Introduction to Robotics

Department of Biomedical Engineering ITS

 Outline

• Provides an understanding of the basics of robot design and the use of robots in the
medical field, such as prosthetic robots, robots for medical surgery, Minimally Invasive
Objective Surgery (MIS), and the latest developments in medical robotics technology.
• Students are expected to be able to implement this knowledge in the development of
medical robotics technology.

1.John J. Craig, “Introduction to Robotics : Mechanics and Control”, Pearson Prentice Hall, 2005
2. Richard M. Murray, Zexiang Li, S. Shankar Sastry, “A Mathematical Introduction to Robotic
Manipulation”, CRC Press, 1994
References 3. Achim Schweikard, Floris Ernst, “Medical Robotics”, Springer International Publishing, 2015
4. Paula Gomes (Ed), “Medical Robotics : Minimally Invasive Surgery”, Woodhead Publishing, 2012
5. Pedro E., Albert M. Cook, “Robotic Assistive Technologies : Principles and Practice”, CRC Press Taylor
& Francis Group, LLC, 2017

• Basic concepts of robot design and robot application in the medical world
Course • Minimally Invasive Surgery (MIS)
outline • interventional radiology robot
• The latest developments related to medical robotics

2
 Outline

• Definition
• Types
• Uses
• History
• Key components
• Applications
• Future
 Robot Defined
• Word robot was coined by a
Czech novelist Karel Capek in a
1920 play titled Rassum’s
Universal Robots (RUR)
• Robot in Czech is a word for
worker or servant Karel Capek
• Definition of robot:
–Any machine made 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
 Robot Defined
Robot stands for Residents Official Board of Technology
 Japan count some machines as robots that
in other parts of the world are not
considered robot (Factory Machines) →
the number reported for Japan are
somewhat inflated.

FIGURE 1.2: Yearly installations of multipurpose industrial robots for

1995–2000 and forecasts for 2001–2004 [3]
robot prices dropped while human labor
costs increased.
The main reasons for using robot in industry
: cheaper, more effective-faster , more
accurate, more flexible, Robots are capable
of performing many more tasks that may be
dangerous or impossible for human workers.

FIGURE 1.3: Robot prices compared with human labor costs in the 1990s [3].

[3] The International Federation of Robotics, and the United Nations, ‘‘World Robotics 2001,’’ Statistics, Market Analysis,
Forecasts, Case Studies and Profitability of Robot Investment, United Nations Publication, New York and Geneva,
Types of Robots: I
Manipulator
 Types of Robots: II

Legged Robot Wheeled Robot

 Types of Robots: III
Autonomous Underwater Vehicle Unmanned Aerial Vehicle
robot bawah air yang digunakan untuk
mendeteksi serta membersihkan lautan dari
keberadaan ranjau apung.
• kamera beresolusi 12 mp
• inductive proximity sensor --> detonator atau
komponen yang dapat menyebabkan ledakan
• gripper,
• dimensi 49,5 x 37,5 x 15 cm
Link : http://bayucaraka.its.ac.id/
 Robot Uses: I

Jobs that are dangerous

for humans

Decontaminating Robot
Cleaning the main circulating pump
housing in the nuclear power plant
 Robot Uses: II

Repetitive jobs that are

boring, stressful, or labor-
intensive for humans

Welding Robot
 Robot Uses: III

Menial tasks that human

don’t want to do

The SCRUBMATE Robot

Laws of Robotics
• Asimov proposed three “Laws of
Robotics” and later added the
“zeroth law”
• Law 0: A robot may not injure
humanity or through inaction,
allow humanity to come to harm
• Law 1: A robot may not injure a
human being or through inaction,
allow a human being to come to
harm, unless this would violate a
higher order law
• 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

 Six-degree-of-freedom PUMA
560 robot

(Shadia Elgazzar, 1985)

 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 : Emarging
application in small
robotics and mobile robots
drive a second growth of
start-up companies and
reseach

2003: NASA’s Mars Exploration Rovers will launch toward

Mars in search of answers about the history of water on Mars
 Knowledge base for Robotics
•Typical knowledge base for the design and operation of robotics
systems
–Dynamic system modeling and analysis
–Feedback control
–Sensors and signal conditioning
–Actuators (muscles) 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
 Sensors
•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 Sensor
 Vision Sensors

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.
 Force Sensors
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.
 Proximity Sensors

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
 Tilt Sensors
Tilt sensors: e.g., to balance a robot

Example

Tilt Sensor
Planar Bipedal Robot
 Actuators/Muscles: 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/Muscles: II

Pneumatic Cylinder

Hydraulic Motor Stepper Motor

DC Motor

Pneumatic Motor Muscle Wire 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
 Storage Hardware
Storage devices: e.g., memory to store the
control program and the state of the robot system
obtained from the sensors
 Computation Hardware
Computing engine that calculates control
commands

RoboBoard Robotics Controller BASIC Stamp 2 Module

 Interface Hardware
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

 Robots in Industry
•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
 Industrial Applications of Robots

•Material handling
•Material transfer
•Machine loading and/or
unloading
•Spot welding Material Handling Manipulator

•Continuous arc welding

•Spray coating
•Assembly
•Inspection
Assembly 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 in Military

PREDATOR
SPLIT STRIKE:
Deployed from a ISTAR
sub’s hull, Manta
could dispatch tiny
mine-seeking AUVs
or engage in more
explosive combat.

GLOBAL HAWK GOLDENEYE

 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

 TUGAS
1. Dapatkan satu paper terkait Assistive Robot untuk orang disabilitas atau orang
yang mengalami kelumpuhan
2. Buat Resume terkait Paper tersebut (.doc; .ppt)
3. Tentukan sensor dan actuator yang ada pada Assistive Robot tersebut.
4. Buat skematik rangkaiannya pada proteus dan buat simulasinya.