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01 Introduction to Robotics.pptx
- 1. Introduction to Robotics Dynamics, Control and Design of Robotics (EE4314) Randeera Liyanage BSc (Hons) in Engineering in Electronics and Telecommunication Engineering/ in Mechanical Engineering Extracted Presentation From: Dr. Buddhika Jayasekara (University of Moratuwa)
- 2. Syllabus of UoM – (Reference Only) 2 1. Introduction History of Robotics and Mechatronics, Different disciplines ofRobotics, What to be expected in the future. 2. Kinematics and Kinetics of Machines Practical movements in 2D/3D, Rigid motions and homogeneous transformation, Forward and Inverse Kinematics, Velocity Kinematics Jacobian 3. Path and Trajectory Planning 4. Dynamics 5. Control and Sensing aspects in robotics and mechatronics Sensors and Actuators for robotics, Introduction to Artificial Intelligence, Microprocessor based Controllers, Vision based controllers.
- 3. ROBOTS [Humanoid Robot] 3 [Industrial Robot Hands] [Mobile robot assistant] Ref: new.abb.com/products/robotics asimo.honda.com/
- 4. Webster Dictionary An automatic device that performs functions normally ascribed to humans or machine in the form of a human The International Organization for Standardization -ISO An automatically controlled, re-programmable, multipurpose, manipulator programmable in three or more axes, which may be either fixed in place or mobile for use in industrial automation applications The Robotic Institute of America 4 A re-programmable multi-functional manipulator designed to move materials, parts, tools, or specialized devices, through variable programmed motions for the performance of a variety of tasks. WHAT ARE ROBOTS?
- 5. A robot may not injure a human being nor through inaction allow a human being to come to harm A robot must obey the order given it by human beings except where such orders would conflict with the first law A robot must protect its own existence as long as such protection does not conflict with the first and second law ISAAC ASIMOV’S THREE LAWS OF ROBOTICS 6
- 6. Early Mytholog y • Putting machines to work for us to perform routine tasks on command • Aristotle (384-322 BC). 13th – 15th Century • Automatons that mimicked human movements -clock controlled ornaments with self- moving parts. HISTORY OF ROBOTICS 7 Tea-serving Japanese automaton Aristotle
- 8. 18th Centur y • “Automatic Scribe”-in 1774 inventors Pierre and Henri-Louis Jacquet-Droz • lifelike figure of a boy could draw and write any message up to 40 characters long. • A robot woman playing a piano was another one of their great inventions. HISTORY OF ROBOTICS 8
- 9. 19t h Centur y • [Unlike the toy automatons of 18th century, robots of the 19th century were designed to meet the industry] • [E.g. Textile Machine-programmable loom was capable of mass production] • [In 1890 Thomas Edison -the design of the famous talking doll. ] HISTORY OF ROBOTICS 9
- 10. 20th Centur y •1921: the first reference to the word robot is made in a play by Czech writer Karel Capek . The word “robot” comes from the Czech “robota” - labour. •In a play, the Czech robot is defined as "a worker of forced labour". After this play, electromechanical automatons were referred to as robots. HISTORY OF ROBOTICS 10
- 11. HISTORY OF ROBOTICS 20th Centur y • [1940: Westinghouse Electric Corp. creates two of the first robots that use the electric motor for entire body motion. • Elektra could dance, count to ten and smoke, while his dog companion Sparko, could walk, stand on its back legs and bark]. • [1941: Isaac Asimov first uses the term 'robotics' to describe the technology of robots. He predicted the rise of the robot industry.] 11
- 12. HISTORY OF ROBOTICS 20th Centur y • [The first mobile robot capable of reasoning about its surroundings, Shakey was built in 1968 by the Stanford Research Institute (now SRI International)] • [1969: Stanford University develop the first electrically powered computer controlled robotic arm. This becomes standard for research projects.] • 1974: Market a version of the arm (Silver Arm) controlled by microcomputer for industrial applications. • 1968: General Electric Walkingtruck First Mobile Robot with vision capability-Shakey Walki nIg Truck -1968 12
- 13. HISTORY OF ROBOTICS -Shakey Shakey was developed at the Artificial Intelligence laboratory ofStanford Research Institute (now called SRI International) in 1966 through 1972 13
- 14. Robotics Today [INDUSTRI AL ROBOTS] PICK AND PLACE / PALLETIZI NG MACHININ G PAINTING / GLUING ASSEMBLI NG OTHER AUTOMATE D PROCESS ES Robot s [INDUSTRI AL ROBOTS] [SERVI CE ROBOT S] 14
- 15. [Robotics Today] Industrial Robot Manipuator-Components [INDUSTRI AL ROBOTS] Robot Manipulator Controller and teaching device Ref: http://www.abb.lk/product/us/9AAC100735.aspx 15
- 16. Industrial Robot Manipuator- DOF and Workspace 17 [INDUSTRI AL ROBOTS] E.g. PA-10 Robot Manipulator Wrist rotate (W2) Wrist bend (W1) Lower arm rotate (E2) Lower arm bend (E1) Upper arm rotate (S3) Shoulder bend (S2) Shoulder Rotate (S1) 7 DOF
- 17. Industrial Robot Manipuator- DOF and Workspace L 18 [INDUSTRI AL ROBOTS] 6 DOF
- 18. [Robotics Today] PICK AND PLACE / PALLETIZING [INDUSTRI AL ROBOTS] 18
- 19. [Robotics Today] MACHINING-CUTTING, WELDING, ETC. [INDUSTRI AL ROBOTS] http://www.youtube.com/watch?v=HUU3HdxOqZs 19
- 20. [Robotics Today] PAINTING / GLUING [INDUSTRI AL ROBOTS] http://www.youtube.com/watch?v=syYHTFZxU7k 20
- 23. [Robotics Today] HUMANOID ROBOTS [SERVI CE ROBOT S] 23 https://www.youtube.com/watch?v=R8UeT9r4cmg
- 24. [Robotics Today] MILITARY ROBOTS [SERVI CE ROBOT S] 24 Ref: www.bostondynamics.com
- 26. [Robotics Today] EXOSKELETON [SERVI CE ROBOT S] 26 EMG-based control of SUEFUL-7
- 27. [Robotics Today] EXOSKELETON [SERVI CE ROBOT S] 27 Assistive Robot (HAL-5)
- 28. [Robotics Today] SECURITY ROBOTS [SERVI CE ROBOT S] 28
- 29. [Robotics Today] MOBILE ROBOTS 29 [SERVI CE ROBOT S] https://www.youtube.com/watch?v=vasBnRS3tQk
- 30. Industrial Robot-Decision Making Ref: http://www.youtube.com/watch?v=wBASpwch5qc 30
- 31. Thank You KUKAKR6 Service robot platform Tracked mobile robot platform Robot heads 31