MECH4710 Introduction to Robotics

Chapter 1 Introduction
Typical Robotics on Social Media
Typical Robotics B2 W
Typical Robotics (Unitree G1)
Typical Robotics (Unitree G1)
Question

• Why were Boston Dynamics sold around

many times?
• Do we need general robots everywhere?
Industrial Robot (More Specialized)

~32 RMB per candy

How can we develop this robot and entertain

kids (and may be rich)?
Course Information – Contents
▪ Modelling ▪ Planning
▪ Kinematics ▪ Trajectory planning
▪ Direct / Inverse
kinematics ▪ Control

▪ Differential ▪ Actuators and sensors

kinematics and ▪ Control architecture

statics ▪ Motion control
▪ Dynamics ▪ Force and visual
control
 Relation to Math
Mathematics is a fundamental tool for understanding and applying robotics principles in
this course. It involves topics like linear algebra, calculus, differential equations,
optimization, and control theory, making it a mathematically intensive subject.
Example
Relation to Math – Full Picture
Course Goals

1. Know the terminologies. (If you encounter them in the

future, you know they are related to this course.)

2. Know the general meaning of the math. Know

how to calculate them in the simplest form.
3. Experience them in the simplest robotic arm.
(Class project)
4. Make sure most students understand.
For Students Who Are Exceptionally Good
No need to come to the class, as the instruction is too slow for you
Choice 1: Class helper Choice 2: Lab helper
Please take the following robotic arm Come to my lab to build the trash
away and play at home. And cleaning robot for the smart campus
demonstrate during the class program
a Use fluid flow to collect b
debris

Camera

Use tentacles to grasp

trashes

Single jellybot Jellybot swarm

Also, prove yourself to get an A, you get a formal offer

of summer intern from me.
Course Information – Examination
• Assignments & Lab Work (MATLAB-based, focusing on robotic
kinematics and control, to be completed independently after class):
10%
• Midterm Exam (Online multiple-choice format, covering theoretical
foundations and problem-solving skills): 20%
• Final Project (Design, build, and implement a simple 6-joint robotic
arm; assessed based on design, implementation, and performance;
details TBD): 70%

A 24%, B 36%, C 36%. D 4%. F will be

• All the grades will be ranked and assigned based on the following
metrics: A 20%, B 36%, C 36%. D 8%. F will be given to who skip the
given to who skip the above
above tasks/exams.
tasks/exams.
University Grading Guide
Regarding the Final Project
1. Kits will be distributed to you from the 3rd week.
2. Two people in one group.
3. Based on the following kit.
4. Very clearly final goals/rules will be designed.
5. Monday morning session will be open to project
consultation. (Room 4225, TA Hong WANG)
6. TBD…. (Suggestions?)

1. Forward kinematics
2. Inverse kinematics
3. Trajectory planning
4. Pick and place
5. Racing/Dash
If you have extra energy: Pick-and-Place Workflow in Gazebo
using ROS
Pick-and-Place System Design and Simulation
▪ Five toolboxes
▪ Robotics System Toolbox™ is used to model and
simulate the manipulator.
▪ Stateflow® is used to schedule the high-level tasks
in the example and step from task to task.
▪ ROS Toolbox™ is used for connecting MATLAB to
Gazebo.
▪ Computer Vision Toolbox™ and Deep Learning
Toolbox™ are used for object detection using
simulated camera in Gazebo.

▪ Key techniques
▪ ???
▪ Example: Pick-and-Place Workflow in Gazebo using ROS
https://ww2.mathworks.cn/help/robotics/examples/pick-and-place-
workflow-in-gazebo-using-ros.html
Course Information – Software Tools
▪ Robotics System Toolbox™ for MATLAB
▪ https://ww2.mathworks.cn/help/robotics/index.ht
ml
▪ KINOVA ® Gen3 robot
▪ https://www.kinovarobotics.com/en/product
s/gen3-robot
▪ Robot Operating System (ROS)
▪ https://www.ros.org/
▪ Gazebo robot simulator
▪ http://gazebosim.org/
Chapter 1 Introduction
Robotics
▪ History of Robotics
▪ General Framework of Robotics
▪ Classification of Robot
History of Robotics

▪ The word robot was introduced to the public

by Czech writer Karel Čapek in his play R.U.R.
(Rossum’s Universal Robots), which premiered
in 1921.
▪ The word robotics was first used in print by
Isaac Asimov, in his science fiction short story
“Liar!“, published in May 1941 in Astounding
Science Fiction. Asimov was unaware that he
was coining the term; since the science and
technology of electrical devices is electronics,
he assumed robotics already referred to the
science and technology of robots.
History of Robotics

▪ Three Laws of Robotics:

▪ Law One: A robot may not injure a human being, or,
through inaction, allow a human being to come to harm.
▪ Law Two: A robot must obey orders given it by human
beings, except when such orders would conflict with the
first law.
▪ Law Three: A robot must protect its own existence, as long
as such protection does not conflict with the first or
second law.

What do you think? Logic Error? Old fashion?

History of Robotics

▪ early robots (1940's - ▪ "Shakey": ▪ The General Electric

50's): Grey Walter's "Elsie Stanford Walking Truck: the
first legged vehicle
the tortoise" Research with a computer-brain,
Institute in the by Ralph Moser at
1960s. General Electric Corp.
in the 1960s.
History of Robotics

▪ The first modern industrial

robots were probably the
"Unimates", created by
George Devol and Joe
Engleberger in the 1950's
and 60's.
▪ Engleberger started the
first robotics company,
called "Unimation", and
has been called the "father
of robotics."
History of Robotics

Isaac Asimov and Joe Engleberger

(image from Robotics Society of America web site)
Applications of Robots

▪ EXPLORATION
▪ People are interested in places that
are sometimes full of danger, like
outer space, or the deep ocean. But
when they can not go there
themselves, they make robots that can
go there.
▪ The robots are able to carry cameras
and other instruments so that they can
collect information and send it back to
their human operators
Applications of Robots
▪ INDUSTRY
▪ When doing a job,
robots can do many
things faster than
humans. Robots do not
need to be paid, eat,
drink, or go to the
bathroom like people.
▪ They can do repetative
work that is absolutely
boring to people and
they will not stop, slow
down, or fall to sleep like
a human.
Applications of Robots
▪ MEDICINE
▪ Sometimes when
operating, doctors have
to use a robot
instead. A human
would not be able to
make a hole exactly one
100th of a inch wide and
long.
▪ When making medicines,
robots can do the job
much faster and more
accurately than a human
can. Also, a robot can
be more delicate than a
human.
 My Research on Medical Robots

Beetle larva Eel

meniscus-climbing undulation swimming

C. Elegans Caterpillar

crawling jumping
Jellyfish Inchworm

swimming walking Nature 554 (7690), 2018 (Citation 1567), Sci. Adv. 7 (23), 2021

Eight locomotion modes through

diverse terrains and median
29
My Research on Medical Robots
Applications of Robots
▪ Rehabilitation robot
▪ Some doctors and engineers are also developing prosthetic (bionic)
limbs that use robotic mechanisms.
Applications of Robots
▪ MILITARY and POLICE
▪ Police need certain types of
robots for bomb-disposal and
for bringing video cameras
and microphones into
dangerous areas, where a
human policeman might get
hurt or killed.
▪ The military also uses robots
for (1) locating and destroying
mines on land and in water, (2)
entering enemy bases to
gather information, and (3)
spying on enemy troops.
Applications of Robots
▪ TOYS
▪ The new robot technology is
making interesting types of toys
that children will like to play with.
▪ One is the "LEGO MINDSTORMS"
robot construction kit. These kits,
which were developed by the
LEGO company with M.I.T.
scientists, let kids create and
program their own
robots. Another is "Aibo" - Sony
Corporation's robotic dog.
Logistics Robot and Construction Robot

From Boston Antbot from Harvard

dynamics
General Framework of Robotics
▪ Robotics is the science studying the intelligent connection of
perception to action.

▪ Action: mechanical system (locomotion & manipulation)

▪ Perception: sensory system (proprioceptive & exteroceptive)
▪ Connection: control system

▪ Robotics is an interdisciplinary subject concerning mechanics,

electronics, information theory, automation theory.
Classification of Robotics
▪ Advanced Robot
▪ autonomous execution of missions in
unstructured
▪ or scarcely structured environment
▪ Industrial Robot
Classification of Robotics
▪ Class 1: Manual Handling Device

▪ Class2: Fixed-Sequence Robot

▪ *Class3: Variable Sequence Robot

▪ Class4: Playback Robot

▪ Class5: Numerical Control Robot

▪ *Class6: Intelligent Robot

▪ JIRA:Japanise Industrial Robot Association

▪ RIA: The Robotics Instute of America
Classification of Robotics

▪ Type A: Handling Devices with manual control

▪ Type B: Automatic Handling Devices with predetermined
cycles

▪ Type C: Programmable, servo controlled robots

▪ Type D: Type C with interactive with the environment

▪ AFR: The Association Francaise de Robotique

Industrial Robot
Why Not Studying Humanoid/Legged Robot First？
1. Robotic arms have simpler, well-defined
kinematics.
2. Easier to control and simulate.
3. Strong industry applications & immediate
usefulness.
4. Progression to more complex robots.

Humanoid robots have a high-

dimensional state space, making
them far more complex than robotic
arms or wheeled robots. The state
space of a robot refers to all
possible values of its positions,
velocities, and other dynamic
parameters at any given time.
Industrial Robot

1. Automation
2. Application of Industrial Robot
3. Components of Industrial
Robot
Types of Automated Manufacturing Systems

▪ Rigid ( or Fixed ) Automation

▪ High initial investment for custom-engineered
equipment
▪ High production rates
▪ Relatively inflexible in accommodating product
variety

Example
Printed Circuit Board (PCB) Assembly –
Specialized machines mount electronic
components at high speed.
Types of Automated Manufacturing Systems

Programmable Automation
High investment in general purpose equipment
Lower production rates than fixed automation
Flexibility to deal with variations and changes
in product configuration
Most suitable for batch production

Example
CNC machining
Types of Automated Manufacturing Systems
▪ Flexible Automation
▪ High investment for a custom-engineered
system
▪ Continuous production of variable mixtures of
products
▪ Medium Production Rates
▪ Flexibility to deal with product design variations

Example
?
Automation Application
Hierarchical Structure of Automation
Definition of an Industrial Robot

▪ A robot is a re-programmable multifunctional

manipulator 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

(Group within Society of Manufacturing Engineers)

Industrial Robot Manufacturers

▪ ABB Robotics, Swiss/Swedish company

▪ KUKA Robotics, German company
▪ Adept Technology, SCARA robots and
more
▪ Yaskawa, a Japanese company
▪ Fanuc, a Japanese company
▪ Many small ones …
Industrial Robot Examples

Vertical articulated type Gantry type SCARA type

Parallel type Double arm type

Typical Applications

▪ Material handling
▪ Manipulation
▪ Measurement
Typical Applications

Palletizing

Packaging

Cutting

Arc welding Measurement

Advantages of Robots
▪ Robotics and automation can, in many situation, increase productivity,
safety, efficiency, quality, and consistency of products
▪ Robots can work in hazardous environments
nur .
▪ Robots need no environmental comfort
▪ Robots work continuously without any humanity needs and illnesses
▪ Robots have repeatable precision at all times
▪ Robots can be much more accurate than humans, they may have mili
or micro inch accuracy.
▪ Robots and their sensors can have capabilities beyond that of humans
▪ Robots can process multiple stimuli or tasks simultaneously, humans
can only one.
▪ Robots replace human workers who can create economic problems
Current Industrial Robots
▪ are not creative or innovative
▪ no capability to think independently
▪ cannot make complicated decisions
▪ do not learn from mistakes
▪ cannot adapt quickly to changes in their
surroundings

▪ We must depend on real people for these abilities!

Components of Robotic System
▪ Mechanical system (Will be discussed today)
▪ Actuation system
▪ Sensory system
▪ Control system
 Mechanical Structure
▪ Mobile robots
▪ locomotion system
▪ Legged mobile robots
▪ Wheeled mobile robots
The three types of conventional wheels

Differential-drive Synchro-drive Tricycle Car-like Omnidirectional

Mecanum
▪ Robot manipulators (Focus of (or Swedish)
wheel
this course)
▪ Mechanical components
▪ Mechanical configurations
Swedish Wheel
Mechanical Components
▪ Robots are serial “chain” mechanisms made up of
▪ “links” (generally considered to be rigid), and
▪ “joints” (where relative motion takes place)
▪ Joints connect two links
▪ Link 0 - Joint 1 - Link 1 - Joint 2 - Link 2-
Degrees of Freedom
▪ Degrees of freedom (DoF) is the number of
independent movements the robot is capable of
▪ Ideally, each joint has exactly one degree of freedom
▪ degrees of freedom = number of joints
▪ Industrial robots typically have 6 DoF, but 3, 4, 5, and
7 are also common
Soft Robots – Continuum Mechanics

Soft robots are claimed to have infinite degree of

freedom
Types of Joints
▪ Although there are a few other types, most current
industrial robots use one of two types of joints:
▪ Prismatic or Translational (also called Linear), and
▪ Revolute or Rotational
Prismatic Joints
▪ Prismatic (Translational, Linear, Rectilinear) joints
allow motion along a straight line between two links

Link 2

Link 1
Revolute Joints
▪ Revolute (Rotational) joints allow motion along a
circular arc between two links

Link 1
Link 2

Relative Motion
provided by
Revolute Joint
Mechanical Structure
▪ Industrial robots are categorized by the first three
joint types

▪ Five different manipulators:

▪ Cartesian (or Rectangular)
▪ Cylindrical
▪ Spherical (or Polar)
▪ Jointed (or Revolute)
▪ SCARA
Cartesian Geometry
▪ All three joints are
prismatic (PPP)
▪ Commonly used for
positioning tools, such
as dispensers, cutters,
drivers, and routers
Cartesian Geometry
▪ Often highly customizable,
with options for X, Y, Z
lengths
▪ Payloads and speeds vary
based on axis length and
support structures
▪ Simple kinematic
equations
Robot Workspace
▪ Workspace is the volume of space reachable
by the end-effector mount
▪ Everywhere a robot reaches must be within
this space
▪ Tool orientation and size also important!
Cartesian Workspace
▪ Easiest workspace to compute and visualize
▪ Generally a simple “box” with width (X travel),
depth (Y travel), and height (Z travel)
Gantry Robot
▪ A gantry robot is a special type of Cartesian
robot
Y

Z
Gantry Robot
▪ Vary widely in size, workspaces from
“breadloaf” size to several cubic meters
Gantry Robot – Writing Robot
Characteristics of Cartesian Robots
▪ Advantages: ▪ Disadvantages:
▪ easy to visualize ▪ not space efficient
▪ have better inherent ▪ external frame can
accuracy than most be massive
other types
▪ Z axis “post”
▪ easy to program
frequently in the way
off-line
▪ Axes hard to seal
▪ highly configurable -
get the size needed ▪ Can only reach in
front of itself
Cylindrical Geometry
▪ First joint is revolute
(rotation) Next two
joints are prismatic
(RPP)
Cylindrical Geometry
▪ Vertical Z axis is
located inside the
base
▪ Compact end-of-arm
design that allows the
robot to "reach" into
tight work envelopes
without sacrificing
speed or repeatability
Cylindrical Robot
Cylindrical Workspace
▪ Another “easy” workspace to compute and
visualize
Characteristics of Cylindrical Robots
▪ Advantages: ▪ Disadvantages:
▪ large workspace ▪ cannot reach
for size above itself
▪ easily computed ▪ horizontal axis
frequently in the
kinematics
way
▪ can reach all
▪ largely fallen “out
around itself
of favor” and not
▪ reach and height common in new
axes rigid designs
Spherical Geometry

▪ First two joints are

revolute (rotation)
Last joint is prismatic
(RRP)
Spherical Geometry

▪ One of the earliest

common robot
designs (original
UniMate)
▪ Used in a variety of
industrial tasks such as
welding and material
handling
Spherical Robots
Spherical Workspace
▪ Workspace shaped like parts of “orange
peel”
▪ Harder to compute and visualize
Spherical Workspace
Characteristics of Spherical Robots
▪ Advantages: ▪ Disadvantages:
▪ large workspace ▪ has short vertical
for size reach
▪ easily computed ▪ horizontal axis
frequently in the
kinematics
way
▪ also fallen “out of
favor” and not
common in new
designs
Anthropomorphic Geometry
▪ First three joints are
revolute or rotational
(RRR)
▪ Easily the most
common type of
modern robot
Anthropomorphic Geometry
▪ Suitable for a wide
variety of industrial
tasks, ranging from
welding to assembly
▪ Often called an
anthropomorphic arm
because it resembles a
human arm
Anthropomorphic Geometry
▪ Anthropomorphic association extends to
names of the links & joints

Joint 3 - “Elbow”

Joint 2 - “Shoulder”

Joint 1 - “Waist”
Anthropomorphic Geometry
▪ Anthropomorphic association extends to
names of the links & joints

Link 3 - “Forearm”

Link 2 - “Upper Arm”

Link 1 - “Trunk”
Anthropomorphic Geometry
▪ Very hard to compute and visualize
Characteristics of Anthropomorphic Robots
▪ Advantages: ▪ Disadvantages:
▪ excellent reach for ▪ complicated
size kinematics
▪ difficult to program
▪ can reach above or off-line
below obstacles ▪ workspace difficult
characteristics to visualize &
similar to human compute
arm ▪ small errors in first
▪ large workspace few joints are
amplified at end-
for size
effector
FANUC Robot M - 2000iA
▪ The M-2000iA/2300 is one
of the strongest and
biggest 6-axis robot
available on the market.
▪ Loads
▪ Payload : 2300 kg
▪ Workspace
▪ Max. reach: 3734 mm
▪ Number of axes: 6
▪ Repeatability: <±0.18 mm
▪ Weight: 11000 kg
 FANUC Robot M - 2000iA

Workspace (mm)
SCARA Configuration
▪ First two links are
revolute, last link is
prismatic (RRP)
▪ SCARA stands for
Selective Compliance
Assembly Robot Arm
SCARA Geometry
▪ Rigid in the vertical
direction
▪ Compliant in the
horizontal direction
▪ Used for assembly in
a vertical direction
▪ circuit board
component
insertion
SCARA Workspace
▪ Workspace shaped
somewhat like a
donut
▪ maximum outer
radius
▪ minimum inner
radius
▪ uniform height
Characteristics of SCARA Robots
▪ Advantages: ▪ Disadvantages:
▪ fast cycle times ▪ hard to program
off-line
▪ excellent
repeatability good ▪ often limited to
planar surfaces
payload capacity
▪ typically small with
▪ large workspace
relatively low load
▪ height axis is rigid capacity
▪ two ways to reach
same point
Current Popular Design Robot Arms & Wrists
▪ Most robot arms have 3 “degrees of freedom”
▪ can position the end of the arm at “any” point
in 3-D space
▪ Robot “wrists” also have 3 “degrees of
freedom”
▪ usually all revolute / rotational joints
▪ used to provide the final orientation to the
“gripper” or “end-effector”
 Roll - Pitch - Roll Wrist

Can have problems when the

Three main degrees of freedom first “roll” axis aligns
with the last “roll” axis

Wrist
Yaw - Pitch - Roll Wrist
Singularity Demo
1. Hold a pen or marker vertically in your dominant hand as if it
were a screwdriver.

2. Fully extend your arm straight out in front of you (as if

reaching forward).

3. Now, try rotating your wrist left and right while keeping your
elbow and shoulder fixed.

• You'll notice the movement is limited and feels awkward.

• This is because the wrist axis aligns with the forearm axis.

4. Now, slightly bend your elbow and try again.

• You regain smooth wrist rotation because your forearm is

no longer aligned with the wrist axis.