19CSE455-ARTIFICIAL INTELLIGENCE
AND ROBOTICS
INTRODUCTION
A A NIPPUN KUMAAR
DEPARTMENT OF CSE
AMRITA SCHOOL OF ENGINEERING, BANGALORE
PREVIOUSLY
▸ Course Overview
▸ Robotics - Introduction
▸ Robotics - History
▸ Current Trends in Robotics
▸ Artificial Intelligence - Introduction
▸ Robotics and Artificial Intelligence
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THIS SESSION
▸ Classification of Robots
▸ Components of Robots
▸ Basic Terminologies
▸ Application of Robotics
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CLASSIFICATION OF ROBOTS
▸ Manual-Handling Robots
▸ Fixed Sequence Robots
▸ Variable Sequence Robot
▸ Playback Robot
▸ Numerically Controlled Robot
▸ Intelligent Robot
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COMPONENTS OF ROBOTS
Actuators
Limbs/Muscle
Speaker
Mouth
Micro phone
Ears
Odor sensor
Nose
Camera
Eyes
Controller (or)
Brain
Processor
Image courtesy: 123rf.com 5
Image courtesy: pinterest
COMPONENTS OF ROBOTS
CHASSIS/BASE
POWER SOURCE
SENSORS CONTROLLER ACTUATORS
USER
INTERFACE
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MECHANICAL UNITS
▸ Body, which basically consists of a graph of links and joints
▸ Wheel Design
▸ Other mechanical components
▸ Stability ratio for basic rover chassis design- 16 : 9 : 5
Image courtesy: robotics.kawasaki.com
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Image courtesy: generation robotics
SENSORS
▸ What kind of senses do Robots need?
▸ Human senses: sight, sound, touch, taste, and smell
▸ Robot senses: measure robot configuration/condition and
its environment
▸ Information beyond the 5 human senses
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Image courtesy: researchgate.net
ACTUATORS
▸ Generally, motors for controlling a mechanical system
▸ Common robotic actuators utilize combinations of
different electro-mechanical devices
▸ DC motor
▸ Servo motor
▸ Stepper motor
▸ Brushless Motor
Image courtesy: robotshop.com
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PROCESSORS & CONTROLLERS
▸ ‘Brain’ of the Robot
▸ Programmable
▸ Determines and controls the functioning of the robot
Image courtesy: arduino
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POWER SUPPLY
▸ Must be suitable to run the motors and associated circuitry
▸ Can be either on-board and off-board
▸ Typical power requirement range: 3V to 24V DC
Image courtesy: vsblog.wordpress.com
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TERMINOLOGY
▸ Degree of Freedom (DoF) ?
▸ To place an object in this space, how many DoF is reqd?
▸ X, Y and Z
▸ What about orientation of the object?
▸ Roll, Pitch and Yaw
▸ Definition - DoF
▸ The number of independently controlled actuators/joints. This number
can get very high for robots with many joints.
▸ The directions and orientations that a robot can move in. This number
is limited to 6 for X, Y, Z- translation and pitch, yaw and roll Orientation.
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DOF
▸ How Many DoF A human arm has ??
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DOF
▸ If a robot has an actuator for every DOF then all DOF are
controllable
▸ In practice, not all DOF are controllable
How many Controllable DoF ??
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DOF
▸ A car has 3 DOF
▸ Translation in two directions
▸ Rotation in one direction
▸ How many of these are controllable?
▸ Only two can be controlled
▸ Forward/reverse direction
▸ Rotation through the steering wheel
▸ Some motions cannot be done
▸ Moving sideways
▸ The two available degrees of freedom can get to any position and orientation in
2D
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HOLONOMICITY
▸ A robot is holonomic if the number of controllable DOF is
equal to the number of DOF of the robot
▸ A robot is non-holonomic if the number of controllable
DOF is smaller than the number of DOF of the robot
▸ A robot is redundant if the number of controllable DOF is
larger than the number of DOF of the robot
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APPLICATIONS
▸ Service Robots
▸ In Hospitals to help Elderly
▸ In Houses to perform some chores – Vacuum Cleaning,
Lawn Mower, Dish washing, Even Cooking !!!
▸ In Hotels for serving food
▸ Courier Service, Pizza Delivery
▸ Museum Guide
▸ Etc…
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APPLICATIONS
▸ Industrial Robotics
▸ Almost all big scale manufacturing industries Robot plays a
role.
▸ Medical Robotics
▸ Robots for performing Operation
▸ Robot Nurses
▸ Nano Robot tablets
▸ For medical Theraphy
▸ Space Robotics
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APPLICATIONS
▸ Rescue Robotics
▸ For search and rescue operation in disaster environment
▸ Tele Robotics
▸ Deep Sea Exploring
▸ Military Robotics
▸ Robo Pets
▸ Etc… Etc…
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THANK YOU !!!
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