Robot – An Introduction Md. Atiqur Rahman Ahad University of Dhaka, Bangladesh

A common view: Robots as Humanoids vs.

Robot? Robot  as a computer controlled machine with some degrees of freedom – i.e., the ability to move about in its environment Robotics  integration of computers and controlled mechanisms to make devices re- programmable and versatile. Robot  A reprogrammable and multifunction machine designed to move materials, tools or specialized instruments, by programmed movements to carry out a variety of tasks.

… It typically has – sensors to sense its environment, particularly to make sure it does not hit any obstacles in its way – goals (otherwise, there is no need to have the robot) – planning to determine how to accomplish those goals (pre-programmed or not) – path planning to determine how to move about its environment using the available degrees of freedom this may be the motion of an arm to pick something up it may be a series of movements to physically move it from location 1 to location 2

Types of robots Mobile robots – indoor, outdoor, terrain… Robotic arms – stationary robots that have manipulators (e.g., car manufacturing plants) Autonomous vehicles (cars, drone aircrafts [remote-controlled], helicopters, space robots, underwater/submarines) Soft robots – robots that use soft computing approaches (e.g., Fuzzy logic, neural network)

Mimicking robots (e.g., entertainment robots) Softbots – software agents that have some degrees of freedom (the ability to move) or in some cases, software agents that can communicate over networks Nurse robot – RIBA (Robot for Interactive Body Assistance) – a nursing-care robot Medical robots, etc.

RIBA Robot for Interactive Body Assistance

Types … JIRA (Japanese Industrial Robot Association) Class1: Manual-Handling Device Class2: Fixed Sequence Robot Class3: Variable Sequence Robot Class4: Playback Robot Class5: Numerical Control Robot Class6: Intelligent Robot! – not all robots are intelligent

Types … RIA (Robotics Institute of America) Variable Sequence Robot(Class3) Playback Robot(Class4) Numerical Control Robot(Class5) Intelligent Robot(Class6)

Types … AFR (Association FranÇaise de Robotique) Manual Handling Devices/ telerobotics Automatic Handling Devices/ predetermined cycles Programmable, Servo controlled robot, continuous point-to-point trajectories Same type with C, but it can acquire information.

Applications 3.5 million+ robots, including 1 mil. industrial robots - 50% in Asia, 32% in Europe, 16% in North America Factory: – Mechanical production, e.g., welding, painting – Production of packaged food, drinks, medication – Electronics – placing chips on circuit boards – Automated-guided vehicles (AV), crawlers (multi-legs) Others: – Bomb disabling – Exploration (volcanoes, underwater, other planets) – Cleaning – at home, lawn mowing, cleaning pipes in the field, underwater (ship) cleaning, etc.

Autonomous vehicles (AV) No true AV so far, but – – NavLab5 (CMU) – performed “no hands across America” from Pittsburgh to San Diego with human drivers only using brakes and accelerator, the car did all of the steering using RALPH ( Rapidly Adapting Lateral Position Handler ) – CMU Houston-Metro Automated bus – CityMobile in Europe – ARGO (Italy) drove 2000 km in 6 days using stereoscopic vision to perform lane-following and obstacle avoidance, human drivers could take over as needed, either complete override or to change behavior of the system (e.g., take over steering, take over speed)

Stanley Stanley, the 2005 winner of the DARPA Grand Challenge road race (30 miles in desert). It has top- mounted sensors/lasers.

Humanoid robot

Monkey robot

Spider robot

AIBO by Sony

Apps…soldering

Maintenance

Advantages – সুবিধা Greater flexibility, re-programmability Performance quality: Greater response time to inputs than humans Improved product quality Maximize capital intensive equipment in multiple work shifts Accident reduction Reduction of hazardous exposure for human workers Automation less susceptible to work stoppages

Disadvantages – অসুবিধা Replacement of human labor Greater unemployment Significant retraining costs for both unemployed and users of new technology Advertised technology does not always disclose some of the hidden disadvantages Hidden costs because of the associated technology that must be purchased and integrated into a functioning cell (may cost 3-10 times the cost of the robot)

Supporting Technologies  Vision systems  End-of-arm tooling  Compliance devices  Manipulation devices  Welding technologies  Lasers  Proximity sensors  Wrist sensor (forces/torques)  Control software/hardware  Part delivery systems  Application software  Interface software  Operating systems  Programming languages  Communication systems  I/O devices

Parts of robots Manipulator Pedestal (human waist) Controller (brain) End Effectors (hand) Power Source (food)

Manipulator – Base – Shoulder – Arm – Gripper

Line-follower robot, etc. in Bangladesh…

Conclusion Robotics are used in most industries and will be used even more in the decades to come. Need to work more. Lets work the hardest!

Young men should prove theorems, old men should write books

All the best! Thank you for your kind attention!

Limitations Assembly skillfulness does not match that of human beings, particularly where eye-hand coordination required. Payload to robot weight ratio is poor, often less than 5%. Robot structural configuration may limit joint movement. Work volumes can be constrained by parts or tooling/sensors added to the robot. Robot repeatability/accuracy can constrain the range of potential applications.