Introduction to Robotics

1. Introduction to
Robotics
Garvit Arya , MAIT

2. What is a robot?
"I can't define a robot, but I know one when I see one."
-Joseph Engelberger
A robot is a machine built for real-world functions that is
computer-controlled…

3. Robot Components
 Body
 Actuators
 Sensors
 Effectors
 Controller
 Software

4. Key Components
Base
Manipulator
linkage
Controller
Sensors Actuators
User
interface
Power conversion
unit

5. Robot::Body
 Typically defined as a graph of links and joints:
A link is a part, a shape with
physical properties.
A joint is a constraint on the
spatial relations of two or
more links.

6. Robot::Actuators
 Actuators are the “muscles” of the robot.
 These can be electric motors, hydraulic systems,
pneumatic systems, or any other system that can apply
forces to the system.

7. Robots  Physical sensors and
effectors
environment
ROBOT
sensors
effectors

8. Robot::Sensors
 Sensors that tell the robot position/change of
joints: odometers, speedometers, etc.
 Force sensing. Enables compliant motion--robot
just maintains contact with object (video:
compliant)
 Sonar. Send out sound waves and measure how
long it takes for it to be reflected back. Good for
obstacle avoidance.
 Vision systems

9. Sensor Classes
 Range finders: these sensors are used to determine
distances from other objects, e.g. bumpers, sonar,
lasers, whiskers, and GPS.

10. Sensor Classes
 Imaging sensors: these create a visual representation
of the world.
Here, a stereo
vision system
creates a depth
map for a Grand
Challenge
competitor.

11. Sensor Classes
 Proprioceptive sensors: these provide information
on the robot’s internal state, e.g. the position of its
joints.
Shaft decoders
count revolutions,
allowing for
configuration data
and odometry.

12. Robot::Effectors
 Converts software commands into physical motion
 Typically electrical motors or hydraulic/pneumatic
cylinders
 Two main types of effectors:
 locomotion
 Manipulation
 Examples:
 Hands
 Torch
 Wheels
 Legs

13. Robot::Controller
 Controllers direct a robot how to move.
 There are two controller paradigms
 Open-loop controllers execute robot movement
without feedback.
 Closed-loop controllers
execute robot movement
and judge progress with
sensors. They can thus
compensate for errors.
RoboBoard Robotics Controller

14. Types Of Robots
1- Manipulator

15. 3- Wheeled Robot2- Legged Robot

16. 5- Unmanned Aerial Vehicle4- Autonomous Underwater Vehicle

17. What Can Robots Do:
Decontaminating Robot
Cleaning the main circulating pump housing in the
nuclear power plant
Jobs that are
dangerous for humans

18. Repetitive jobs that are
boring, stressful, or labor-
intensive for humans
Welding Robot

19. The SCRUBMATE Robot
Menial tasks that human
don’t want to do

20. •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
Industries Using Robots

21. What Can Robots Do?
Industrial Robots
Material Handling
Manipulator
Assembly Manipulator
Spot Welding
Manipulator
•Material handling
•Material transfer
•Machine loading and/or unloading
•Spot welding
•Continuous arc welding
•Spray coating
•Assembly
•Inspection

22. Robots in Space
NASA Space Station

23. Robots in Hazardous Environments
TROV in Antarctica operating
under water
HAZBOT operating in
atmospheres containing
combustible gases

24. Medical Robots
Robotic assistant for
micro surgery

25. Robots at Home
Sony AidoSony SDR-3X Entertainment Robot

26. Future of Robots: I
Cog Kismet
Artificial Intelligence

27. Future of Robots: II
Garbage Collection CartRobot Work Crews
Autonomy

28. Future of Robots: III
HONDA Humanoid Robot
Humanoids

29. Robot Ethics Laws
0th) A robot may not harm humanity, or, by
inaction, allow humanity to come to
harm.
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 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 Law.

30. T H A N K
Y O U