Lecture 1 - Introduction to Robotics.pptx

Unit I - Lecture 1
Introduction to Robotics
Course Title Robotics and Applications
Course Code 21CDE09
Class II B.Sc. Computer Science
Facilitator
Lavanya.G
Assistant Professor
Department of Electronics and Communication Systems
SRI KRISHNA ARTS AND SCIENCE COLLEGE
Department of Electronics and CommunicationSystems
Coimbatore - 641 008
1
1
Unit Lecture 1 : Introduction to Robotics

Outline
Lecture 1 : Introduction to Robotics
Unit 1 2
Introduction to Robotics:
• History
• Laws of Robotics
• Robot Definition
• Robot Usage Rules
• Applications

History of Robotics
Unit 1 3
• Origin – Traced in Czech word ‘robota’
• Means - ‘Forced’ / ‘Compusory labour’
• The word ‘robot’ first appeared in 1921 in the play RUR
(“Rossum's Universal Robots”) – written by Czech Writer Karel
Capek (1890-1938)
• Issac Asimov (1940) – Science fiction stories – envisioned the
robot as a helper of mankind
• Postulated 3 basic rules for robots

History of Robotics
Unit 1 4
• Inspired by Asimov’s Books on Robots – Joseph F. Engelberger
tried to design a robot in 1950.
• He along with George C. Devol started UNIMATION Robotics
Company in USA – 1958
• The first Unimate robot – installed in 1961 in General Motors
Automobile Factory – New Jersey.

Unit 1 5
• Japanese Industrial Robot Association (JIRA) :
• “A device with degrees of freedom that can be controlled.”
• Class 1 : Manual handling device
• Class 2 : Fixed sequence robot
• Class 3 : Variable sequence robot
• Class 4 : Playback robot
• Class 5 : Numerical control robot
• Class 6 : Intelligent robot

Unit 1 6
• Intelligent Environments are aimed at improving the
inhabitants’ experience and task performance
• Automate functions in the home
• Provide services to the inhabitants
• Decisions coming from the decision maker(s) in the
environment have to be executed.

Unit 1 7
• Decisions require actions to be performed on devices
• Decisions are frequently not elementary device interactions but
rather relatively complex commands
• Decisions define set points or results that have to be achieved
• Decisions can require entire tasks to be performed

Definition of Robot
Unit 1 8
 An electromechanical device that is:
• Reprogrammable
• Multifunctional
• Sensible for environment
• Robot, any automatically operated machine that replaces human
effort, though it may not resemble human beings in appearance or
perform functions in ahumanlike manner.

Definition of Robot
Unit 1 9
According to Robot Institute of America(RIA):
• It is a reprogrammable multi-functional
manipulator designed to move materials, parts, tools or
specialized devices through variable programmed motions
for the performance of a variety of tasks.
• There exist several other too given by other societies, e.g.,
The Japan Industrial Robot Association (JIAR),British
Association (BRA), and All others.
• Reprogrammable, multifunctional manipulator designed to
move material through variable programmed motions for the
performance of a variety of tasks. (ISO)

Unit 1 10
• All definitions have two points in common. They are
‘reprogramability’ and ‘multifunctionality’ of robots.
Type I : Manipulator

Unit 1 11
II Type
Legged Robot Wheeled Robot

Unit 1 12
III Type
Autonomous Underwater Vehicle Unmanned Aerial Vehicle

Robotics Applications
Unit 1 13
• Jobs that are dangerous for humans
Decontaminating Robot
• Cleaning the main circulating pump housing in the nuclear
power plant

Unit 1 14
• Repetitive jobs that are boring, stressful, or labor-intensive for
humans
Welding Robot

Unit 1 15
• Manual tasks that human don’t want to do
The SCRUBMATE Robot

What is Robotics ?
Unit 1 16
 Branch oftechnologythat dealswith
• thedesign
• construction
• Operation
• application of robots

Unit 1 17
Difference between robot and machine :
• The robot is a mechanical device that can perform physical tasks using
the surveillance and control of man.
(or )
• use aprogram that hasbeen defined first (artificial intelligence).
• Machine is a mechanical or electrical appliance that send or change
the energy to perform or assist in the implementation of human tasks.

Unit 1 18
Control of the physical environment
Automated blinds
Thermostats and heating ducts
Automatic doors
Automatic room partitioning
Personal service robots
House cleaning
Lawn mowing
Assistance to the elderly and handicapped
Office assistants
Security services

Robots in different Industries
Unit 1 19
•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

Unit 1 20
Robot Manipulators
Mobile Robots

Robots in Industrial Applications
Unit 1 21
•Material handling
•Material transfer
•Machine loading / unloading
•Spot welding
•Continuous arc welding
•Spray coating
•Assembly
•Inspection
Material Handling Manipulator
Assembly Manipulator

Robots in Space
Unit 1 22
NASA Space Station

Robots in Hazardous Environment
Unit 1 23
TROV in Antarctica
operating under water
HAZBOT operating in
atmospheres containing
combustible gases

Medical Robots
Unit 1 24

Robots in Military
Unit 1 25
SPLIT STRIKE:
Deployed from a
sub’s hull, Manta could
dispatch tiny mine-seeking
AUVs or engage in more
explosive combat.
PREDATOR
ISTAR
GLOBAL HAWK GOLDENEYE

Robots at Home
Unit 1 26
Sony Aido
Sony SDR-3X Entertainment Robot

Remote Robot – ARM Manipulation
Unit 1 27

Robot – Smart Irrigation
Unit 1 28

Legged Hexapod
Unit 1 29

Hexapod for Disaster Recovery
Unit 1 30

Robotic Vacuum Cleaner
Unit 1 31

Future of Robots: I
Unit 1 32
Artificial Intelligence
Cog
Kismet

Future of Robots: II
Unit 1 33
Autonomy
Robot Work Crews Garbage Collection Cart

Future of Robots: III
Unit 1 34
Humanoids
HONDA Humanoid Robot

Laws of Robotics
Unit 1 35
A robot must not harm a human being, nor through inaction
allow one to come to harm.
A robot must always obey human beings, unless that is in
conflict with the 1st law.
 A robot must protect from harm, unless that is in conflict
with the first two laws.
A robot may take a human being’s job but it may not leave that
person jobless. [Fuller(1999)]

Laws of Robotics
Unit 1 36
 Asimov proposed three “Laws of Robotics” and later added
the “zeroth law”:
• Law 0:
A robot may not injure humanity or through inaction, allow
humanity to come to harm
• Law 1:
A robot may not injure a human being or through inaction, allow
a human being to come to harm, unless this would violate a
higher order law

Laws of Robotics
Unit 1 37
• Law 2:
A robot must obey orders given
to it by human beings, except
where such orders would conflict
with a higher order law
• Law 3:
A robot must protect its own
existence as long as such
protection does not conflict with a
higher order law

Traditional Industrial Robots
Unit 1 38
 Traditional industrial robot control uses robot arms and largely
pre-computed motions
• Programming using “teach box”
• Repetitive tasks
• High speed
• Few sensing operations
• High precision movements
• Pre-planned trajectories and
task policies
• No interaction with humans

Unit 1 39
Service Robots
• Security guard
• Delivery
• Cleaning
• Mowing/Cutting
Assistance Robots
• Mobility
• Services for elderly
and People with
disabilities

Broad Classification of Robots
Unit 1 40
T3 - Robot Manipulator
Industrial and non-industrial or special-purpose

Special Purpose Robots
Unit 1 41
Automatic GuidedVehicles
Walking Robots
Parallel Robots

Automatic GuidedVehicles
Unit 1 42
• These are used in factories for material handling purposes
• Omni directional Wheel - omni directional wheels give two degree
of freedom to moveAGVin sideways.
• AGVs can also used in hospital for nursing, security, and other
applictions.

Special Purpose Robots
Unit 1 43
LAURON 6-Legged Walking Robot
• The LAURON is a 6-legged walking robot actuated by 24
joints.
• Its head can move in 2 directions, so the robot has a total 26
degrees of freedom.
Used in :
• Military
• Undersea exploration
• Places where rough
terrains exits

Parallel Robots
Unit 1 44
• A parallel manipulator is a mechanical system that uses several
computer-controlled serial chains to
support asingle platform, or
end-effector.
Hexa-pod dof
Applications:
• Flight simulator to train pilots of aero planes.
• Driving simulators for truck and other types of ground vehicle
• Medical surgery to reduce trembling of asurgeon’s hand during operation.

Uses of Robots
Unit 1 45
Use of robots to deliver treatment - Robotic surgery

Uses of Robots
Unit 1 46
Use of robots to monitor effectiveness of treatment

Thumb rules on the decision of a robot usage
Unit 1 47
Four Dsof Robotics: i.e. isthe task dirty, dull, dangerous, or difficult?
Robot maynot leaveahuman jobless.
Involves asking whether you can find people who are willing to do the
job. Ifnot, the job isacandidate for automation or robotics.
Robots and automation must make short-term and long-term
economic sense.

KUKA - Robotics spot welding
Unit 1 48

KUKA - Robotics spot welding
Unit 1 49

Robotics - Summary
Unit 1 50
• Word robot was coined by a Czech novelist Karel Capek in a 1920
play titled Rassum’s Universal Robots (RUR)
• Robot in Czech is a word for worker or servant
Definition of robot:
• Any machine made by by one our members:
Robot Institute of America
• A robot is a reprogrammable, multifunctional manipulator
designed to move material, parts, tools or specialized devices
through variable programmed motions for the performance of
a variety of tasks:
• Robot Institute of America, 1979.
Karel Capek

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