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In the name of Allah

In the name of Allah. Introduction to Robotics. Leila Sharif l_sharif@sharif.edu Lecture #1: The Big Picture. Textbook. Introduction to Robotics, Analysis, Systems, Applications. Saeed B. Niku Prentice Hall 2003. References.

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In the name of Allah

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  1. In the name of Allah

  2. Introduction to Robotics • Leila Sharif • l_sharif@sharif.edu • Lecture #1: The Big Picture

  3. Textbook • Introduction to Robotics, Analysis, Systems, Applications. Saeed B. Niku Prentice Hall 2003

  4. References • Modeling and Control of Robot Manipulator, L.Sciavicco and B. Siciliano 2000 • Fundamentals of Robotics Analysis and Control , Robert J Schilling 1990 • Introduction to Robotics: mechanics and control, John, J. Craig 1989 • Robotics and Control, R. K. Mittal, I.J. Nagrath 2004 • Fundamentals of Industrial Robots and Robotics, Rex Miller 1988

  5. Schedule • Course Structure • Class (Sun + Tue 15:00-16:30) 205 • Feedback on lectures is welcome any time…

  6. Grading • Assignments • Midterm exam • Final exam • Presentations • Project

  7. What we have? • LEGO MindStorm sets • Some Industrial small Arms in automation Lab. • Walking Humanoid Robot • Industrial Arm in Khordro • Simulations

  8. History • In principle humanoid are robots • In this course, we will primarily study industrial manipulator type robot

  9. Industrial Robots • Robots are very powerful elements in today industry • They can perform many different tasks and operations precisely and do not require common safety and comfort elements humans need. • Robots have no overwhelmingly replaced workers. They are used where they are useful. • Robotics covers many different areas. They are used together with other devices, peripherals and other manufacturing machines. They are generally integrated to a system to perform a task or do an operation.

  10. Difference of Robot & Manipulator • Manipulator (crane) is controlled by a human • Robot manipulator is controlled by a computer that runs a program

  11. Classification of Robots (JIRA) • 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

  12. What is Robotics • Art, Knowledge base, the know-how to design, apply and using robot in human endeavors • Consist of not only robots but also other devices and systems to perform the necessary tasks

  13. Robots may be used in • Manufacturing environments • Underwater and space explosion • Aiding the disabled • Fun • …

  14. Robotics is an interdisciplinary subject of • Mechanical engineering • Electrical and electronic engineering • Computer science • Biology • …

  15. Why “robot”? • The term “robot” comes from Karel Capek’s 1921 play RUR (Rossum’s Universal Robots). • It is most likely a combination of “rabota” (obligatory work) and “robotnik” (serf). • The kind of robotics we will talk about will move far beyond such “obligatory work.”

  16. What is a Robot? • An intelligent robot is a machine able to extract information from its environment and use knowledge about its world to move safely in a meaningful and purposeful manner. • A robot is a system which exists in the physical world and autonomouslysenses its environment and acts in it to achieve some goals.

  17. Other Definitions • A robot is a re-programmable, multi-functional, manipulator designed to move material, parts, or specialized devices though variable programmed motions for the performance of a task (Robotics Industry Association) • Robotics is the intelligent connection of perception to action (M. Brady)

  18. Animal-like Robots

  19. Unmanned Vehicles

  20. Advantages of Robots I • Increase productivity, safety, efficiency, quality and consistency of products • Without the need for life support, comfort or safety • No need lighting, air conditioning and noise protection • Work continuously without fatigue or boredom. Do not get mad, need no medical insurance and vacation

  21. Advantages of Robots II • More accurate than human • Robots and their accessories and sensors are beyond that of human • Robots can process multiple task simultaneously

  22. Disadvantages of Robots • Robots replace human worker create economic problem • Lack capability in response in emergencies, unless the situation is predicted and the response is included in the system • Have limited capabilities in (DOF, Dexterity, Sensors, Vision System, Real time response and ..) • Are costly (Initial cost of equipment, Installation cost, Peripherals, Training, Programming)

  23. Food for Thought • Are exo-skeletons robots? • Is HAL a robot? • Some intelligent Web agents are called “softbots”. Are they robots? • Most, if not all, of the robots you build in this class will use reactive control. What more is there?

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