INTRODUCTION TO ROBOTICS

Lab 25%

1. Lab Reports 5%

2. Lab Exams 10% ( 02 lab exams )

3. Projects 10% ( 02 projects )

Intro to Robotics.

What is a Robot?

robot (noun).

A robot is . An electromechanical device that is , Programmable Multifunctional Sensible for Environment

What is in the Name? How does one define Robot? Oxford American Dictionary:

A machine capable of carrying out a complex series of actions automatically, especially one programmed by a computer.

Merriam-Webster Dictionary:

1. A machine that looks and acts like a human being.

2. An efficient but insensitive person.

3. A device that automatically performs repetitive tasks.

4. Something guided by automatic controls.

Robotics - Definition

The study of Robotics concerns itself with the desire to synthesize some aspects

of human function by the use of mechanisms, sensors, actuators and computers

WIKIPEDIA

Robotics is the engineering science and technology of robots, and their design,

manufacturing, application, and structural disposition. Robotics is related to

electronics, mechanics, and software.

Robotics - Definition

Robot Institute of America

An automatic device that performs functions normally ascribed to humans or a

machine in the form of a human

Fields used in Robotics

Combining these fields we can create a system that can

Robots Today

Surgical Demining

Rescue

Educational

Humanoid

Entertainment

Industrial

Space UAV

Main Objectives Form a combined (Hybrid) control strategy

Build a model of the manipulator

Apply the control strategy on the model

Test the model

Design and Simulate a flexible manipulator

Introduction Sensors

Controller

Joints Links Links

Rigid Flexible

Power supply

Electrical Pneumatic Hydraulic

Joints

Rigid Flexible

Modeling Control

Tool/Grip Sensors

Main Classes of Design

Geometry or Kinematic structure

Method of control

Application area

Joint actuator drives

Stepper or DC Motors

Inexpensive, clean and quiet

Inexpensive -Difficult to control

Commonly used for grippers

Electrical

Pneumatic (pressured air)

Hydraulic (pressured oil)

High speed, torque & lifting loads

Expensive, noisy & leaky

Main Classes of Design

Geometry or Kinematic structure

Method of control

Application area

Joint actuator drives

Cartesian Manipulator

Spherical Manipulator

SCARA Manipulator

Cylindrical Manipulator

Revolute Manipulator

Parallel & Hyper redundant

Main Classes of Design Geometry or Kinematic structure

Cartesian Manipulator PPP

x y z

Main Classes of Design Geometry or Kinematic structure

Cylindrical Manipulator RPP

r z

Main Classes of Design Geometry or Kinematic structure

Spherical Manipulator RRP

r

Main Classes of Design Geometry or Kinematic structure

Revolute Manipulator RRR

Main Classes of Design Geometry or Kinematic structure

SCARA Manipulator RRP

z

Main Classes of Design Geometry or Kinematic structure

Parallel & Hyper redundant

Parallel manipulators hyper-redundant robots

Main Classes of Design

Geometry or Kinematic structure

Method of control

Application area

Joint actuator drives

Servo robots

Non-Servo robots

Main Classes of Design Method of control

Servo robots

Non-Servo robots

Closed loop controller

Feedback Controller

Main Classes of Design Method of control

Servo robots

Non-Servo robots

Opened loop controller

Non-Feedback Controller

Main Classes of Design

Geometry or Kinematic structure

Method of control

Application area

Joint actuator drives

Assembly robots

Non-Assembly robots

Small electrically driven

Revolute or SCARA

Special fixtures & jigs

Interaction force sensing &control

Welding - spray painting

Handling loading etc

Main Classes of Design Application area Mining

Handicapped assistance

Ship building

Deep underwater Sampling

Waste tank cleanup Inspection jobs

Medical use

Industrial applications (welding, cutting etc)

Nuclear applications

Agriculture

Space exploration

Human tasks (pushing, writing, page flipping )

Man-robot cooperative work Entertainment (Robot arm rides) Remote handling applications Home applications (e.g. toy robots)