Robotics

Dr. Nadia Imran

PhD Control System (Rehabilitation Robotics)
Department of Electrical Engineering

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Course Description
• Week 1: Introduction to robotics- History, growth; Robot applications-
Manufacturing industry, defense, rehabilitation, medical etc., Laws of Robotics
• Week 2,3: Robot mechanisms; Kinematics- coordinate transformations, DH
parameters
• Week 4,5: Forward kinematics, Inverse Kinematics
• Week 6: Jacobians, Statics, Trajectory Planning
• Week 7: Actuators (electrical)- DC motors, BLDC servo motors
• Week 8: Sensors , sensor integration
• Week 10: Control – PWM, joint motion control, feedback control
• Week 8: Computed torque control
• Week 11,12: Perception, Localisation and mapping
• Week 13:Probabilistic robotics, Path planning, BFS; DFS; Dijkstra; A-star; D-star;
Voronoi; Potential Field; Hybrid approaches
• Week 14: Simultaneous Localization and Mapping
• Week 15,16:Introduction to Reinforcement Learning
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Books
1.Robert J Schilling, Fundamentals of Robotics, Prentice Hall India
2.John J Craig, Introduction to Robotics, Prentice Hall International,
2005

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Robots Everywhere
• https://www.youtube.com/watch?v=QdQL11uWWcI
• https://www.youtube.com/watch?v=p1HmgP9l4VY
• https://www.youtube.com/watch?v=31v2bv8kTwA
• https://www.youtube.com/watch?v=FEjuFBQKmGw

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 Robots
Everywhere

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How do you define a robot
• Robotics can be a hobby
• A science fiction genre
• A Scientific/Engineering discipline
• An industrial technology
However, it is sometimes a controversial subject, misinterpreted in
media, advocates and opponents.
So, no single definition is going to satisfy such a variety of perspectives

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Definition
• A robot is a software controller mechanical device that uses sensors
to guide one or more of end effectors through programmed motions
in a workspace in order to manipulate physical objects

• Robotics is the intelligent connection of perception to action

• ( An intelligent connection of perception to action, we call it
robotics)

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Robotics – Timeline

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The laws of Robotics (Isaac Asimov)

A robot must obey A robot must protect its

A robot may not injure a A robot may not injure
orders given to it by own existence as long as
human being, or, through humanity or, through
human beings except such protection does not
inaction, allow a human inaction, allow humanity
where such orders would conflict with first and
being to come to harm. to come to harm.
conflict with the first law. second law.

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Evolution of Robotics Research

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Five Myths and facts about the Robotics
Technology Today
By Shahin Farshchi, IEEE Spectrum, 2014
• Robots are intended to eliminate jobs: MYTH
• Manufacturing and logistics must adopt robots to survive: FACT
• Autonomous robots are still too slow: FACT
• Robots are too expensive: MYTH
• Robots are difficult to use: FACT

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Enabling Technologies: Automation Pentagon

Mechatronics: Not only a trend in technology – it is a way of thinking

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Classification
• Industrial Robots
• Field and Service Robots
• Entertainment/Educational Robots

Field and Service Robots

• Wheeled mobile robots/intelligent vehicles
• Walking robots (robot dogs, biped robots, etc.)
• Humanoids
• Climbing, Crawling robots (robot spiders, Robot Snakes)
• Arial Robots
• Medical Robots
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Industrial Robots (Maniplulators)

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Field and Service Robots
• Mostly six axis articulated configuration (serial arm)
• Electric/Hydraulic actuation
• Robot work cells consist of manipulators, end effectors tools,
conveyors, sensors (vision, force, proximity etc.)
• Programmed through special robot programming languages
• Once setup, runs without major deviations
• Needs calibration
• Online/offline programming
• Kinematics, Dynamics and Control

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Wheeled
Mobile Robot
Muir and Newman (1987)
• A WMR is a “robot capable of
locomotion on a surface solely
through the wheel assemblies
mounted on it and in contact with a
surface.
• A wheel assembly is a device which
provides or allow relative motion
between its mount and the surface
on which it is intended to have a
single-point of rolling contact.

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Wheeled
Mobile Robot
• Wheel design
• Wheel
• Geometry/Configuration
• Stability
• Maneuverability
• Controllability

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Underwater
Robot
• A mobile robotic device designed
and developed to work in
underwater environment to
accomplish specific tasks which
are normally performed by
Human operators

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Remotely Operated
Vehicle (ROV)
Tethered Supervised Vehicle:
• The vehicle is connected to a mother
ship by a cable through which
communications, data transmissions
and power supply are carried out.

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ROV development
and applications
• Diver Observation
• Platform Inspection
• Pipelines Inspection
• Surveys
• Drilling Support
• Construction Support
• Debris Removal
• Platform Cleaning
• Sub-sea Installations
• Telecommunication Support
• Object Location and Recovery
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Autonomous Underwater Vehicle (AUV)
It is a robotic device that is driven through the water by a propulsion
system, controlled and piloted by an on-board computer and
maneuverable in three dimensions.
• It needs to be pre-programmed
• Degree of human intervention will be a function of communication
capability
• AUV will require full-proof navigation, control and guidance system
on-board to meet the mission accuracy requirements
• Transmission of data back to mother ship if on-board storage with
post mission retrieval does not meet the mission requirements

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AUV

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Robots for
healthcare
• Robots in Hospital??
• What for?

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 Robot in
Health Care

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Typical Surgical Robots

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Da Vinci
Surgical
System

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Rehabilitation Robotics
• Rehabilitation Robotics is a field of research dedicated to
understanding and augmenting rehabilitation through the application
of robotic devices.
• Rehabilitation robotics includes development of robotic therapies,
and the use of robots as therapy aids instead of solely as assistive
devices.

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Types of Rehabilitation Robots
• Upper –extremity robots
a. Haptic interface
b. Upper limb

• Lower –extremity robots

a. Leg, knee, foot
b. Pedaling, walking (gait)

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EKSO- The
Exoskeleton
• Product of Berkely Bionics, California
• Is used to enable the user to walk with
the presence of limbs (usually for
paralyzed limbs)
• Also has crutches with buttons to
activate the motors

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Arial Robotics
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Aerodynamic Configurations
Lighter than Air
• Airships
• Blimps
• Hot Air Balloons
Heavier than Air
• Fixed Wing
• Flapping wings
• Rotorcrafts

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Domestic Robots

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