1. Robotics Sharif In the name of Allah

2. Robotics Sharif Introduction to Robotics o Leila Sharif o l_sharif@sharif.edul_sharif@sharif.edu o Lecture #1: The Big Picture

3. Robotics Sharif Textbook  Introduction to Robotics, Analysis, Systems, Applications. Saeed B. Niku Prentice Hall 2003

4. Robotics Sharif 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. Robotics Sharif Schedule  Course Structure  Class (Sun + Tue 15:00-16:30) 205  Feedback on lectures is welcome any time…

6. Robotics Sharif Grading  Assignments  Midterm exam  Final exam  Presentations  Project

7. Robotics Sharif What we have?  LEGO MindStorm sets  Some Industrial small Arms in automation Lab.  Walking Humanoid Robot  Industrial Arm in Khordro  Simulations

8. Robotics Sharif History  In principle humanoid are robots  In this course, we will primarily study industrial manipulator type robot

9. Robotics Sharif 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. Robotics Sharif Difference of Robot & Manipulator  Manipulator (crane) is controlled by a human  Robot manipulator is controlled by a computer that runs a program

11. Robotics Sharif 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

12. Robotics Sharif 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

13. Robotics Sharif Robots may be used in  Manufacturing environments  Underwater and space explosion  Aiding the disabled  Fun  …

14. Robotics Sharif Robotics is an interdisciplinary subject of  Mechanical engineering  Electrical and electronic engineering  Computer science  Biology  …

15. Robotics Sharif 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.”

16. Robotics Sharif 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.

17. Robotics Sharif 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)

18. Robotics Sharif Animal-like Robots 

19. Robotics Sharif Unmanned Vehicles

20. Robotics Sharif Advantages of Robots I  Increase productivity, safety, efficiency, quality and consistency of products  Without the need for life support, comfort or safety  No need lighting, air conditioning and noise protection  Work continuously without fatigue or boredom. Do not get mad, need no medical insurance and vacation

21. Robotics Sharif Advantages of Robots II  More accurate than human  Robots and their accessories and sensors are beyond that of human  Robots can process multiple task simultaneously

22. Robotics Sharif Disadvantages of Robots  Robots replace human worker create economic problem  Lack capability in response in emergencies, unless the situation is predicted and the response is included in the system  Have limited capabilities in (DOF, Dexterity, Sensors, Vision System, Real time response and..)  Are costly (Initial cost of equipment, Installation cost, Peripherals, Training, Programming)

23. Robotics Sharif Food for Thought  Are exo-skeletons robots?  Is HAL a robot?  Some intelligent Web agents are called “softbots”. Are they robots?  Most, if not all, of the robots you build in this class will use reactive control. What more is there?