Robotics

 Robotics is the science and technology of robots,

their design, manufacture, and application.
 Science fiction writer Isaac Asimov in his short story
"Liar!“ first uses this term.

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Robot
 A robot is a mechanical device that can perform
preprogrammed physical tasks.
 A robot is a software-controllable mechanical device
that uses sensors to guide one or more end effectors
through programmed motions in a workspace in
order to manipulate physical objects.
 Robotic Industries Association states that an
“industrial robot is a reprogrammable,
multifunctional manipulator designed to move
materials, parts, tools, or specialized devices
through variable programmed motions to perform
a variety of tasks.”
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Robot

Humanoid Industrial Robot

( ASIMO manufactured by Honda) (KUKA Industrial Robots)

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Origin of robots
 Karel Capek coins the term robot in his play Rossum’s
1923 Universal Robots (R.U.R). Robot comes from the
Czech word robota, which means “servitude, forced
labor or Worker”.

 Three Laws of Robotics, are a set of three laws written

1942 by Isaac Asimov in one of his short stories, which
state-
1. A robot may not harm a human being, or, through
inaction, allow a human being to come to harm.
2. A robot must obey the orders given to it by human
beings, except where such orders would conflict with
the First Law.

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Origin of robots

1942 3. A robot must protect its own existence, as long as

such protection does not conflict with the First or
Second Law.

1954 George Devol developed the first Programmable

robot.

The first company to produce an industrial robot was

1962 Unimation, founded by Joseph F. Engelberger and
General Motors installed its First robot.

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Origin of robots
Shakey is made at Stanford Research Institute
1968 International. It contained a television camera, range
finder, on-board logic, bump sensors, camera control
unit, and an antenna for a radio link. Shakey was
controlled by a computer in a different room.

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Origin of robots

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Robot Application
Industrial application:
 Robots are growing in complexity and their use in
industry is becoming more widespread. Robots are used
for the painting, welding, assembly of the cars,
material handling, metal removing, inspection of
parts, etc.

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 Robot Application
Hazardous environment application:
 Robots are also useful in environments which are unpleasant or
dangerous for humans to work in, for example the cleaning of toxic waste,
bomb disposal, work in space or underwater and in mining, servicing
radioactive environment.

Packbot used to defuse bomb Robonaut will be used to perform certain

types of work outside the spacecraft by NASA. 9
Robot Application
Medical application:

A Robonaut could work like a Da Vinci Surgical robot is used

nurse in an operating room. to perform abdominal surgery.

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Robot Application
Domestic application:
 Domestic robots are now available that perform simple tasks such
as vacuum cleaning (scooba) and grass cutting (robomower).

Scooba Robomower
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Robot Application
Other application:
 Social robots: these robots have the aim of providing
companionship, such as Aibo, Wakamaru etc.

Aibo Wakamaru
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Robot Components
Main components of a robot are:
 Manipulator
 End effectors
 Actuators
 Sensors
 Controller
 Processor
 Software

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Robot Components
1. Manipulator:
 It is the main body of the robot and consists of the links, the joints,
and other structural elements of the robot.

2. End effectors:
 This is the part that is connected the

last joint of a manipulator.

 End effectors are designed to perform

the required task. It can be a welding

torch, a paint spray gun, a gripper etc.

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Robot Components
3. Actuators:
 Actuators are the muscles of the manipulators. Common types are-
Electrical motors- Servomotor / Stepper motor
Pneumatic cylinders
Hydraulic cylinders
Magnetostrictive actuators
Shape memory alloy actuators

4. Sensors:
 Sensors are used to collect information about the internal state of the
robot or to communicate with the outside environment.
Internal sensors
External sensors

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Robot Components
5. Controller:
 It receives the data from the computer, controls the motions of the
actuators, and coordinates the motions with the sensory feedback
information.

6. Processor:
 It is the brain of the robot. A processor is generally a computer but
dedicated to a single purpose.

7. Software:
 By this the user can communicate with the robotic system.
• Operating system
• Robotic software/ language: (AL, AML, JARS, MCL etc.)

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Robot degrees of freedom
Degrees of freedom (DOF):
 Minimum number of parameters needed to describe the state of a
physical system.

 In mechanical engineering, aeronautical engineering, robotics, and

structural engineering, degrees of freedom (DOF) are the set of
independent displacements that specify completely the displaced or
deformed position of the body or system.

 To specify a point in space requires 3 DOF (x, y, z coordinates)

 To locate a rigid body in space requires 6 DOF ( location +

orientation)

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Robot degrees of freedom
 A Human hand has 7 DOF
excluding palm and fingers.

 Pitching: Tilting up and down

 Yawing : Turning left and right
 Rolling : Tilting side to side

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Robot degrees of freedom
 A PUMA (Programmable Universal
Machine for Assembly) robot has 6
DOF.

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Robot degrees of freedom
 A PUMA (Programmable Universal
Machine for Assembly) robot has 6
DOF.

•Red
•Blue
•Yellow
•Orange
•Green
•Pink

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Robot Joints
Most robot has these three type of joints
 a) Revolute Joint [Rotary motion, 1 DOF, Variable - θ]
 b) Prismatic Joint [Linear motion, 1 DOF, Variables – d]
 c) Spherical Joint [Rotation, 3 DOF, Variables - θ1, θ2, θ3]

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Robot Coordinates
Robot configurations generally follow the coordinate frames with
which they are defined.

1. Cartesian/ Rectangular/ gantry (3P)

2. Cylindrical (R2P)
3. Spherical (2RP)
4. Articulated/ revolute (3R)
P-Prismatic
R-Revolute
S-Spherical

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Robot Coordinates

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Robot Characteristics:
 Payload: how much weight a robot can lift.
 Reach: Maximum distance a robot can reach.
 Workspace/ Work envelope: Depending on the
configuration, size of links and joints, robot can reach a
collection of points called workspace.
 Speed: how fast the robot can position the end of its arm
(highest speed 10m/s).
 Precision: It is defined as how accurately a specified point
can be reached. This is a function of resolution of the
actuators (0.001 inch).
 Repeatability: It is a measure of the ability of the robot to
position an object in the same place repeatedly with a given
accuracy (0.001 inch).

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