2. 2
Unit 2 - Fundamentals of Robotics
• Structure of a robot.
• Classification and applications of Robots.
• Robot anatomy.
• Dexterity and compliance of robots.
• Description of frame in the robotic system.
• Homogeneous transformations and mapping of frames.
3. 3
A Robot is an electromechanical device that is;
• Reprogrammable
• Multifunctional
• Sensible for environment
What Is A Robot
4. 4
What Is A Robot
Manipulator
Legged Robot
Wheeled Robot
5. 5
What Is A Robot
Autonomous Underwater Vehicle Unmanned Aerial Vehicle
6. 6
What Robot Can Do
• Jobs that are dangerous for humans.
• Repetitive jobs that are boring, stressful, or labor-intensive for humans.
• Jobs where some sort of intelligence and decision making as a human being is
required.
• Different jobs at different times and in different sequence.
• Can be reprogrammed to perform different tasks.
• Respond to the surrounding environment.
• Accuracy, Environmental effect, Skill, Performance, Automation, Human
aspect
7. 7
Robot Definition
• Word robot was coined by a Czech novelist Karel Capek in a 1920 play
titled Rossum’s Universal Robots (RUR).
• Robota in Czech is a word for worker or servant.
• 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.
8. Robot Definition
8
1. The Robotics Industries Association (RIA) of USA defines robot as,” A
reprogrammable, multifunctional manipulator designed to move materials, parts, tools,
or special devices through variable programmed motions for the performance of a
variety of tasks”.
2. The British Robot Association (BRA) defines robot as,” A reprogrammable device
with minimum four DOF designed to both manipulate and transport materials, parts,
tools, or specialized manufacturing implements through variable programmed motions
for the performance of a variety of tasks”.
3. An International Standards Association (ISO) defines robot as,” An automatic, servo
controlled, freely programmable, multipurpose manipulator, with served areas, for
handling of work pieces through variably programmed operations for the performance
of a variety of tasks”.
9. Laws Of Robotics
9
Proposed by Asimov
Law 1: A robot may not injure a human being or, through inaction,
allow a human being to come to harm.
Law 2: A robot must obey orders given to it by human beings, except
where such orders would conflict with the First Law.
Law 3: A robot must protect its own existence as long as such
protection does not conflict with the First or Second Law.
Zeroth Law: A robot may not harm humanity or, by inaction, allow
humanity to come to harm.
10. Knowledge Base For Robotics
10
• Dynamic system modeling and analysis
• Feedback control
• Sensors and signal conditioning
• Actuators and power electronics
• Hardware/computer interfacing
• Computer programming
11. Classification of Robots
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Class 1: Manual Handling Device Robot
A manual robot is a manipulation robotic system requiring complete human intervention for
its operation.
Class 2: Fixed-Sequence Robot
A fixed-sequence robot is a robot that performs a single, pre-programmed task or set of
tasks, making exactly the same movements each time. There is no exception or variation to
the routine. Fixed-sequence robots are ideally suited to assembly-line work.
Class 3: Variable Sequence Robot
A device that performs the successive stages of a task according to a predetermined
method is easy to modify.
12. Classification of Robots
12
Class 4: Playback Robot
This type of robot is first guided through a sequence of actions by an operator, then repeats
the same actions automatically in a loop.
Class5: Numerical Control Robot
This kind of robot also works through a sequence of instructions. However, the instruction
set is numerical.
Class6: Intelligent Robot
• An intelligent robot is an intelligent machine with the ability to take actions and make
choices. Choices to be made by an intelligent robot are connected to the intelligence built
into it through machine learning or deep learning.
15. Industries Using Robots
15
• 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
29. Compliance in Robot
29
• Compliance refers to flexibility and suppleness.
• A non-compliant (stiff) robot end effector is a device which is designed to have
predetermined positions or trajectories.
• No matter what kind of external force is exerted, the robot end effector will
follow the same path every time.
• A compliant end effector can reach several positions and exert different forces
on a given object.
• Compliance aims towards either process improvement (active) or human safety
(passive).
30. Compliance in Robot
30
• Active compliance
The user must set active compliance which will vary for each
application process. It is commonly set up via software programming
• Passive compliance
Passive compliance is applied during the setup of the robotic cell and
will always stay active in the background to fulfil its safety role. It may
be inherent to the structure of the robot, like a torque limitation
device on the end effector or a torque limitation on the joints.
31. Joint Notification Scheme
31
A robot joint in a mechanism permits relative movement between parts of a robot arm.
The joints of a robot are designed to enable the robot to move its end-effector along a path from
one position to another as desired.
The basic movements required for the desired motion of most industrial robots are:
• Rotational movement: This enables the robot to place its arm in any direction on a horizontal
plane.
• Radial movement: This enables the robot to move its end-effector radially to reach distant
points.
• vertical movement: This enables the robot to take its end-effector to different heights.
• These degrees of freedom, independently or in combination with others, define the complete
motion of the end-effectors.
33. Dexterity
33
Is a robot’s ability to cope with various objects and actions. It defines how robots
can interact and handle objects and take necessary actions on the objects.
Moravec’s Paradox:
It states that it is easy to train computers to do things that humans find hard, like
mathematics and logic, but it is hard to train them to do things humans find easy,
like walking and image recognition.
• Robots can precisely cut through a metal sheet as per the given measurements
but are unable to open a door lock.
• Robots can defeat humans in games like chess that require a high level of
intelligence, but they cannot get a newspaper from the lawn.
