This presentation discusses about robots and its types and focuses on autonomous robots and implementation of control theory in robots.

2. Robotics and
robotics technology
Robot types
Machine athleticism
Control theory
and example

4. Robotics Technology
Most robots have at least the following four parts:

5. Most robots of today are nearly deaf
and blind. Sensors can provide some
limited feedback to the robot so it can
do its job.
The sensor sends information, in the
form of electronic signals back to the
controller. Sensors also give the
robot controller information about its
surroundings and lets it know the
exact position of the robot, or the
state of the world around it.

6. An effector is any device that
affects the environment.
Robots control their effectors,
which are also known as end
effectors. Effectors include
legs, wheels, fingers, and
fins/arms. Controllers cause
the effectors to produce
desired effects on the
environment.

7. An actuator is a component of a machine
that is responsible for moving or
controlling a mechanism or system.
An actuator requires a control signal and
a source of energy. The control signal is
relatively low energy and may be electric
voltage or current. The supplied main
energy source may be electric current.
When the control signal is received, the
actuator responds by converting the
energy into mechanical motion.

8. The robots are controlled through
computers.
This computer is the controller. The
controller functions as the "brain" of
the robot. The controllers are also
used to create job functions.
Controllers are not necessarily
computers they can also be specific
remote devices like remote
controllers. Basically robots are
operated through controllers.
How?

10. Mobile robots are able to move,
usually they perform task such as
search areas. A prime example is
the Mars Explorer, specifically
designed to roam the mars surface .
Mobile robots are used for task
where people cannot go. Either
because it is too dangerous or
because people cannot reach the
area that needs to be searched.

11. Rolling robots have wheels
to move around. These are
the type of robots that can
quickly and easily search
move around. However they
are only useful in flat areas,
rocky terrains give them a
hard time. Flat terrains are
their territory.

12. Robots on legs are usually
brought in when the terrain is
rocky and difficult to enter with
wheels. They can keep their
balance stable even in rocky
areas and can keep themselves
from tumbling. That’s why most
robots with have at least 4 of
them, usually they have 6 legs
or more.

13. Robots are not only used to
explore areas or imitate a
human being. Most robots
perform repeating tasks
without ever moving an
inch. Most robots are
‘working’ in industry
settings and are stationary

14. Autonomous robots are self
supporting or in other words
self contained. In a way they
rely on their own ‘brains’.
Autonomous robots run a
program that give them the
opportunity to decide on the
action to perform depending
on their surroundings. At
times these robots even
learn new behavior.

15. How robots are made
athletic?
How they by itself take
decisions and perform tasks?
and how they avoid
obstacles to be represented
autonomous embodiments?
Many questions arises in self
drive robots and answer is
control theory.

16. In machine athleticism:
estimation and control
algorithms are used,
for synthesizing algorithms
mathematical model
(physical models +
mathematical properties) and
control theory is used.

17. Controls deals with dynamical
systems (mobile robot) so, control
deals with the change occurred in
system.
The Basic building blocks:
State Representation of what the
system is currently doing
(velocity/altitude of a robot).
Dynamics Description of how state
changes.
Reference What we want the
system to do (set velocity to 60 m/s).
Output Measurement of (some
aspects of ) the system. It tells us what
system is doing (moving at 15 m/s
velocity).

18. Input Control signal
Feedback Mapping from outputs to
inputs. So this feedback mapping is a
key to control the system in an
effective way. (robot is at 0 velocity and
wanted to be moved on 15 m/s)
r y
y
r-y
xu
+
-

19. Lets take an example of
danger altitude.
For instance 30 feet =
vulnerable to collide.
Proximity measure distance,
i.e. current altitude and
distance from ceiling (y) =29
ft and and r = 28 ft, error = 1
ft so, minimize error 29-1 =
28 alt, apply relative control
signals.

20. From start to goal state. How it works. Internal
reference plane (scale points to goal),
proximity distance (obstacle alert), move left or
right (minimum distance in reference in both
cases).