Robotics PPT (Introduction)

Department of Electrical Eng..

Yeungnam University

Chap. 1 Introduction

Table of Contents

Chapter 1 Introduction

Objectives

In this chapter we introduce the field of robotics and look briefly at some applications.

This background material includes the following topics.

1) Applications of robotics, 2) Robot classification, 3) Robot structure,

4) Research areas.

1. Introduction

2. Mathematical Preliminaries

3. Kinematics

4. Inverse Kinematics

5. Dynamics

6. Control

7. Mobile Robots

8. Intelligent Robots

1.1 Introduction

1.2 Applications of Robots

1.3 Robot Classification

1.4 Robot Structure

1.5 Research Areas


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1.1 Introduction

History of the word Robot The word Robot was first used in 1921 by the Czech

playwriter Karel Capek in his SF drama entitled R.U.R.

(Rossums Universal Robots).

It is derived from the Czech word robota.

(slave laborer, forced labor).

Karel apek(1890-1938)

Czech writer

A scene from Karel apeks 1920 play R.U.R. ),

showing three robots


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What is a robot? Reprogrammable general-purpose entity with external sensors.

Software controllable mechanical device that uses sensors to guide

one or more end effectors through programmed motions in a

workspace in order to manipulate physical objects.

From practical point of view: A robot is a versatile mechanical device equipped with actuators and sensors under the control of a computing system.

TOPIO at Tokyo International Robot Exhibition (IREX) 2009.


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RT (Robot Technology) Fusion Technology

Electrical Eng., Mechanical Eng., Computer Sci., Linguistics,

Ethics, Psychology,

IT (Information Technology), BT (Bio Technology), NT (Nano

Technology), MEMS (Micro Electro Mechanical System), etc.

MEMS

IT

NT

BT

Technologies in future or

in your mind

RT Fusion Technology

Robot Technology

1.1 Introduction


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According to the Japanese Industrial Robot Association(JIRA), Robots are divided into the following classes.

Classes of robots

Class 1

Manual handling device

A device with several

degrees of freedom

actuated by the operator

Class 2

Fixed sequence robot

Handling device which

performs the successive

stages of a task according

to a predetermined,

unchanging method,

which is difficult to

modify

Class 3

Variable sequence robot

The same type of handling

device as in class 2, but the

stages can be modified

easily.

Class 4

Playback robot

The human operator

performs the task

manually by leading or

controlling the robot,

which records the

trajectories.

Class 5

Numerical control robot

The human operator

supplies the robot with a

movement program rather

than teaching it the task

manually.

Class 6

Intelligent robot

A robot with the means to

understand its environment,

and the ability to

successfully complete a

task despite changes in the

surrounding conditions

under which it is to be

performed.

1.1 Introduction


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Roadmap of robots

In 1940s: Master- slave robot (Argonne Natl. Lab)

In 1950s : Programmable Manipulator (George C. Devol) In 1959 : Industrial robot (The Unimate Robot)

In 1960s : MHT-Feedback System with sensors

In 1970s : Microprocessor based robot In 1974 : T3 (The Tomorrow Tool) Industrial robot with computer control

In 1979 : SCARA robot (Japan) Assembly Robot

In 1980s : CIM (Computer Integrated Manufacturing) In 1981 : Direct Drive Robot (Carnegie-Mellon Univ.)

In 1990s : Intelligent Robot In 1999 : Aibo (Artificial Intelligent Robot, Sony)

In 2000s : Micro(Nano) robot, Network based robot, In 2000 : Asimo (Honda)

In 2003 : Spirit (Opportunity) (NASA)

In 2006 : Big Dog (Boston Dynamics)

In 2006 : Stickybot (Stanford University)

In 2010s : Cloud Robot, Evolutionary Robot, ?

In 2100s : ?

1.1 Introduction


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Service

robot

Auto

guided

vehicle

(AGV)

Free ranging

mobile robot

Entertainment

robot

Human

guided

vehicle

Human

guided

robot

Industrial robot

Museum

tour robot

2000

1985

1995

1990

1962

2003

1980

Intelligent/Agent

robot

2010 ~

Industrial

Robot

Service

Robot

Intelligent

Robot

Trends of robot technology 1.1 Introduction


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Ministry of Information

and Communication

U-IT based

9 Growth

Engines

NG Mobile Comm.

/ Telematics

Digital TV

Broadband /

Home Network

IT SOC

Next Gen. PC

Embedded SW

Digital Contents RFID / USN

Intelligent Robot

Korea

U-IT based 9 Growth Engines, Korea 1.1 Introduction


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Technical

trends

in robots

Improvements

in System

Technology

Vision

Force sensing

Environment recognition

Others

Human-machine interface

Remote Operation

Others

Off-line Programming

Safety

Multi-robots Cooperation

Others

Improvements

in sensor

technology

Improvements

in

communication Source:

World robotics.org

The demand for robots is expected to rise rapidly due to factors such as the increase in income, the advent of aging society and the pursuit of well-being.

1.1 Introduction


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Robotics

Market


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Worldwide robotics Market shares

Applications

(unit : million $) 2009 2012 2015 2020

Industrial Robots 16,450 20,020 25,620 41,250

Professional Service Robots 2,620 9,810 29,760 156,560

Personal Service Robots 9,810 23,260 52,040 222,410

Total 28,880 53,090 107,420 420,220

* Source: World Robotics 2007, IFR / WinterGreen Research, 2008, etc.

Source: http://servicerobotics.blogspot.com/

How large is the current and future robotics market?

1.1 Introduction


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Examples

Example 1.1.1 What is the difference between Hard automation and Soft

automation?

Ans: Mass-production assembly lines were first introduced at the beginning of the

twentieth century(1905) by the Ford Motor Company.

- Hard automation: The machines and processes are more efficient, but

they have limited flexibility.

- Soft automation: flexible, ex) Programmable mechanical manipulators.

=> Robot

1.1 Introduction


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Question 1.1.1 What is the difference between robot and crane?

Review questions

Question 1.1.2 Explain some advantages and possible applications of master-

slave robot .

Question 1.1.3 Explain why robotics is interdisciplinary.

1.1 Introduction


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Question 1.1.4 Explain the operation of the centrifugal governor invented by

James Watt.

James Watts centrifugal governor Centrifugal governor in a Boulton & Watt engine of

1788


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Question 1.1.5 Examine some notable specifications of Asimo in 2011.

1.1 Introduction


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In 1940s: Master- slave robot (Argonne Natl. Lab)

Source: http://brl.ee.washington.edu/


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In 1979 : SCARA robot (Japan) Assembly Robot

Source: http://www.directindustry.com/


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In 1999: Aibo (Artificial Intelligent Robot, Sony)

Source: http://gizmodo.com/


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In 2000 : Asimo (Honda)

Source: http://commons.wikimedia.org/


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In 2006 : Big Dog (Boston Dynamics)

Source: http://www.slipstersblog.com/


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In 2003 : Spirit (Opportunity) (NASA)

Source: http://www.homotron.net/


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Source: http://bdml.stanford.edu/

In 2006 Stickybot(Stanford Univ.)

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Robotics PPT (Introduction)