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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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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 • 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
Introduction to robotics • CS 40516 • 3 units TA: • Yasamin Mokri • mokri@ce.sharif.edu
Schedule • Course Structure • Class (Sat + Mon 1:30-3:00) Khodro 7 • Feedback on lectures is welcome any time…
Grading • Assignments 20% • Midterm exam 20% • Final exam 20% • Presentations 20% • Project 20%
History • In principle humanoid are robots • In this course, we will primarily study industrial manipulator type robot
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.
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
Difference of Robot & Manipulator • Manipulator (crane) is controlled by a human • Robot manipulator is controlled by a computer that runs a program
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
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
Robots may be used in • Manufacturing environments • Underwater and space explosion • Aiding the disabled • Fun • …
Robotics is an interdisciplinary subject of • Mechanical engineering • Electrical and electronic engineering • Computer science • Biology • …
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.”
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.
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)
