I N T R O D U C T I O N T O R O B O T I C S

Presentation Objectives Definition Types of Robot HistoryTimeline Laws of Robotics ComponentsUses BBody EEffectors AActuators SSensors CController SSoftware

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

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.

History Leonardo da Vinci (1452–1519) sketched plans for a humanoid robot around 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.)

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

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

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

History 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

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

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

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

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

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

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

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

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

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

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

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

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

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

Key Components Power Conversion Unit Controller ActuatorsSensors User interface Manipulator Linkage Base

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

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… Components

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

  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 Actuators Components

Actuators (Examples) Components Hydraulic Motor Stepper Motor Pneumatic Cylinder DC Motor Stepper MotorServo Motor

Components   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) Sensors  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

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

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

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

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

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

Components   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. Controller

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

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

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

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

Uses Menial tasks that human don’t want to do Menial tasks that human don’t want to do

Uses Robots in Space NASA Space Station

Uses Robots in Hazardous Environments TROV in Antarctica operating under water

Uses Medical Robots Robotic assistant for micro surgery

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