Module 1 –

Fundamentals of
Robotics
 Why Use Robots?
• Most robots are designed to be a helping hand. They help people with
tasks that would be difficult, dirty, dangerous, or dull for a human

• Can carry very heavy loads

• Do not get bored doing the same job over and over again, 24 hours a day.

• Have been proven to increase productivity.

 What are the 7 broad areas often Using Robots?

1. Dangerous environment
2. Industrial
3. Entertainment and Leisure
4. Space
5. Research
6. Underwater
7. Medical
Dangerous Environments
• Carrying out bomb disposal
• Collecting data from volcanoes
• Exploring
• Military
• Rescue
 Dangerous Environments

Predator flown via remote control by airmen on the ground flies Air Force Predator (Aerial Vehicle)
up to 25,000 feet.
Used to conduct reconnaissance and attack operations; takes
real-time photos of troop movements on ground.
Designed for Firefighter Rescue

 Uses its arms to identify and pick up people who might have passed out
from smoke and fumes.
Soldier Rescue
 Industrial Robots
• A typical industrial robot is a robot arm with several
independent joints and you will see them welding,
painting and handling heavy materials..

‘Pick and place’ robots can move products from a

conveyor belt to package them at very quick speeds.
 Industrial Robots
An example of a mobile robot that is in common use today is the automated guided
vehicle (AGV)

• An AGV is a mobile robot that follows

markers or wires in the floor, or uses
vision or lasers.
 Industrial Robots
Used for stacking products
on pallets for shipping
and storage.
Robotic Paint Sprayer

Robots are very useful in food

processing since it needs to be done
in a germ-free environment.
Entertainment & Leisure
Robots
 Space Robots
• NASA is constantly developing and producing
robots which can perform maintenance in
space – especially on its International Space
Station.

 2003 Rover landing on Mars

 Space Robots
 Humanoid robot joined crew of International Space Station

• R2 is able to use the same tools station

crew members use.

• In the future, the greatest benefits of

humanoid robots in space may be as
assistants or stand-in for astronauts
during spacewalks or for tasks too
difficult or dangerous for humans.
Research Robots
• One important area of robotics research is to enable the
robot to cope with its environment

• Honda is the company that is spending a great deal of

money developing research robots, such as the Asimo show
on left.

• ASIMO moves like we do and could be useful to help the

elderly or people in wheelchairs. It can answer the door,
pick up the phone or get a cup of tea.
Underwater Robots
• Underwater robots are often remote
controlled vehicles with thrusters for
maneuvering and robot arms for grabbing.
• They are particularly useful in the oil
industry for welding and valve maintenance
on oilrigs.
• Robotuna used for exploration
 Medical Robots
 Used in minimal invasive surgical
procedures that reduce trauma in
surgery
 In laboratories, used to transport
biological or chemical samples
between instruments.

 Prosthetics.
 Future Medical Robots
Scientists believe that tiny robots (called “nanorobots”) will be developed which
will be used in patients’ bloodstreams to cure illness.
 Similarities and Differences
Remote-Control Devices Telerobots Autonomous robots

No physical connection to the Makes decisions based on programming and

Physical link between
remotely operated system (i.e. sensory feedback. Controlled by an internal
controller and object being
WIFI). Requires remote sensory computer.
controlled
feedback

Human operator is controlling

Human operator is controlling the Work for an extended period without human
the device without physically
device without physically touching it intervention
touching it

Short Distance Any Distance Any Distance

Requires remote camera or

interactive component to sense Gains information and about the surrounding
what is happening on the remote environment and adapt to changes.
end of the system
 Methods To Move (Other than by
tracks & wheels)

• Swimming Robots Flying Robots

 Walking Robots  Climbing Robots
 MAJOR FIELDS OF ROBOTICS

1. Human-robotic interface

2. Mobility or Locomotion

3. Manipulation

4. Programming

5. Sensors and Perception

 Human-robotic interface

• How does the robot and operator communicate with each other?

• The Interface is HOW the human operator controls the robot.

Examples.
a) Controller for a Xbox
b) Computer keyboard used to program a robot.
 Mobility or Locomotion

• How does the robot move?

• Some only need to move arms or grippers
• Others need to be completely mobile and move from place to place

Examples.
a) A robotic arm rotates and stops at a specific position to paint car parts
b) An operator directs a personal transporter to move from one location to another.
 Manipulation

• How does the robot physically handle objects?

Examples.
a) Mechanical claw picks up & transports objects.
b) Robotic arm w/ mechanical grippers load candy into boxes.
c) Robotic hand welds a seam on a car and paints the car.
 Programming

• How the operator commands the robot to do what needs to be done.

• Software is written in the computer’s language for what the robot understands.

• Some advanced program allows for the robot to learn and adapt to changes in the environment.
 Sensors and Perception

• Robots rely on sensors to get information about their surroundings to

determine where it is and what it should do next.

• Examples.
a) Ultrasonic sensors determines the distance of objects by emitting sound pulses (too
high humans to hear), and then measuring the time delay to detect the sound pulse
echo. Used in submarine navigation since it works in the dark.
 Sensors and Perception
Examples.
b) Light sensors can be used for simple navigation by allowing a robot to follow a line,
such as w/ AGVs. Other robots navigate using infrared light (the same invisible light
used in your TV remote control.

c) Touch sensors help otherwise blind robots with navigation: feelers, contact switches,
bump sensors. . .all let a robot know when it has made contact with walls or objects.
i.e. Robotic vacuums

d) Radio signal sensors let robots communicate with each other at a distance.
Electromagnetic sensors are used by robotic lawnmowers to stay within the bounds of
the yard.
 Robot Specification
• Specification Sheet for RS020N-A (By Kawasaki Heavy Industries)
• Link for RS020N video (https://youtu.be/_aKqyWD8a2s)
• Blog on Industrial robots (https://robotics.kawasaki.com/ja1/xyz/en/1804-03/)
 Materials
• Steel
• Rubber
• Aluminum
• Kevlar
 Introduction to mechanisms
• Links
 Introduction to mechanisms
• Type of connection between links
 Robot Configuration
• Cartesian
• Cylindrical
• Polar/Spherical
• SCARA (Selective Compliance
Assembly Robot Arm)
• Articulated/Angular
Social and Economic Issues
Social and Economic Issues
Social and Economic Issues
Social and Economic Issues
 Design Consideration, selection &
Performance Evaluation
• Design Considerations, Selection and Performance Evaluation parameters:
• Size
• Features
• Affordability
• Energy consumption
• Safety
• Continuous operation time
• Load handling capacity
 Safety and protection standards
• Robotics Safety Requirements - ISO/DIS 10218-1.2(en
), Robotics — Safety requirements — Part 1: Industrial robots
• Robotics and Robotics Devices (Safety requirements for Industrial Robots) -
ISO 10218-1:2011(en
), Robots and robotic devices — Safety requirements for industrial robots —
Part 1: Robots