Damascus University

Computers and Automation Engineering – “Robotic Master 2023”

ROBOTIC
Introduction
Robotic V.S Robot
❑ A Robot:
o Is a reprogrammable, multifunctional machine (mechanical device or
manipulator) designed to move material, parts, tools, or specialized
devices through variable programmed motions for the performance of
a variety of tasks.”

❑ Robotic:
o Is the branch of technology that deals with the design, construction,
operation, and application of robots, as well as computer systems for
their control, sensory feedback, and information processing.
What is Robot?
❑ Robot is an oriented machine that can:
Sense Plan Act

▪ Where am I ?
▪ Where are you ?
▪ What this is ?
▪ ... … … … … … ?
How do I get there? be Relax!! I will do that for you
Automation vs. Robots
❑ Automation
Machinery designed to carry out a specific task
o Bottling machine
o Dishwasher
o Paint sprayer

❑ Robots
Machinery designed to carry out a variety of tasks
o Pick and place arms
o Mobile robots
o Computer Numerical Control machines
Robot Generations, Word, History
▪ Machines, like the puppets in this theater, were designed
to mimic human actions over 3,000 years ago.
▪ Word “Robot” coined by Karel Capek in a 1921 science-
fiction Czech play
▪ Robota in Czech is a word for “worker or servant”
▪ Today’s Robots
 Types of Robots
Wheeled Robot Legged Robot Manipulator Bio-Inspired Robot Bio-Inspired Robot

Underwater vehicle Aerial vehicle (drone) Tele-Robotics Bio-Inspired Robot

This Course - Manipulator
❑ A manipulator is a device used to manipulate materials
without direct contact.
o Robotic Arms
❑ It is an arm-like mechanism that consists of a series of
segments, usually sliding or jointed called cross-slides,
which grasp and move objects with a number of degrees
of freedom (DOF).
❑ Examples of robotic manipulators are:
o Canadarm
o Terabot-S
o SCARA
o da Vinci Surgical System
Manipulators

SCARA

da Vinci Surgical System Industrial Manipulators

 References (1)
Journals
Books
• Industrial Robot: An International
John J. Craig “Introduction to Robotics: Journal
Mechanics and Control”, 3ed, - Pearson Ed, 2005 • IEEE Transactions on Robotics
• IEEE Transactions on Systems Man and
S, L. and S, B., “Modeling and Control of Robot Cybernetics
Manipulators”, McGraw Hill, 2Ed, 2000. • ASME Journal of Dynamic Systems,
Measurement and Control
S. B. Niku, “Introduction to Robotics, Analysis,
• Robotics and Autonomous Systems.
Systems, Applications”, Prentice Hall, 2001.
• Robotica, Cambridge University.
J. Angeles, “Spatial Kinematic Chains: Analysis, • Journal of Robotic Systems, John Wiley
and Sons
Synthesis and Optimization”, Springer Verlag,
• International Journal of Robotics
1982 Research, MIT Press
David Myszka “Machines and Mechanisms:
Software
Applied Kinematic Analysis”, 4/e.
• Robotics Toolbox for Matlab
G. Strang, “Linear Algebra and Its Applications”, • Robotics Software
2nd Ed., 1980. (or any linear algebra text) • ROS
 References (2)
http://www.mit.edu/Massachusetts Institute of Technology http://www.robots.com/

NASA gives MIT a

humanoid robot to
develop software for
future space missions

www.facebook.com/Robotics1 www.facebook.com/Mechatronics1 https://ifr.org/

Sales of industrial robots from 2004 to 2018
https://www.statista.com/statistics
2017

30%

2016
Cultural - Science Fiction - Laws of Robotics
Laws of Robotics – RoboEthics
1st: A robot may not injure a human being or, through inaction, allow a human being to
come to harm.

2nd: A robot must obey the orders given it by human beings except where such orders
would conflict with the First Law.

3rd: A robot must protect its own existence as long as such protection does not conflict
with the First or Second Laws.

0th: A robot may not injure humanity, or, by inaction, allow humanity to come to harm.
Robotic & Artificial Intelligence

Robot Pills

Military Robots
The mechanical structure
of a robot manipulator
 Robot Manipulators
❑ The mechanical structure of a robot manipulator consists
of: joint

o A sequence of rigid bodies (links) link link

wrist
o interconnected by means of articulations (joints);
joint
❑ A manipulator is characterized by an arm that ensures
mobility,
o a wrist that confers dexterity, and an end-effector that link
performs the task required of the robot. joint
❑ The fundamental structure of a manipulator is the serial
or open kinematic chain. Base
Description of position and orientation 1
❑ In the study of robotics, we are concerned with
the location of objects in 3D space.
❑ These objects are:
X
1)The links of the manipulator, Y
2)The parts and tools with which it deals, Z
Y
3)Other objects in the manipulator's environment. X
❑ Each object attach a coordinate system, or frame Y
Z
❑ Describe frame with respect to some reference Base
Z X
coordinate system.
Description of position and orientation 2
❑ Manipulator’s objects are described by just two
attributes:
1) Position (X,Y,Z)
X
2) Orientation (R1,R2,R3) Y
Z
Y
❑ Describe the position and orientation of this frame
X
(Object) with respect to: Y
Z
o reference coordinate system. Base

Z X
Description of position and orientation 3
❑ describe the position of the manipulator by giving a
description of:
o The tool frame, which is attached to the end-
X
effector, Y
Tool frame
Relative to: Z
Y
o The base frame, which is attached to the nonmoving X
Y
base of the manipulator. Z
Base

Z X
Base frame
kinematics of manipulators
❑ Kinematics is the science of motion that deal with motion without regard
to the forces which cause it.
❑ The study of the kinematics of manipulators refers to all the geometrical
and time-based properties of the motion.
1) Position
2) Velocity
3) Acceleration
4) All higher order derivatives
degrees of freedom
❑ In mechanics, the degree of freedom (DOF) of a mechanical system is:
o the number of independent parameters that define its configuration
(determine the state of a physical system).
❑ (of Manipulator)
o Is the number of independent position variables that would have to be
specified in order to locate all parts of the mechanism.
Forward kinematics of manipulators
❑ Forward kinematics:
o Is the static geometrical problem of computing the position and
orientation of the end-effector of the manipulator.
❑ The forward kinematic problem: gripper

1) Given a set of joint variables,

2) Compute the position and orientation of the tool frame
relative to the base frame. joint variable

❑ Kinematic equations: (Angle)

o Describe the tool frame relative to the base frame as a

function of the joint variables.
Inverse kinematics of manipulators
❑ Inverse kinematics problem:
1) Given the position and orientation of the end-effector of the manipulator (i.e.
The tool frame), (Desired).
2) Calculate all possible sets of joint variables that could be used to achieve this
given position and orientation.

❑ Note: The inverse kinematics VS. The forward kinematics.

Components of a Robotic System

Control Actuators

Sensors

User Interface Power Unit

 ROBOT CONTROL SYSTEM

Control System
Trajectory [P, V , A]d Linear position control  Robot
P, V
generation NonLinear position control
Force control
Terminology and
Definitions
 Manipulator’s workspace
❑ The existence or nonexistence of a kinematic
solution defines the workspace of a given
manipulator.
❑ The lack of a solution means that the manipulator
cannot achieve the desired position and
orientation because it lies outside of the
manipulator's workspace.
Manipulator’s workspace

Cartesian Cylindrical

SCARA
Selective Compliant Assembly
Robot Arm.
Spherical Anthropomorphic
Joints of Manipulator

REVOLUTE PRISMATIC SPHERICAL

 Joints of Manipulator
joint variable
𝜽𝒎𝒂𝒙

𝜽𝒊 𝟎 𝒅𝒎𝒂𝒙

Axis
𝒅𝒊
Out of page 𝟎
Axis

Revolute Joint Prismatic Joint

Manipulator Name (Abbreviation)
𝜽𝟑
joint variable Revolute
Joint

𝜽𝟑
Revolute 𝒅𝟐
Joint Prismatic
R Joint
P
𝜽𝟐

Revolute 𝜽𝟏
𝜽𝟏
Joint
The base RRR (or 3R) The base RPR
RPR - planer
RRP
Frames
Frame : B Frame : A

Ẑ B  p xb  Ẑ A  p xa 
   
B
P =  Pyb 
A
P =  Pya 
 Pz   Pz 
B
P  b A
P Py
 a
BORG AORG

Pz

YˆB
X̂ A
YˆA
X̂ B px
𝐴
𝐵𝑇 ∶ {B} relative to {A} 𝐹𝑟𝑎𝑚𝑒: {𝐵}
𝑍መ𝐵
𝑃
𝐹𝑟𝑎𝑚𝑒: {𝐴}
𝑍መ𝐴 B
P 𝑋෠𝐵
A
P BORG
A
(BORG )

𝑌෠𝐵
AORG
𝑋෠𝐴
𝑌෠𝐴
Each object attach a coordinate system, or frame
Describe frame with respect to some reference coordinate system.

The Base

Reference Coordinate System

 The station frame, {S}
❑ {S} is located in a task-relevant location.

❑ {S} is the universe frame, and all actions of

W 
the robot are performed relative to it. T 
❑ It is sometimes called the task frame, the
world frame, or the universe frame. G
B
S
❑ The station frame is always specified with
respect to the base frame, that is, BT
S
 The wrist frame, {W}
❑ {W} is affixed to the last link of the
manipulator. W 
❑ {W} has its origin fixed at a point called: T 
o The wrist of the manipulator.
G
❑ It is defined relative to the B S
base frame, that is, WBT
 The tool frame, {T}
❑ {T} is affixed to the end of any tool the robot
happens to be holding. W 
T 
❑ When the hand is empty,
o {T} is usually located with its origin between
the fingertips of the robot. G
B S
❑ The tool frame is always specified with
respect to the wrist frame: W T
T
 The goal frame, {G}
{G} is a description of the location to which the
W 
❑

robot is to move the tool.

T 
❑ At the end of the motion, the tool frame should
be brought to coincidence with the goal frame.
G
❑ {G} is always specified relative to the station B S
frame: S
GT
Forward and Inverse of manipulator
Manipulators are based on serial architectures
Example 1
Manipulators are based on serial architectures
Example 2
Manipulators are based on serial architectures
Example 3
APPENDIX
Mobile Robots
❑ The main feature of mobile robots is the presence of a mobile base which
allows the robot to move freely in the environment.
❑ a mobile robot consists of one or more rigid bodies equipped with a
locomotion system.

Bio-mimetic
 Classes of mobile robots

❑ Wheeled mobile robots

o consist of a rigid body (base or chassis) and a system of
wheels which provide motion with respect to the ground.

❑ Legged mobile robots

o are made of multiple rigid bodies, interconnected by
prismatic joints or, more often, by revolute joints.
Robot Mechanism: Mechanical Elements

Inclined plane wedge Gear, rack, pinion, etc.

Chain and Cam and
sprocket Follower

Lever
Slider-Crank Linkage
Robot Sensors

Accelerometer In-Sight Vision

Flexiforce Sensor
Using Piezoelectric Effect Sensors

Infrared Ranging Tilt Sensor

Sensor
Robot Actuators

Hydraulic Motor Pneumatic Cylinder Stepper

Motor

Pneumatic Motor DC Motor Servo Motor

Robot Controller Hardware

RoboBoard Robotics BASIC Analog to

Controller Stamp 2 Module Digital
Converter
Operational Amplifiers

LM358 LM1458 dual

LM358
operational amplifier
Raspberry Pi
The Raspberry Pi is a series of small
single-board computers developed in
the United Kingdom by the Raspberry
Pi Foundation to promote the teaching
of basic computer science in schools
and in developing countries.

Release date: 29 February 2012;

Sales reached 19 million.
 Arduino
❑ Arduino is an open source computer
hardware and software company,
project, and user community that
designs and manufactures single-board
microcontrollers and microcontroller
kits for building digital devices and
interactive objects that can sense and
control objects in the physical and
digital world.
Computers and Automation Engineering – “ROBOTIC”