1. Robotics Introduction

2. Etymology The Word Robot has its root in the Slavic languages and means worker, compulsory work, or drudgery. It was popularized as a word for intelligent machines by the Czechoslovakian playwright Karel Kapek in Rossum’s Universal Robot 1921 1950s Isaac Asimov Came up with laws of robotics in I Robot 1.A robot may not injure a human being, or through inaction allow a human being to come to harm. 2.A robot must obey the orders given it by human beings, except where such orders would conflict with the first law. 3.A robot must protect its own existence as long as such protection does not conflict with the first or second law.

3. Definitions Robot: Many Definitions American Heritage Dictionary: ro·bot (rbt, -bt) n. 1:A mechanical device that sometimes resembles a human being and is capable of performing a variety of often complex human tasks on command or by being programmed in advance. 2:A machine or device that operates automatically or by remote control. 3:A person who works mechanically without original thought, especially one who responds automatically to the commands of others. Websters: 1 a : a machine that looks like a human being and performs various complex acts (as walking or talking) of a human being; also : a similar but fictional machine whose lack of capacity for human emotions is often emphasized b : an efficient insensitive person who functions automatically 2 : a device that automatically performs complicated often repetitive tasks 3 : a mechanism guided by automatic controls RIA defines a robot as: "A programmable multi-function manipulator designed to move material, parts, or specialized devices through variable programmed motion for the performance of a variety of tasks" (RIA) McKerrow, in 1986 used "A robot is a machine which can be programmed to do a variety of tasks in the same way a computer is an electronic circuit which can be programmed to do a variety of tasks”

4. OK so what is a robot? Is it R 2 D 2 ? Is it an industrial welding robot? A pick and place machine? A Machine Tool? A Back Hoe? A car on cruse control? A robot is an integration of mechanical electrical and software components that can be reprogrammed to perform a variety of tasks both with and without human intervention. Robotics: The study of robots design, programming and control.

5. Vocabulary DOF: Degree of Freedom. Free space has 6, a plane 3, the surface of a sphere 3. A point in space is defined by 3. A line of unit length in space can be defined by a point and 3 angles. Joint: Same as a human joint. –Revolute: Rotational Joint similar to elbow or wrist. 1DOF –Prismatic: Like an elevator 1DOF –Knuckle: Universal Joint 2DOF –Spherical: Ball and Socket 3DOF Not Common. Kinematics: The relationship between the positions, and the positions derivatives of the robot and its links. Kinematics is motion without forces or mass. Forward (direct) Kinematics: Given the joint trajectories find the link’s or end-effector’s. Inverse Kinematics: Given a path calculate the motion of the joints.

6. Kinetics: Relates motion and forces Statics: Study of forces without motion Dynamics: Study of motion and forces contain both kinetics and kinematics. Still have inverse and forward. Force or Torque: Four Types –Coriolis: Coupling between Axes –Centripetal: Like a ball on a string. –Inertial: Due to acceleration of deceleration of a mass. –Gyroscopic: Changing the angle of a quickly spinning mass. Drill or Router. Vocabulary 2

7. Vocabulary 3 Manipulator: A robot arm. Manipulation: The act of grasping and or moving an object. Gripper: Attaches to a robot to allow an object to be picked up  End-Effector: Part of robot that affects the world. This can be a gripper, a welding torch, a light, or a sensor. Cartesian Coordinates: X Y Z  Right Hand Rule: Standard for defining coordinate frames and positive motion. –Point Fingers of right hand down positive X axes, thump down positive Z axes, Curl fingers by 90 degrees. They will point in the Y direction. –Point thumb of right hand down any axes. Positive rotation is indicated by curling you fingers around the axes

8. Vocabulary 4 Reference Frame: Coordinate system. Can be stationary or in motion. –Tool: Coordinate system that is attached to the tool or end-effector. –World: Coordinate system that the robot is relative to. –Global: Coordinate system that is stationary. DH Parameters: Denavit-Hartenberg Parameters. Robot parameters obtained by a convention for defining the coordinate frames of a robot.