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ROBOTIKAIT-012276
Dr. Tb. Maulana Kusuma, SKom., [email protected]
http://mkusuma.staff.gunadarma.ac.id
P1 | Dasar-dasar Robotika
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What is a Robot?Electro-mechanical device.
Performs Various tasks.
May be human controlled or automated.
It finds its uses in all aspects of our life .
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Robota
The term robot originates from the Czech word, robota,meaning compulsory labor (or slave) From the play R.U.R. (Rossums Universal Robots) by Czechplay writer Karel Capek in 1921.
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Three Laws of RoboticsIn 1942, Issac Asimov , An American science fictionwriter, introduced the word robotics in his shortstoryLaw 1 : A robot may not injure a human being, or,
through inaction, allow a human being to come toharmLaw 2 : A robot must obey the orders given it byhuman beings except where such orders would
conflict with the First LawLaw 3 : A robot must protect its own existence aslong as such protection does not conflict with theFirst or Second Law
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G. Walters Robot The first Robot
1948, 1953A wheeled machine with motors
PhotocellsTwo vacuum tubesMoved toward light if moderate intensity
Avoided bright light
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What defines a robot?
Sense a robot has to take in informationabout its environment
Plan a robot has to use that information tomake a decision
Act a robot needs moving partsto carry out commands
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Robot Classes
Manipulators : robotic arms. These are mostcommonly found in industrial settings.Mobile Robots : unmanned vehicles capable oflocomotion.Hybrid Robots : mobile robots withmanipulators.
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Manipulators Configuration
PolarCylinder
CartesianJoint-arm
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Mobile Robots
Wheeled Holonomic Non-holonomic
Legged Humanoid Animaloid
FlyingUnderwater
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Industrial Robots
Material HandlingManipulator
AssemblyManipulator
Spot Welding Manipulator
Material handling Material transfer Machine loading and/or unloading Spot welding Continuous arc welding Spray coating Assembly Inspection
What Robots can do?
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Basic Parts of a Robot
Mechanical systemPower supply system
ActuatorsSensory devices for feedbackSensor Data processing unit
Control system
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Mechanical System
The most basic and important part of therobot.
It comprises of chassis, motors, wheels andtheir placement.
This system decides the locomotion of therobot.
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Wheeled Locomotion Systems
Differential driveCar type drive
Skid steer driveSynchronous drivePivot drive
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Differential Drive
This is the most commonly used form oflocomotion system used in robots as its thesimplest and easiest to implement.
It has free moving wheel(s) in the frontaccompanied with a left and right wheel. The
two wheels are driven by different motors.
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Differential Drive (Contd
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Car Type Drive (Rack and Pinion)
It is characterized by a pair of driving wheelsand a separate pair of steering wheels.
The translation and rotation are interlinked,hence this system faces severe path planningproblem.
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Car Type Drive (Contd)
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Skid Steer Drive
A close relative of the differential drive system.It is mostly used in tracked machines e.g. tanks. Alsofinds application in some four / six wheeled robots
The left and right wheels are driven independently.Steering is accomplished by actuating each side at adifferent rate or in a different direction, causing thewheels or tracks to slip, or skid, on the ground.
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Skid Steer Drive (Contd)
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Synchronous Drive (Contd)
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Pivot Drive
The most unique type of Locomotion system
It is composed of a four wheeled chassis and a platform that
can be raised or lowered
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Pivot Drive (Contd)
The wheels are driven by a motor for translationmotion in a straight line
For rotation one motor is needed to lower/raise theplatform & another to rotate the chassis around theplatform
This system can guarantee perfect straight linemotion as well as accurate in place turns to adesired heading
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Power Supply System
Suitable power source is needed to run the robots.
Robots are most suitably powered by batteries.
The weight and energy capacity of the batteries maybecome the determinative factor of its performance.
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Actuators
They convert the electrical energy into meaningfulmechanical work
Mechanical output can be rotational or linear(straight line)
Motors provide rotational motion
Electromagnets provide linear motion
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Motors are of various kinds
AC Motors : Not used much in robotics
Stepper Motors : For controlled rotation
DC Motors : Finds extensive general use
Servo Motors : DC motor with in built feedback &error compensation
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Hydraulic Motor Stepper Motor
Pneumatic Motor Servo Motor
Pneumatic Cylinder
DC Motor
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Sensors
Analogous to human sensory organs Eyes, ears, nose, tongue, skin
Sensors help the robot knowing its surroundingsbetter
Improves its actions and decision making ability
Provides feedback control
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Examples
Light Dependent ResistorThermistor
Flame Sensor (ie. UVTron)IR Photo SensorProximity Sensor (ultrasonic, IR)
Vision (camera)
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Line Following Robot
A line follower is a robotcapable of tracking a linedrawn on a surface
Optical sensors capturethe line position at thefront end of the robot
The robot is steered tokeep it always over the
line
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Optical Reflectors
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TERIMA KASIHInformasi Selengkapnya:
UG Robotics Workshop (Bengkel Robot) Kampus D, Gedung 3 Lantai 1 Utara
UG-VIBORG | Vision, Robotics and Real-time System Group http://ugviborg.wordpress.com
Blog Komunitas Robotika UG: http://robotika.blog.gunadarma.ac.id/