematics.
. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 22 / 28
T HE S CIENCE OF ROBOTS
New robots with improved capabilities made every day.
Technology changes but the basic science/principles change more
slowly.
Basic ingredients – kinematics, dynamics, control, sensing and
programming.
Kinematics – motion of a object in three dimensional space without
worrying about the cause.
6 degrees of freedom (DOF) – 3 translations and 3 rotations of a rigid
link(see Module 2).
6 actuators at joints to achieve 6 DOF – direct and inverse kinematics
problem (see Module 3 and Module 4).
Linear and angular velocities of rigid bodies and links (see Module 5)
Loss/gain of DOF in velocities and ability to apply/resist external
force/moment.
Serial and parallel manipulator kinematics.
. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 22 / 28
T HE S CIENCE OF ROBOTS
New robots with improved capabilities made every day.
Technology changes but the basic science/principles change more
slowly.
Basic ingredients – kinematics, dynamics, control, sensing and
programming.
Kinematics – motion of a object in three dimensional space without
worrying about the cause.
6 degrees of freedom (DOF) – 3 translations and 3 rotations of a rigid
link(see Module 2).
6 actuators at joints to achieve 6 DOF – direct and inverse kinematics
problem (see Module 3 and Module 4).
Linear and angular velocities of rigid bodies and links (see Module 5)
Loss/gain of DOF in velocities and ability to apply/resist external
force/moment.
Serial and parallel manipulator kinematics.
. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 22 / 28
T HE S CIENCE OF ROBOTS
New robots with improved capabilities made every day.
Technology changes but the basic science/principles change more
slowly.
Basic ingredients – kinematics, dynamics, control, sensing and
programming.
Kinematics – motion of a object in three dimensional space without
worrying about the cause.
6 degrees of freedom (DOF) – 3 translations and 3 rotations of a rigid
link(see Module 2).
6 actuators at joints to achieve 6 DOF – direct and inverse kinematics
problem (see Module 3 and Module 4).
Linear and angular velocities of rigid bodies and links (see Module 5)
Loss/gain of DOF in velocities and ability to apply/resist external
force/moment.
Serial and parallel manipulator kinematics.
. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 22 / 28
T HE S CIENCE OF ROBOTS

Dynamics –Motion of links and end-effector due to the action of

external forces/moments.
Obtain equations of motion by using Newton Laws or Lagrangian
formulation (see Module 6).
Direct and inverse problem in dynamics for simulation and control.
Desired motion and feedback control (see Module 7).
A desired task is converted to a smooth desired motion – cubic
trajectories.
Controller ensures that the robot achieves the desired motion.
Simple PID or newer model-based controllers used for improved
performance.
Controllers for force (as well as position) control.
Linear and non-linear control.

. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 23 / 28
T HE S CIENCE OF ROBOTS

Dynamics –Motion of links and end-effector due to the action of

external forces/moments.
Obtain equations of motion by using Newton Laws or Lagrangian
formulation (see Module 6).
Direct and inverse problem in dynamics for simulation and control.
Desired motion and feedback control (see Module 7).
A desired task is converted to a smooth desired motion – cubic
trajectories.
Controller ensures that the robot achieves the desired motion.
Simple PID or newer model-based controllers used for improved
performance.
Controllers for force (as well as position) control.
Linear and non-linear control.

. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 23 / 28
T HE S CIENCE OF ROBOTS

Dynamics –Motion of links and end-effector due to the action of

external forces/moments.
Obtain equations of motion by using Newton Laws or Lagrangian
formulation (see Module 6).
Direct and inverse problem in dynamics for simulation and control.
Desired motion and feedback control (see Module 7).
A desired task is converted to a smooth desired motion – cubic
trajectories.
Controller ensures that the robot achieves the desired motion.
Simple PID or newer model-based controllers used for improved
performance.
Controllers for force (as well as position) control.
Linear and non-linear control.

. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 23 / 28
T HE S CIENCE OF ROBOTS

Dynamics –Motion of links and end-effector due to the action of

external forces/moments.
Obtain equations of motion by using Newton Laws or Lagrangian
formulation (see Module 6).
Direct and inverse problem in dynamics for simulation and control.
Desired motion and feedback control (see Module 7).
A desired task is converted to a smooth desired motion – cubic
trajectories.
Controller ensures that the robot achieves the desired motion.
Simple PID or newer model-based controllers used for improved
performance.
Controllers for force (as well as position) control.
Linear and non-linear control.

. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 23 / 28
T HE S CIENCE OF ROBOTS

Dynamics –Motion of links and end-effector due to the action of

external forces/moments.
Obtain equations of motion by using Newton Laws or Lagrangian
formulation (see Module 6).
Direct and inverse problem in dynamics for simulation and control.
Desired motion and feedback control (see Module 7).
A desired task is converted to a smooth desired motion – cubic
trajectories.
Controller ensures that the robot achieves the desired motion.
Simple PID or newer model-based controllers used for improved
performance.
Controllers for force (as well as position) control.
Linear and non-linear control.

. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 23 / 28
O UTLINE

.
. .1 C ONTENTS

.
. .2 L ECTURE 1
Introduction to Robotics
Types and Classification of Robots
The Science of Robots
The Technology of Robots

.
. .3 M ODULE 1 – A DDITIONAL M ATERIAL
References and Suggested Reading

. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 24 / 28
T HE T ECHNOLOGY OF ROBOTS

Robot is a sophisticated and expensive equipment!

Components making up a robot undergoes constant improvement and
advancement and hard to keep up!!
Main components: mechanical components, actuators, transmission
devices, sensors, electronics and computers.
Mechanical components – links and joints (see Module 2, Lectures 2
and 3).
Links should be strong and lightweight – usually die-cast sections.
Joints are friction and backlash free to the extent possible.
Actuators are electric, pneumatic or hydraulic.
Transmission device needed/required to transfer motion (see
Module 2, Lecture 4).

. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 25 / 28
T HE T ECHNOLOGY OF ROBOTS

Robot is a sophisticated and expensive equipment!

Components making up a robot undergoes constant improvement and
advancement and hard to keep up!!
Main components: mechanical components, actuators, transmission
devices, sensors, electronics and computers.
Mechanical components – links and joints (see Module 2, Lectures 2
and 3).
Links should be strong and lightweight – usually die-cast sections.
Joints are friction and backlash free to the extent possible.
Actuators are electric, pneumatic or hydraulic.
Transmission device needed/required to transfer motion (see
Module 2, Lecture 4).

. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 25 / 28
T HE T ECHNOLOGY OF ROBOTS

Robot is a sophisticated and expensive equipment!

Components making up a robot undergoes constant improvement and
advancement and hard to keep up!!
Main components: mechanical components, actuators, transmission
devices, sensors, electronics and computers.
Mechanical components – links and joints (see Module 2, Lectures 2
and 3).
Links should be strong and lightweight – usually die-cast sections.
Joints are friction and backlash free to the extent possible.
Actuators are electric, pneumatic or hydraulic.
Transmission device needed/required to transfer motion (see
Module 2, Lecture 4).

. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 25 / 28
T HE T ECHNOLOGY OF ROBOTS

Robot is a sophisticated and expensive equipment!

Components making up a robot undergoes constant improvement and
advancement and hard to keep up!!
Main components: mechanical components, actuators, transmission
devices, sensors, electronics and computers.
Mechanical components – links and joints (see Module 2, Lectures 2
and 3).
Links should be strong and lightweight – usually die-cast sections.
Joints are friction and backlash free to the extent possible.
Actuators are electric, pneumatic or hydraulic.
Transmission device needed/required to transfer motion (see
Module 2, Lecture 4).

. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 25 / 28
T HE T ECHNOLOGY OF ROBOTS

Robot is a sophisticated and expensive equipment!

Components making up a robot undergoes constant improvement and
advancement and hard to keep up!!
Main components: mechanical components, actuators, transmission
devices, sensors, electronics and computers.
Mechanical components – links and joints (see Module 2, Lectures 2
and 3).
Links should be strong and lightweight – usually die-cast sections.
Joints are friction and backlash free to the extent possible.
Actuators are electric, pneumatic or hydraulic.
Transmission device needed/required to transfer motion (see
Module 2, Lecture 4).

. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 25 / 28
T HE T ECHNOLOGY OF ROBOTS

Robot is a sophisticated and expensive equipment!

Components making up a robot undergoes constant improvement and
advancement and hard to keep up!!
Main components: mechanical components, actuators, transmission
devices, sensors, electronics and computers.
Mechanical components – links and joints (see Module 2, Lectures 2
and 3).
Links should be strong and lightweight – usually die-cast sections.
Joints are friction and backlash free to the extent possible.
Actuators are electric, pneumatic or hydraulic.
Transmission device needed/required to transfer motion (see
Module 2, Lecture 4).

. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 25 / 28
T HE T ECHNOLOGY OF ROBOTS

Sensors enable a robot to posses “touch and feel”, sense motion and
force, and to “see” and “learn”(see Module 2, Lecture 5).
Sensors are required for feedback control – internal sensors.
External sensors – touch and force, distance measuring and cameras to
“see”.
Specialised sensors for welding, painting, assembly and other industrial
operations.
Computers and software – more expensive than hardware!!
One or more processors to control motion of actuators.
Processor for signal processing and sensing.
Processor for user interface, data logging, communication and other
activities.
Off-line programming system with user friendly GUI to train operator,
verify motion and reducing downtime of a robot.

. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 26 / 28
T HE T ECHNOLOGY OF ROBOTS

Sensors enable a robot to posses “touch and feel”, sense motion and
force, and to “see” and “learn”(see Module 2, Lecture 5).
Sensors are required for feedback control – internal sensors.
External sensors – touch and force, distance measuring and cameras to
“see”.
Specialised sensors for welding, painting, assembly and other industrial
operations.
Computers and software – more expensive than hardware!!
One or more processors to control motion of actuators.
Processor for signal processing and sensing.
Processor for user interface, data logging, communication and other
activities.
Off-line programming system with user friendly GUI to train operator,
verify motion and reducing downtime of a robot.

. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 26 / 28
T HE T ECHNOLOGY OF ROBOTS

Sensors enable a robot to posses “touch and feel”, sense motion and
force, and to “see” and “learn”(see Module 2, Lecture 5).
Sensors are required for feedback control – internal sensors.
External sensors – touch and force, distance measuring and cameras to
“see”.
Specialised sensors for welding, painting, assembly and other industrial
operations.
Computers and software – more expensive than hardware!!
One or more processors to control motion of actuators.
Processor for signal processing and sensing.
Processor for user interface, data logging, communication and other
activities.
Off-line programming system with user friendly GUI to train operator,
verify motion and reducing downtime of a robot.

. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 26 / 28
T HE T ECHNOLOGY OF ROBOTS

Sensors enable a robot to posses “touch and feel”, sense motion and
force, and to “see” and “learn”(see Module 2, Lecture 5).
Sensors are required for feedback control – internal sensors.
External sensors – touch and force, distance measuring and cameras to
“see”.
Specialised sensors for welding, painting, assembly and other industrial
operations.
Computers and software – more expensive than hardware!!
One or more processors to control motion of actuators.
Processor for signal processing and sensing.
Processor for user interface, data logging, communication and other
activities.
Off-line programming system with user friendly GUI to train operator,
verify motion and reducing downtime of a robot.

. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 26 / 28
T HE T ECHNOLOGY OF ROBOTS

Sensors enable a robot to posses “touch and feel”, sense motion and
force, and to “see” and “learn”(see Module 2, Lecture 5).
Sensors are required for feedback control – internal sensors.
External sensors – touch and force, distance measuring and cameras to
“see”.
Specialised sensors for welding, painting, assembly and other industrial
operations.
Computers and software – more expensive than hardware!!
One or more processors to control motion of actuators.
Processor for signal processing and sensing.
Processor for user interface, data logging, communication and other
activities.
Off-line programming system with user friendly GUI to train operator,
verify motion and reducing downtime of a robot.

. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 26 / 28
T HE T ECHNOLOGY OF ROBOTS

Sensors enable a robot to posses “touch and feel”, sense motion and
force, and to “see” and “learn”(see Module 2, Lecture 5).
Sensors are required for feedback control – internal sensors.
External sensors – touch and force, distance measuring and cameras to
“see”.
Specialised sensors for welding, painting, assembly and other industrial
operations.
Computers and software – more expensive than hardware!!
One or more processors to control motion of actuators.
Processor for signal processing and sensing.
Processor for user interface, data logging, communication and other
activities.
Off-line programming system with user friendly GUI to train operator,
verify motion and reducing downtime of a robot.

. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 26 / 28
O UTLINE

.
. .1 C ONTENTS

.
. .2 L ECTURE 1
Introduction to Robotics
Types and Classification of Robots
The Science of Robots
The Technology of Robots

.
. .3 M ODULE 1 – A DDITIONAL M ATERIAL
References and Suggested Reading

. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 27 / 28
M ODULE 1 – A DDITIONAL M ATERIAL

References & Sugested Reading

. . . . . .
A SHITAVA G HOSAL (IIS C ) ROBOTICS : A DVANCED C ONCEPTS & A NALYSIS NPTEL, 2010 28 / 28