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Introduction to Robotics
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Materials Provided by JNTU World Team
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Outline
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• Definition
• Types
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• Uses
• History
• Key components
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• Applications
• Future
• Robotics @ MPCRL
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Robot Defined
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• Word robot was coined by a
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Czech novelist Karel Capek in a
1920 play titled Rassum’s
Universal Robots (RUR)
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• Robot in Czech is a word for
worker or servant Karel Capek
zDefinition of robot:
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–Any machine made by by one our members: Robot Institute
of America -
–A robot is a reprogrammable, multifunctional manipulator
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designed to move material, parts, tools or specialized devices
through variable programmed motions for the performance of
a variety of tasks: Robot Institute of America, 1979
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Types of Robots: I
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Manipulator
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Types of Robots: II
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Legged Robot Wheeled Robot
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Types of Robots: III
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Autonomous Underwater Vehicle Unmanned Aerial Vehicle
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Robot Uses: I
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Jobs that are dangerous
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for humans
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Decontaminating Robot
Cleaning the main circulating pump
housing in the nuclear power plant
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Robot Uses: II
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Repetitive jobs that are
boring, stressful, or labor-
intensive for humans
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Welding Robot
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Robot Uses: III
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Menial tasks that human
don’t want to do
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The SCRUBMATE Robot
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Laws of Robotics
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• Asimov proposed three “Laws of
Robotics” and later added the
“zeroth law”
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• Law 0: A robot may not injure
humanity or through inaction,
allow humanity to come to harm
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• Law 1: 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
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• Law 2: A robot must obey orders
given to it by human beings, except
where such orders would conflict
with a higher order law
• Law 3: A robot must protect its
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own existence as long as such
protection does not conflict with a
higher order law
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History of Robotics: I
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• The first industrial
robot: UNIMATE
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• 1954: The first programmable
robot is designed by George
Devol, who coins the term
Universal Automation. He later
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shortens this to Unimation, which
becomes the name of the first
robot company (1962).
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UNIMATE originally automated the
manufacture of TV picture tubes
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History of Robotics: II
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1978: The Puma (Programmable
Universal Machine for
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Assembly) robot is developed
by Unimation with a General
Motors design support
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PUMA 560 Manipulator
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History of Robotics: III
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1980s: The robot industry enters a phase of rapid growth. Many
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institutions introduce programs and courses in robotics. Robotics
courses are spread across mechanical engineering, electrical
engineering, and computer science departments.
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Adept’s SCARA robots Cognex In-Sight Robot Barrett Technology Manipulator
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History of Robotics: IV
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1995-present: Emerging
applications in small
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robotics and mobile
robots drive a second
growth of start-up
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companies and research
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2003: NASA’s Mars Exploration Rovers will launch toward
Mars in search of answers about the history of water on Mars
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Knowledgebase for Robotics
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•Typical knowledgebase for the design and operation of robotics
systems
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–Dynamic system modeling and analysis
–Feedback control
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–Sensors and signal conditioning
–Actuators (muscles) and power electronics
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–Hardware/computer interfacing
–Computer programming
Disciplines: mathematics, physics, biology,
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mechanical engineering, electrical engineering,
computer engineering, and computer science
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Key Components
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Power conversion
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unit
Sensors Actuators
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User interface
Manipulat
or linkage
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Base
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Robot Base: Fixed v/s Mobile
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Robotic manipulators used in Mobile bases are typically
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manufacturing are examples of platforms with wheels or tracks
fixed robots. They can not attached. Instead of wheels or
move their base away from the tracks, some robots employ
work being done. legs in order to move about.
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Robot Mechanism
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Mechanical Elements
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Sensors
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•Human senses: sight, sound, touch, taste, and smell
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provide us vital information to function and survive
•Robot sensors: measure robot configuration/condition
and its environment and send such information to robot
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controller as electronic signals (e.g., arm position,
presence of toxic gas) Accelerometer
Using Piezoelectric Effect
•Robots often need information that is beyond 5 human
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senses (e.g., ability to: see in the dark, detect tiny
amounts of invisible radiation, measure movement that is
too small or fast for the human eye to see)
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Flexiforce Sensor
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Vision Sensors
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Vision Sensor: e.g., to pick bins,
perform inspection, etc.
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Part-Picking: Robot can handle
work pieces that are randomly piled
In-Sight Vision Sensors
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by using 3-D vision sensor. Since
alignment operation, a special parts
feeder, and an alignment pallete
are not required, an automatic
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system can be constructed at low
cost.
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Force Sensors
Force Sensor: e.g., parts
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fitting and insertion,
force feedback in robotic
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surgery
Parts fitting and insertion:
Robots can do precise fitting and
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insertion of machine parts by using
force sensor. A robot can insert parts
that have the phases after matching
their phases in addition to simply
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inserting them. It can automate high-
skill jobs.
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Proximity Sensors
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Example
Infrared Ranging Sensor
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KOALA ROBOT
•6 ultrasonic sonar transducers to explore wide, open areas
•Obstacle detection over a wide range from 15cm to 3m
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•16 built-in infrared proximity sensors (range 5-20cm)
•Infrared sensors act as a “virtual bumper” and allow for
negotiating tight spaces
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Tilt Sensors
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Tilt sensors: e.g., to balance a robot
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Tilt Sensor
Planar Bipedal Robot
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Actuators/Muscles: I
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• Common robotic actuators utilize combinations of
different electro-mechanical devices
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– Synchronous motor
– Stepper motor
– AC servo motor
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– Brushless DC servo motor
– Brushed DC servo motor
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http://www.ab.com/motion/servo/fseries.html
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Actuators/Muscles: II
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Pneumatic Cylinder
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Hydraulic Motor Stepper Motor
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DC Motor
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Pneumatic Motor Muscle Wire Servo Motor
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Controller
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z Provide necessary intelligence to control the
manipulator/mobile robot
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z Process the sensory information and compute the
control commands for the actuators to carry out
specified tasks
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Storage Hardware
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Storage devices: e.g., memory to store the
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control program and the state of the robot system
obtained from the sensors
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Computation Hardware
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Computational engine that computes the control
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commands
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RoboBoard Robotics Controller BASIC Stamp 2 Module
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Interface Hardware
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Interface units: Hardware to interface digital
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controller with the external world (sensors and actuators)
Analog to Digital Converter Operational Amplifiers
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LM358 LM358
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LM1458 dual operational amplifier
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Robots in Industry
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•Agriculture
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•Automobile
•Construction
•Entertainment
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•Health care: hospitals, patient-care, surgery , research, etc.
•Laboratories: science, engineering , etc.
•Law enforcement: surveillance, patrol, etc.
•Manufacturing
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•Military: demining, surveillance, attack, etc.
•Mining, excavation, and exploration
•Transportation: air, ground, rail, space, etc.
•Utilities: gas, water, and electric
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•Warehouses
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Industrial Applications of Robots
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•Material handling
•Material transfer
•Machine loading and/or
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unloading
•Spot welding Material Handling Manipulator
•Continuous arc welding
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•Spray coating
•Assembly
•Inspection
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Assembly Manipulator
Spot Welding Manipulator
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Robots in Space
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NASA Space Station
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Robots in Hazardous Environments
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TROV in Antarctica HAZBOT operating in
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operating under water atmospheres containing
combustible gases
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Medical Robots
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Robotic assistant for
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micro surgery
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Robots in Military
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SPLIT STRIKE:
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Deployed from a ISTAR
sub’s hull, Manta
could dispatch tiny
mine-seeking AUVs
or engage in more
explosive combat.
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GLOBAL HAWK GOLDENEYE
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Robots at Home
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Sony SDR-3X Entertainment Robot Sony Aido
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Future of Robots: I
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Artificial Intelligence
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Cog Kismet
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Future of Robots: II
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Autonomy
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Robot Work Crews Garbage Collection Cart
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Future of Robots: III
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Humanoids
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HONDA Humanoid Robot
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Robotics @ MPCRL:
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Remote Robot Arm Manipulation
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Robotics @ MPCRL:
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Smart Irrigation System
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Robotics @ MPCRL: RoboDry
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Robotics @ MPCRL:
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4-Legged Hexapod
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Robotics @ MPCRL: Hexapod
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for Disaster Recovery
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Robotics @ MPCRL: Hexapod
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for Disaster Recovery
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Robotics @ MPCRL:
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Robotic Vacuum Cleaner
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Robotics @ MPCRL:
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Automated Distinguisher
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Robotics @ MPCRL:
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Automated Distinguisher
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To Explore Further
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Visit:
http://www.alljntuworld.in
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