Chapter 5-

Robotics
Fundament
als
What are
Robots?
• A robot is an autonomous machine
capable of sensing its environment,
carrying out computations to make
decisions, and performing actions in
the real world.
 what is Robotics?

• Robotics is a branch of engineering and

computer science that involves the
conception, design, manufacture and
operation of robots.
• The objective of the robotics field is to
create intelligent machines that can assist
humans in a variety of ways.
 Types of
Robotics

• There are five distinct types of robots that

perform tasks depending on their
capabilities.
1. Pre-Programmed Robots
2. Humanoid Robots
3. Autonomous Robots
4. Teleoperated Robots
5. Augmenting Robots
 Pre-Programmed
Robots

• Pre-programmed robots operate in

a controlled environment where
they do simple, monotonous tasks.
• An example of a pre-programmed
robot would be a mechanical arm
on an automotive assembly line.
 Humanoid
Robots
• Humanoid robots are robots that look
like or mimic human behavior.
• These robots usually perform human-
like activities (like running, jumping and
carrying objects), and are sometimes
designed to look like us, even having
human faces and expressions.
• Two of the most prominent examples
of humanoid robots are Hanson
Robotics’ Sophia and Boston Dynamics’
Atlas.
 Autonomous Robots

• Autonomous robots operate independently of human

operators.
• These robots are usually designed to carry out tasks
in open environments that do not require human
supervision.
• They are quite unique because they use sensors to
perceive the world around them, and then employ
decision-making structures (usually a computer) to
take the optimal next step based on their data and
mission.
• One example of an autonomous robot is the Roomba
vacuum cleaner, which uses sensors to roam freely
throughout a home.
 Teleoperated Robots

• Teleoperated robots are semi-autonomous

bots that use a wireless network to enable
human control from a safe distance.
• These robots usually work in extreme
geographical conditions, weather and
circumstances.
• Examples of teleoperated robots are the
human-controlled drones used to detect
landmines on a battlefield.
Augmenting Robots

• Augmenting robots, also known as

VR robots, either enhance current
human capabilities or replace the
capabilities a human may have lost.
• Some examples of current augmenting
robots are robotic prosthetic limbs
Difference in Robot System and Other AI
Program
AI Programs Robots

They usually operate in computer- They operate in real physical world.

stimulated worlds.

The input to an AI program is in symbols Inputs to robots is analog signal in the

and rules. form of speech waveform or images.

They need general purpose computers They need special hardware with sensors
to operate on. and effectors.
Compone
nts of a
Robot
 Components of a
Robot
• Robots are constructed with the following −
1. Power Supply − The robots are powered by
batteries, solar power, hydraulic, or
pneumatic power sources.
2. Actuators − They convert energy into
movement.
3. Electric motors (AC/DC) − They are required
for rotational movement.
 Components of a Robot –
contd...
4. Pneumatic Air Muscles − They contract
almost 40% when air is sucked in them.
5. Muscle Wires − They contract by 5% when electric
current is passed through them.
6. Piezo Motors and Ultrasonic Motors − Best for
industrial robots.
7. Sensors −
 They provide knowledge of real time information on
the task environment.
 Robots are equipped with vision sensors to be to
compute the depth in the environment.
 Atactile sensor imitates the mechanical properties of
touch receptors of human fingertips.
Anatomy of a
Robot
Anatomy of a Robot

• A robot can be thought of as a computer on wheels: it is distinguished

from a traditional computer by its physical, movable "body", and is
distinguished from a traditional machine by its computational "brain.“
• Each of these components is analogous to some component of a
biological system.
• Links are analogous to bones; joints are analogous to, well, joints;
sensors are analogous to sensory organs; actuators are analogous to
muscles, and wires are analogous to nerves.
 Like the bones of an animal, a robot's links offer structural
support and protection of internal parts.

Most often, some sort of metal is used to provide strong

Links structural support, although some robots use other materials
like wood, plastic, or composites.
and Joints in robots typically either allow rotation or translation.
Rotation usually occurs about a single hinge-joint axis.
Joints Ball-and-socket joints like in the human hip or shoulder are
much rarer due to the difficulty of fabrication, lubrication, and
actuation.
To ensure precise movement and durable operation, the joint
should be constructed from high-strength materials and high-
precision manufacturing.
 Sensors

• Sensors are devices that measure Sensors Purpose

some physical quantities of the Proprioceptive Measure the position of a link relative
world and encode the signals into to another.
electrical (typically digital) form. Inertial Measure the acceleration, velocity, or
• There are many kinds of sensors, position of a link.
and more are being invented every Tactile Detect external forces on the robot's
year. body.
Visual Measure light intensity from the robot's
• Common sensor types in robotics surroundings. Some sensors estimate
are given below. distance from the device to objects in
the world
 Actuators and Transmissions

• An actuator is a mechanism that generates a force / torque given electrical signals; a

transmission is a mechanism that applies an actuator's forces / torques to the robot's
links.
• Common actuator types include:
• Electric motors: stepper motors, brushed / brushless DC motors, AC motors.
• Pneumatic actuators. High variation in size and strength.
• Hydraulic actuators. Very strong.
• Chemical (combustion) actuators: internal combustion engines in automobiles and
prop planes; turbines in jet planes.
• Piezoelectric actuators.
History
and
Terminology
of Robotics
Introductio
n Robot
Drive
Systems
 Introduction Robot Drive
Systems

• The actions of the individual joints must be controlled in order for the manipulator to
perform a desired move its body, arm, motion and wrist.

• The is provided by the drive system used to power the robot.

• The joints are moved by actuators powered by a particular form of drive system.

• Common drive systems used in robotics are electric drive, hydraulic drive, and pneumatic
drive.
Types of Actuators

• Electric Motors:
o Servomotors, Stepper motors
or Direct-drive electric
motors
• Hydraulic actuators
• Pneumatic actuators
Electric Drive System
• The electric drive systems are capable of moving robots
with high power or speed.
• The actuation of this type of robot can be done by either
DC servo motors or DC stepping motors.
• It can be well –suited for rotational joints and as well as
linear joints. The electric drive system will be perfect for
small robots and precise applications.
• Most importantly, it has got greater accuracy and
repeatability.
• The one disadvantage of this system is that it is slightly
costlier.
• An example for this type of drive system is Maker 110
robot.
 Hydraulic Drive System

• The hydraulic drive systems are completely meant for the large –sized
robots.
• It can deliver high power or speed than the electric drive systems.
• This drive system can be used for both linear and rotational joints.
• The rotary motions are provided by the rotary vane actuators, while
the linear motions are produced by hydraulic pistons.
• The leakage of hydraulic oils is considered as the major disadvantage
of this drive.
• An example for the hydraulic drive system is Unimate 2000 series
robot.
 Pneumatic
Drive System
• The pneumatic drive systems are especially used for the small type
robots, which have less than five degrees of freedom.
• It has the ability to offer fine accuracy and speed.
• This drive system can produce rotary movements by actuating the
rotary actuators.
• The translational movements of sliding joints can also be provided
by operating the piston.
• The price of this system is less when compared to the hydraulic
drive.
• The drawback of this system is that it will not be a perfect selection
for the faster operations.
Computer Vision
 Computer Vision

• Computer Vision is a field of artificial intelligence (AI) that allows robots (or
any computer system) to see and understand the visual world around them.
Just like humans use their eyes to gather information, robots equipped with
vision sensors (like cameras) can use computer vision to interpret images
and videos.
• The computer vision plays vital role in the domains of safety, security, health,
access, and entertainment.
Hardware of Computer Vision
System

• This involves −
• Power supply
• Image acquisition device such as camera
• A processor
• A software
• A display device for monitoring the system
• Accessories such as camera stands, cables, and connectors
 Tasks of Computer Vision

• OCR − In the domain of computers, Optical Character Reader, a software to convert

scanned documents into editable text, which accompanies a scanner.
• Face Detection − Many state-of-the-art cameras come with this feature, which enables
to read the face and take the picture of that perfect expression. It is used to let a user
access the software on correct match.
• Object Recognition − They are installed in supermarkets, cameras, high-end cars such
as BMW, GM, and Volvo.
• Estimating Position − It is estimating position of an object with respect to camera as in
position of tumor in human’s body.
Robot
Transformation &
Sensors
 Robot transformation & sensors

• Robot sensors significant role in steering a robot in a particular manner.

• Whether it is autonomous, semiautonomous or remotely supervised by a human being.
• Sensors are used to estimate a robot’s ailment and environment .
• These signals are promulgated to a controller to enable appropriate behavior.
• These sensors help a robot or a machine to transmit to the external world , or control its own
internal systems .
• Since it is difficult to use biological sensors , robots use electromechanical sensors that
measures a physical quantity and convert it into a signal that can be analyzed for further action.
• In short sensor is a device which transforms a physical quantity into the electrical segment.
 Classification of sensors

• Based on power source :

• Active sensors and passive sensors
• Based on means of detection used in a sensor
• Means of detection are electrical, biological , chemical , radioactive etc…
• Based on conversion phenomenon
• A common phenomenon is photo electric , thermo-electric , electromagnetic
etc
• Based on output
• Digital sensors and Analog sensors