INTRODUCTION TO ROBOTICS

1. INTRODUCTION TOROBOTICS

2. Presentation Objectives • Definition • Types of Robot • History • Timeline • Laws of Robotics • Components • Uses • Body • Effectors • Actuators • Sensors • Controller • Software

3. Definition • “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

4. Types of Robot • 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.

5. History • Leonardo da Vinci (1452–1519) sketched plans for a humanoid robot around 1495. Da Vinci's notebooks, rediscovered in the 1950s, contain detailed drawings of a mechanical knight now known as Leonardo's robot, able to sit up, wave its arms and move its head and jaw. • In 1738 and 1739, Jacques De Vaucanson exhibited several life-sized automatons: a flute player, a pipe player and a duck. The mechanical duck could flap its wings, crane its neck, and swallow food from the exhibitor's hand, and it gave the illusion of digesting its food by excreting matter stored in a hidden compartment. Complex mechanical toys and animals built in Japan in the 1700s were described in the Karakuri zui (Illustrated Machinery, 1796). (Tea-serving karakuri, with mechanism, 19th century. Tokyo National Science Museum.)

6. History • 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 the manufacture of TV picture tubes

7. History • 1978: The Puma (Programmable Universal Machine for Assembly) robot is developed by Unimation with a General Motors design support. PUMA 560 Manipulator

8. History • 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

9. History • 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

10. 1206 First programmable humanoid robots Boat with four robotic musicians Al-Jazari Timeline • Date: • Significance: • Robot Name: • Inventor:

11. 1206 1495 First programmable humanoid robots Designs for a humanoid robot Boat with four robotic musicians Mechanical knight Al-Jazari Leonardo Da Vinci Timeline • Date: • Significance: • Robot Name: • Inventor:

12. 1495 1738 Designs for a humanoid robot Mechanical duck that was able to eat, flap its wings, and excrete Mechanical knight Digesting Duck Leonardo Da Vinci Jacques de Vaucanson Timeline • Date: • Significance: • Robot Name: • Inventor:

13. 1738 1800s Mechanical duck that was able to eat, flap its wings, and excrete Japanese mechanical toys that served tea, fired arrows, and painted Digesting Duck Karakuri toys Jacques de Vaucanson Hisashige Tanaka Timeline • Date: • Significance: • Robot Name: • Inventor:

14. 1800s 1921 Japanese mechanical toys that served tea, fired arrows, and painted First fictional automata called "robots" appear in the play R.U.R. Karakuri toys Rossum's Universal Robots Hisashige Tanaka Karel Čapek Timeline • Date: • Significance: • Robot Name: • Inventor:

15. 1921 1930s First fictional automata called "robots" appear in the play R.U.R. Humanoid robot exhibited at the 1939 and 1940 World's Fairs Rossum's Universal Robots Elektro Karel Čapek Westinghouse Electric Corporation Timeline • Date: • Significance: • Robot Name: • Inventor:

16. 1930s 1948 Humanoid robot exhibited at the 1939 and 1940 World's Fairs Simple robots exhibiting biological behaviors Elektro Elsie and Elmer Westinghouse Electric Corporation William Grey Walter Timeline • Date: • Significance: • Robot Name: • Inventor:

17. 1948 1956 First commercial robot, from the Unimation company founded by George Devol and Joseph Engelberger, based on Devol's patents Simple robots exhibiting biological behaviors Elsie and Elmer Unimate William Grey Walter George Devol Timeline • Date: • Significance: • Robot Name: • Inventor:

18. 1956 1961 First commercial robot, from the Unimation company founded by George Devol and Joseph Engelberger, based on Devol's patents First installed industrial robot Unimate Unimate George Devol George Devol Timeline • Date: • Significance: • Robot Name: • Inventor:

19. 1961 1963 First installed industrial robot First palletizing robot Unimate Palletizer George Devol Fuji Yusoki Kogyo Timeline • Date: • Significance: • Robot Name: • Inventor:

20. 1963 1973 First palletizing robot First robot with six electromechanically driven axes Palletizer Famulus Fuji Yusoki Kogyo KUKA Robot Group Timeline • Date: • Significance: • Robot Name: • Inventor:

21. 1973 1975 First robot with six electromechanically driven axes Programmable universal manipulation arm, a Unimation product Famulus PUMA KUKA Robot Group Victor Scheinman Timeline • Date: • Significance: • Robot Name: • Inventor:

22. 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

23. Key Components Power Conversion Unit Sensors Actuators Controller User interface Manipulator Linkage Base

24. Components Body • Typically defined as a graph of links and joints: • A link is a part, a shape with physical properties. • A joint is a constraint on the spatial relations of two or more links.

25. Components 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…

26. Components Effectors • Component to accomplish some desired physical function • Examples: – Hands – Torch – Wheels – Legs – Trumpet

27. Components Actuators • 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

28. Components Actuators (Examples) Pneumatic Cylinder Hydraulic Motor DC Motor Stepper Motor Stepper Motor Servo Motor

29. Components Sensors • 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) • 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 Effect Flexiforce Sensor

30. Components Sensors • Vision Sensor: e.g., to pick bins, perform inspection, etc. 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.

31. Example Components Sensors • Force Sensor: e.g., parts fitting and insertion, force feedback in robotic surgery • Tilt sensors: e.g., to balance a robot

32. Components Sensors • Imaging sensors: these create a visual representation of the world. Here, a stereo vision system creates a depth map for a Grand Challenge competitor.

33. Components Sensors • Proprioceptive sensors: these provide information on the robot’s internal state, e.g. the position of its joints. Shaft decoders count revolutions, allowing for configuration data and odometer.

34. Components Controller • 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 Storage devices: e.g., memory to store the control program and the state of the robot system obtained from the sensors

35. Components Controller • 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.

36. Components Software • Hybrid architectures are software architectures combining deliberative and reactive controllers. – An example is path-planning and PD control. • 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.

37. Uses • 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

38. Uses • Jobs that are dangerous for humans Decontaminating Robot Cleaning the main circulating pump housing in the nuclear power plant

39. Uses • Repetitive jobs that are boring, stressful, or labor-intensive for humans Welding Robot

40. Uses • Menial tasks that human don’t want to do Menial tasks that human don’t want to do

41. Uses • Robots in Space NASA Space Station

42. Uses • Robots in Hazardous Environments TROV in Antarctica operating under water

43. Uses • Medical Robots Robotic assistant for micro surgery

44. Thanking You...... Foysal MOHD Shawon ID: 071-163-041 Group: (D) Mob: 01913-258484 Email: foysalmohdshawon@gmail.com Web page: www.foysal.synthasite.com