INTRODUCTIO
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INTRODUCTIO
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TOTO
ROBOTICS
ROBOTICS
Presentation ObjectivesPresentation Objectives
DefinitionDefinition
Types of RobotTypes of Robot
HistoryHistory
TimelineTimeline
Laws of RoboticsLaws of Robotics
ComponentsComponents
UsesUses
Body Effectors Actuators Sensors Controller Software
DefinitionDefinition“A re-programmable, multi-functional manipulator designed to move material, parts, tools, or specialized devices through various programmed motions for the performance of a variety of tasks” - Robot Institute of America, 1979
“An automatic device that performs functions normally ascribed to humans or a machine in the form of a human.” - Webster's Dictionary
Types of Types of RobotRobot
Simple Level Robots
Middle Level Robots
Complex Level Robots
Are automatic machines that extend human potential.Do work that humans can but should not do.
Are programmable, multipurpose, electromechanical machines.Do work that humans normally do.
Are reprogrammable, multifunctional, manipulators.Are designed to move materials, tools and parts through programmed paths.Are suited for a variety of tasks.
HistorHistoryyLeonardo da Vinci (1452–1519) sketched plans for a Leonardo da Vinci (1452–1519) sketched plans for a
humanoid robot around 1495. Da Vinci's notebooks, humanoid robot around 1495. Da Vinci's notebooks, rediscovered in the 1950s, contain detailed rediscovered in the 1950s, contain detailed drawings of a mechanical knight now known as drawings of a mechanical knight now known as Leonardo's robot, able to sit up, wave its arms and Leonardo's robot, able to sit up, wave its arms and move its head and jaw.move its head and jaw.
In 1738 and 1739, Jacques De Vaucanson exhibited In 1738 and 1739, Jacques De Vaucanson exhibited several life-sized automatons: a flute player, a pipe several life-sized automatons: a flute player, a pipe player and a duck. The mechanical duck could flap player and a duck. The mechanical duck could flap its wings, crane its neck, and swallow food from the its wings, crane its neck, and swallow food from the exhibitor's hand, and it gave the illusion of digesting exhibitor's hand, and it gave the illusion of digesting its food by excreting matter stored in a hidden its food by excreting matter stored in a hidden compartment. Complex mechanical toys and animals compartment. Complex mechanical toys and animals built in Japan in the 1700s were described in the built in Japan in the 1700s were described in the Karakuri zui (Illustrated Machinery, 1796).Karakuri zui (Illustrated Machinery, 1796).
HistorHistoryy
The first industrial robot: UNIMATE
1954: The first programmable robot is designed by George Devol, who coins the term Universal Automation. He later shortens this to Unimation, which becomes the name of the first robot company (1962).
UNIMATE originally automated themanufacture of TV picture tubes
HistorHistoryy
1978: The Puma (Programmable Universal Machine for Assembly) robot is developed by Unimation with a General Motors design support.
PUMA 560 Manipulator
HistorHistoryy
1980s: The robot industry enters a phase of rapid growth. Many institutions introduce programs and courses in robotics. Robotics courses are spread across mechanical engineering, electrical engineering, and computer science departments.
Adept's SCARA robots
Cognex In-Sight Robot
Barrett Technology Manipulator
HistorHistoryy
1995 - present: Emerging applications in small robotics and mobile robots drive a second growth of start-up companies and research
2003: NASA’s Mars Exploration Rovers will launch toward Mars in search of answers about the
history of water on Mars
Timeline
Date:
Significance:
Robot Name:
Inventor:
1206
First programmable humanoid robots
Boat with four robotic musicians
Al-Jazari
Timeline
Date:
Significance:
Robot Name:
Inventor:
1206
First programmable humanoid robots
Boat with four robotic musicians
Al-Jazari
1495
Designs for a humanoid robot
Mechanical knight
Leonardo Da Vinci
Timeline
Date:
Significance:
Robot Name:
Inventor:
1495
Designs for a humanoid robot
Mechanical knight
Leonardo Da Vinci
1738
Digesting Duck
Jacques de Vaucanson
Mechanical duck that was able to eat, flap its wings, and excrete
Timeline
Date:
Significance:
Robot Name:
Inventor:
1738
Mechanical duck that was able to eat, flap its wings, and excrete
Digesting Duck
Jacques de Vaucanson
1800s
Karakuri toys
Hisashige Tanaka
Japanese mechanical toys that served tea, fired arrows, and painted
Timeline
Date:
Significance:
Robot Name:
Inventor:
1800s
Japanese mechanical toys that served tea, fired arrows, and painted
Karakuri toys
Hisashige Tanaka
1921
First fictional automata called "robots" appear in the play R.U.R.
Rossum's Universal Robots
Karel Čapek
Timeline
Date:
Significance:
Robot Name:
Inventor:
1921
First fictional automata called "robots" appear in the play R.U.R.
Rossum's Universal Robots
Karel Čapek
1930s
Humanoid robot exhibited at the 1939 and 1940 World's Fairs
Elektro
Westinghouse Electric Corporation
Timeline
Date:
Significance:
Robot Name:
Inventor:
1930s
Humanoid robot exhibited at the 1939 and 1940 World's Fairs
Elektro
Westinghouse Electric Corporation
1948
Simple robots exhibiting biological behaviors
Elsie and Elmer
William Grey Walter
Timeline
Date:
Significance:
Robot Name:
Inventor:
1948
Simple robots exhibiting biological behaviors
Elsie and Elmer
William Grey Walter
1956
First commercial robot, from the Unimation company founded by George Devol and Joseph Engelberger, based on Devol's patents
Unimate
George Devol
Timeline
Date:
Significance:
Robot Name:
Inventor:
1956
First commercial robot, from the Unimation company founded by George Devol and Joseph Engelberger, based on Devol's patents
Unimate
George Devol
1961
First installed industrial robot
Unimate
George Devol
Timeline
Date:
Significance:
Robot Name:
Inventor:
1961
First installed industrial robot
Unimate
George Devol
1963
First palletizing robot
Palletizer
Fuji Yusoki Kogyo
Timeline
Date:
Significance:
Robot Name:
Inventor:
1963
First palletizing robot
Palletizer
Fuji Yusoki Kogyo
1973
First robot with six electromechanically driven axes
Famulus
KUKA Robot Group
Timeline
Date:
Significance:
Robot Name:
Inventor:
1973
First robot with six electromechanically driven axes
Famulus
KUKA Robot Group
1975
Programmable universal manipulation arm, a Unimation product
PUMA
Victor Scheinman
Laws of Robotics
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 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
Key ComponentsKey Components
Power ConversionUnit
Controller ActuatorsSensors
User interfaceManipulator
LinkageBase
ComponentsComponents
Typically defined as a graph of links and joints:
BodyBody
A link is a part, a shape with physical properties.
A joint is a constraint on the spatial relations of two or more links.
Body (Types of joint)Body (Types of joint)
Respectively, a ball joint, which allows rotation around x, y, and z, a hinge joint, which allows rotation around z, and a slider joint, which allows translation along x. These are just a few examples…
ComponentsComponents
Component to accomplish some desired physical function
Examples:– Hands– Torch– Wheels– Legs– Trumpet
EffectorsEffectors
ComponentsComponents
Common robotic actuators utilize combinations of different electro mechanical devices
– Synchronous motor
– Stepper motor
– AC servo motor
– Brushless DC servo motor
– Brushed DC servo motor
ActuatorsActuators
ComponentsComponents
Actuators (Examples)Actuators (Examples)
ComponentsComponents
Hydraulic Motor
Stepper Motor
Pneumatic Cylinder
DC Motor
Stepper Motor Servo Motor
ComponentsComponents
Human senses: sight, sound, touch, taste, and smell provide us vital information to function and survive
Robot sensors: measure robot configuration/condition and its environment and send such information to robot controller as electronic signals (e.g., arm position, presence of toxic gas)
SensorsSensors
Robots often need information that is beyond 5 human senses (e.g., ability to: see in the dark, detect tiny amounts of invisible radiation, measure movement that is too small or fast for the human eye to see) Accelerometer Using
Piezoelectric EffectFlexiforce Sensor
ComponentsComponents
Vision Sensor: e.g., to pick bins, perform inspection, etc.
SensorsSensors
In-Sight Vision Sensors Part-Picking: Robot can handle In-Sight
Vision Sensors work pieces that are randomly piled by using 3-D vision sensor. Since alignment operation, a special parts feeder, and an alignment pallets are not required, an automatic system can be constructed at low cost.
ComponentsComponents
Force Sensor: e.g., parts fitting and insertion, force feedback in robotic surgery
SensorsSensors
Tilt sensors: e.g., to balance a robot
Example
ComponentsComponents
Imaging sensors: these create a visual representation of the world.
SensorsSensors
Here, a stereovision systemcreates a depthmap for a GrandChallengecompetitor.
ComponentsComponents
Proprioceptive sensors: these provide information on the robot’s internal state, e.g. the position of its joints.
SensorsSensors
Shaft decoderscount revolutions,allowing forconfiguration dataand odometer.
ComponentsComponents
Provide necessary intelligence to control the manipulator/mobile robot
Process the sensory information and compute the control commands for the actuators to carry out specified tasks
ControllerController
Storage devices: e.g., memory to store thecontrol program and the state of the robot systemobtained from the sensors
ComponentsComponents
There are two controller paradigms
– Open-loop controllers execute robot movement without feedback.
– Closed-loop controllers execute robot movement and judge progress with sensors. They can thus compensate for errors.
ControllerController
ComponentsComponents
Hybrid architectures are software architectures combining deliberative and reactive controllers.
– An example is path-planning and PD control.
Software Software
The most popular hybrid software architecture is the three-layer architecture:
– Reactive layer – low-level control, tight sensor-action loop, decisions cycles (DCs) order of milliseconds.
– Executive layer – directives from deliberative layer sequenced for reactive layer, representing sensor information, localization, mapping, DCs order of seconds.
– Deliberative layer – generates global solutions to complex tasks, path planning, model-based planning, analyze sensor data represented by executive layer, DCs order of minutes.
UsesUses• Agriculture
• Automobile
• Construction
• Entertainment
• Health care: hospitals, patient-care, surgery , research, etc.
• Laboratories: science, engineering , etc.
• Law enforcement: surveillance, patrol, etc.
• Manufacturing
• Military: surveillance, attack, etc.
• Mining, excavation, and exploration
• Transportation: air, ground, rail, space, etc.
• Utilities: gas, water, and electric
• Warehouses
UsesUses
• Jobs that are dangerous for humans
Decontaminating Robot
Cleaning the main circulating pumphousing in the nuclear power plant
UsesUses
•Repetitive jobs that are boring, stressful, or labor-intensive for humans
Welding Robot
UsesUses
•Menial tasks that human don’t want to do
Menial tasks that humandon’t want to do
UsesUses•Robots in Space
NASA Space Station
UsesUses•Robots in Hazardous Environments
TROV in Antarcticaoperating under water
UsesUses
•Medical Robots
Robotic assistant formicro surgery
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Foysal MOHD ShawonFoysal MOHD ShawonID:ID: 071-163-041 071-163-041Group:Group: (D) (D)Mob:Mob: 01913-258484 01913-258484Email:Email: foysal [email protected]@gmail.comWeb page:Web page: www.foysal.synthasite.com www.foysal.synthasite.com