Shri Shamrao Patil (Yadravkar) Educational & Charitable Trust’s

Sharad Institute of Technology College of Engineering

Yadrav (Ichalkaranji)-416 121 Dist: Kolhapur
An Autonomous Institute
(Approved byAICTE, New Delhi, Recognized by Government of Maharashtra &
Affiliated to Dr. BabasahebAmbedkar Technological University, Lonere
Accredited with ‘A’Grade by NAAC, NBAAccredited Programs, ISO 9001:2015 Certified Institute)

Introduction to Robotics

Presented by
Dr. Krishnkant Sahu
Assistant Professor Mechatronics Engineering Department, Sharad Institute of Technology College
of Engineering, Yadrav.
A robotics system is a combination of hardware and
software components designed to perform various
tasks autonomously or semi-autonomously. These
systems typically consist of robotic manipulators or
mobile platforms, sensors, actuators, and a control
system.
The hardware components of a robotics system can
vary depending on the intended application. For
example, industrial robotics systems often include
robotic arms with multiple degrees of freedom, grippers
or end effectors for manipulating objects, and various
types of sensors such as cameras, force sensors, or
proximity sensors. Mobile robotics systems, on the
other hand, are equipped with wheels or legs for
 ROBOT MANIPULATION
Robot manipulation refers to the ability of a
robot to interact with and manipulate objects
in its environment. It involves the use of
robotic arms, grippers, and other tools to
grasp,
Robot move, and manipulate
manipulation objects with
finds applications in
precision
various and control.
fields, including manufacturing,
logistics, healthcare, agriculture, and
research. It enables robots to perform tasks
such as pick-and-place operations, assembly,
sorting, packaging, and even complex
activities requiring fine motor skills, like
 Robot manipulation can be divided into
several key components:
1. Perception: The robot must be able to perceive and understand the objects in its
environment. This involves using sensors such as cameras, depth sensors, or
force/torque sensors to gather information about the position, shape, size, and
orientation of the objects.
2. Planning: Once the robot has perceived the objects, it needs to plan the actions
required to manipulate them. This includes determining the optimal grasping
strategy, the sequence of movements, and the forces to be applied during
manipulation.
3. Grasping: Grasping is the process of the robot's arm or end-effector securely
gripping an object. The robot needs to compute an appropriate grasp pose and
apply the necessary forces to achieve a stable and secure grip. Different types of
grippers, such as mechanical grippers, suction cups, or robotic hands, can be
used depending on the object's characteristics.
4. Manipulation: Once the object is grasped, the robot can manipulate it by
moving, rotating, or placing it in a desired location or orientation. The robot
needs to control its arm's movements and apply the appropriate forces to
avoid collisions, maintain stability, and achieve the desired manipulation
tasks.

5. Feedback and Adaptation: The robot may encounter uncertainties or

unexpected situations during manipulation. To ensure successful
manipulation, the robot should have the ability to continuously monitor and
adjust its actions based on sensory feedback. This may involve adapting its
grasping strategy, adjusting its movements, or revising its plans.
 Various Components of Robotics

These components work together to enable a robot to perform its

intended functions: industrial automation, autonomous vehicles,
healthcare assistance, or any other application. The specific
configuration and combination of components can vary depending
Robot Manipulator: The robot manipulator, also known as the robot arm, is the physical part of
the robot that interacts with the environment. It consists of several joints and links that enable
the robot to move and manipulate objects.

End Effector: The end effector is the tool or device attached to the robot manipulator's end. It is
responsible for performing specific tasks such as gripping, cutting, welding, or sensing.
Examples of end effectors include grippers, suction cups, and welding torches.

Actuators: Actuators are the components responsible for generating motion in the robot. They
convert electrical, hydraulic, or pneumatic signals into physical movement. Common types of
actuators used in robotics include electric motors, hydraulic cylinders, and pneumatic pistons.

Sensors: Sensors provide feedback to the robot system by detecting and measuring various
parameters such as position, force, temperature, and vision. They enable the robot to perceive
its environment and make informed decisions. Examples of sensors used in robotics include
cameras, proximity sensors, force sensors, and temperature sensors.
Control System: The control system controls and coordinates the robot's movements and actions. It
processes sensor data, calculates the necessary motions, and sends commands to the actuators. The
control system can be implemented using hardware and software components, including
microcontrollers, programmable logic controllers (PLCs), and algorithms.

Power Supply: Robots require a power source to operate. The power supply provides electrical energy
to the various components of the robot system, including the actuators, control systems, and sensors.
The power supply can be in the form of batteries, electrical outlets, or dedicated power systems.

Communication Interface: The communication interface enables the robot system to interact with
external devices or systems. It allows for exchanging data and commands between the robot and other
machines, human operators, or a central control system. Common communication interfaces include
Ethernet, USB, Wi-Fi, and serial ports.

Computing System: The computing system consists of the hardware and software components that
enable the robot to process data, perform calculations, and make decisions. It includes processors,
memory, storage devices, and operating systems. Advanced robotic systems may also utilize artificial
intelligence and machine learning algorithms for more sophisticated tasks.
 Interdisciplinary areas in robotics

Robotics is a highly interdisciplinary field that draws upon

various areas of study to design, build, and program robots.
Here are some key interdisciplinary areas in robotics:

The interdisciplinary areas work together to advance

robotics, enabling the development of innovative robots and
technologies that can perform tasks in diverse domains
such as manufacturing, healthcare, agriculture, space
exploration, and more.
 Interdisciplinary areas in robotics cont.
1. Computer Science and Artificial Intelligence: Computer science and AI are fundamental to
robotics. They involve developing algorithms and software for robot perception, decision-
making, planning, control, and learning. Machine learning and deep learning techniques are
particularly important for enabling robots to adapt and improve their performance over time.
2. Mechanical Engineering: Mechanical engineering plays a vital role in robotics by focusing on
the design, fabrication, and control of robot hardware. It encompasses areas such as
kinematics, dynamics, materials science, and mechanical system design. Mechanical engineers
work on developing robotic structures, actuators, sensors, and manipulators.
3. Electrical and Electronic Engineering: Electrical and electronic engineering deals with
designing and implementing electronic systems and components in robotics. This includes
areas such as power electronics, signal processing, embedded systems, and sensor
integration. Electrical engineers work on designing robot control systems, power management,
and sensor interfaces.
4. Control Systems Engineering: Control systems engineering focuses on the analysis and
design of systems that continuously regulate the behavior of robots. It involves designing
feedback control algorithms to stabilize, track trajectories, and optimize performance. Control
systems engineers work on areas like motion control, trajectory planning, and sensor fusion.
 Interdisciplinary areas in robotics Cont.
5. Cognitive Science: Cognitive science explores how robots can perceive and interact with their
environment in a manner similar to humans. It involves studying perception, cognition, learning,
and human-robot interaction. Cognitive scientists contribute to areas such as computer vision,
natural language processing, and human-robot collaboration.
6. Bioengineering and Biomechanics: Bioengineering and biomechanics contribute to designing
and developing robots inspired by biological systems. This includes creating robots with
biomimetic locomotion, robotic prosthetics, and exoskeletons. Bioengineers also work on
interfaces between robots and living organisms for applications like neural interfaces and
assistive technologies.
7. Mathematics and Physics: Mathematics and physics provide the theoretical foundations for
robotics. Mathematics is essential for modeling and analyzing robot kinematics, dynamics, and
control algorithms. Physics helps us understand the physical principles underlying robotic
systems, such as mechanics, electromagnetism, and thermodynamics.
8. Ethics and Social Sciences: Robotics raises ethical, legal, and social issues. An
interdisciplinary collaboration involving ethicists, social scientists, and policymakers ensures
responsible and beneficial robot design, deployment, and regulation. This includes
considerations of privacy, safety, job displacement, and the impact of robots on society.
Types of Robot Joints
Rotational Joint:\
A rotational joint can also be represented as R –Joint. This type will allow the joints to
move in a rotary motion along the axis, which is vertical to the arm axes.
Linear Joint:
A linear joint can be indicated by the letter L –Joint. This type of joint can perform both
translational and sliding movements. These motions will be attained in several ways, such
as through the telescoping mechanism and piston. The two links should be in parallel axes
to achieve linear movement.
Twisting Joint:
The twisting joint will be referred to as V –Joint. This joint makes a twisting
motion between the output and input link. During this process, the output link axis will be
vertical to the rotational axis. The output link rotates in relation to the input link.
Orthogonal Joint:
The O –joint is a symbol that is denoted for the orthogonal joint. This joint is somewhat
similar to the linear joint. The only difference is that the output and input links will be
moving at the right angles.
Revolving Joint:
A revolving joint is generally known as V –Joint. Here, the output link axis is
perpendicular to the rotational axis, and the input link is parallel to the rotational axes. As
with a twisting joint, the output link spins about the input link.
Types of Robot Joints
Types of Robot Joints
Types of Robot Joints
Types of Robot Joints
Types of Robot Joints
Types of Robot Joints
End