In the name of Allah

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. Introduction to robotics CS 40516 3 units TA: Yasamin Mokri mokri@ce.sharif.edu

6. Schedule Course Structure Class (Sat + Mon 1:30-3:00) Khodro 7 Feedback on lectures is welcome any time�

7. Grading Assignments 20% Midterm exam 20% Final exam 20% Presentations 20% Project 20%

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. Lecture Outline Defining �robot� What makes a robot Sensors, sensor space State, state space Action/behavior, effectors, action space The spectrum of control Reactive systems

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

12. 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

13. 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

14. Robots may be used in Manufacturing environments Underwater and space explosion Aiding the disabled Fun �

15. Robotics is an interdisciplinary subject of Mechanical engineering Electrical and electronic engineering Computer science Biology �

16. 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.�

17. 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 autonomously senses its environment and acts in it to achieve some goals.

18. 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)

19. Animal-like Robots

20. Unmanned Vehicles