*ROBOTICS

*Introduction to automation and robotics

An automatically controlled, reprogrammable, multipurpose manipulator with three or more axes - The International Organization for Standardization. A reprogrammable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through various programmed motions for the performance of a variety of tasks - The Robot Institute of America. A machine that looks like a human being and performs various complex acts (as walking or talking) of a human being Merriam-Webster.*Robot Definitions

Zeroth Law: A robot may not injure humanity, or, through inaction, allow humanity to come to harm.First Law: A robot may not injure a human being, or, through inaction, allow a human being to come to harm, unless this would violate a higher order law.Second Law: A robot must obey the orders given to it by human beings, except where such orders would conflict with a higher order law.Third Law: A robot must protect its own existence, as long as such protection does not conflict with a higher order law.*Three Laws of Robotics

*1818 - Mary Shelley wrote "Frankenstein" which was about a frightening artificial lifeform created by Dr. Frankenstein. 1921 - The term "robot" was first used in a play called "R.U.R." or "Rossum's Universal Robots" by the Czech writer Karel Capek. The plot was simple: man makes robot then robot kills man! 1941 - Science fiction writer Isaac Asimov first used the word "robotics" to describe the technology of robots and predicted the rise of a powerful robot industry. 1942 - Asimov wrote "Runaround", a story about robots which contained the "Three Laws of Robotics": 1954 George Devol designs the rst programmable robot 1956 Joseph Engelberger, a Columbia University physics student, buys the rights to Devols robot and founds the Unimation Company 1961 the rst Unimate robot is installed in a Trenton, New Jersey plant of General Motors to tend a die casting machine 1963 the rst robot vision system is developed 1971 the Stanford Arm is developed at Stanford University 1973 the rst robot programming language (WAVE) is developed at Stanford 1974 Cincinnati Milacron introduced the T3 robot with computer 1978 Unimation introduces the PUMA robot, based on designs from a General Motors study 1979 the SCARA robot design is introduced1986 the underwater robot, Jason, of the Woods Hole Oceanographic Institute, explores the wreck of the Titanic, found a year earlier by Dr. Robert Barnard. 1996 Honda unveils its Humanoid robotHistory of Robotics

*1818 - Mary Shelley wrote "Frankenstein" which was about a frightening artificial lifeform created by Dr. Frankenstein. 1921 - The term "robot" was first used in a play called "R.U.R." or "Rossum's Universal Robots" by the Czech writer Karel Capek. The plot was simple: man makes robot then robot kills man! 1941 - Science fiction writer Isaac Asimov first used the word "robotics" to describe the technology of robots and predicted the rise of a powerful robot industry. 1942 - Asimov wrote "Runaround", a story about robots which contained the "Three Laws of Robotics": 1948 - "Cybernetics", an influence on artificial intelligence research was published by Norbert Wiener 1956 - George Devol and Joseph Engelberger formed the world's first robot company. 1961 - The first industrial robot was online in a General Motors automobile factory in New Jersey. It was called UNIMATE. 1963 - The first artificial robotic arm to be controlled by a computer was designed. The Rancho Arm was designed as a tool for the handicapped and it's six joints gave it the flexibility of a human arm. 1965 - DENDRAL was the first expert system or program designed to execute the accumulated knowledge of subject experts. 1968 - The octopus-like Tentacle Arm was developed by Marvin Minsky. 1971 - The Stanford Arm was the first electrically powered, computer-controlled robot arm. 1978 PUMA (Programmable Universal Machine for Assembly) robot introduced for assembly by Unimation, based on designs from a General Motors study.1979 Development of SCARA type robot (Selective Compliance Arm for Robotics Assembly) . 1986 - Honda developed seven biped robots1990s Robot development diversified into walking at MIT, Honda, etc., Rehabilitation robots for health care, as well as robots for defense and space applications.Robot anatomy

The robot control loop*Output information Move, SpeechText, Visuals Wheels LegsArms TracksSpeech, VisionAcceleration, TemperaturePosition ,DistanceTouch, ForceMagnetic field ,LightSound ,PositionSense

Task planningPlan ClassificationLearnProcess dataPath planningMotion planning

ThinkSense Act

Definition*What is the Defination of a Robot?

A reprogrammable multifunctional 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.

Laws of Robotics*Asimov proposed three 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 the first law.Law 3: A robot must protect its own existence as long as such protection does not conflict with the first law.

The robot control loop*Output information Move, SpeechText, Visuals Wheels LegsArms TracksSpeech, VisionAcceleration, TemperaturePosition ,DistanceTouch, ForceMagnetic field ,LightSound ,PositionSense

Task planningPlan ClassificationLearnProcess dataPath planningMotion planning

ThinkSense Act

Types of Robots*

Industrial Robots materials handling welding inspection improving productivity Laboratory applications

Types of Robots*Mobile Robots- Robots that move around on legs, tracks or wheels. Eg- In 1979 a nuclear accident in the USA caused a leak of radioactive material which led to Production of special robot whichCan handle the radioactive materials.

Types of Robots* Educational Robots Robotic kitsAre used extensively in education.Eg-Robolab,Lego andRoboCup SoccerDomestic Robots2 typesthose designed to perform household tasksand modern toys which areprogrammed to do things like talking,walking and dancing,etc.

*

Robot Components*1. Manipulator or Rover: Main body of robot (Links, Joints, other structural element of the robot)2. End Effecter: The part that is connected to the last joint hand) of a manipulator.3. Actuators: Muscles of the manipulators (servomotor, stepper motor, pneumatic and hydraulic cylinder).4. Sensors: To collect information about the internal state of the robot or To communicate with the outside environment.

Robot Components*5. Controller: Similar to cerebellum. It controls and coordinates the motion of the actuators.6. Processor: The brain of the robot. It calculates the motions and the velocity of the robots joints, etc.7. Software: Operating system, robotic software and the collection of routines.

SENSORS*Sensors provide awareness of the environment by sensing things.Sensors are the core of robots.It is the system that alerts the robots..Sensing can be in different forms like-LightSoundHeatChemicalsForceObject proximityPhysical orientation/positionMagnetic & Electric FieldsResistance

End Effectors12In robotics, anend effectoris the device at the end of aroboticarm, designed to interact with the environment.End effectors may consist of a gripper or a tool. The gripper can be of two fingers, three fingers or even five fingers.

Actuators*LocomotionManipulation

Actuators*Locomotion-LegsWheelsOther exotic means

Actuators*Manipulations-Degrees of freedomindependently controllable components of motionArmsconvenient method to allow full movement in 3Dmore often used in fixed robots due to power & weighteven more difficult to control!due to extra degrees of freedomGrippersmay be very simple (two rigid arms) to pick up objectsmay be complex device with fingers on end of an armprobably need feedback to control grip force

Degrees of Freedom*Each plane in which a robot can maneuver. ROTATE BASE OF ARMPIVOT BASE OF ARMBEND ELBOWWRIST UP AND DOWNWRIST LEFT AND RIGHTROTATE WRIST

*

The Purpose of Robots*Robots are also used for the following tasks: Dirty Tasks Repetitive tasks Dangerous tasks Impossible tasks Robots assisting the handicappedCan operate equipments at much higher precision than humans.Cheaper on a long term basis.

Robotic Applications

*EXPLORATION- Space Missions Robots in the Antarctic Exploring Volcanoes Underwater ExplorationMEDICAL SCIENCE Surgical assistantASSEMBLY- factories Parts- - handling - Assembly - Painting - Surveillance - Security (bomb disposal,etc) - Home help (grass cutting, nursing)

*

*