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Prof. S.K. Saha
Robotics[AT]?: A RoC-BEE Concept 1
RRobotics[ATobotics[AT]?: ]?: A A RoCRoC−−BEE ConceptBEE Concept
(11(11hh in the Series)in the Series)
Prof. S.K. SahaDept. of Mech. Eng.Dept. of Mech. Eng.
IIT DelhiIIT Delhi
May 20, 2008@GVP Col. of Eng., May 20, 2008@GVP Col. of Eng., VisakhapatnamVisakhapatnam
PlanPlan
•• MechatronicsMechatronics: Today’s Buzzword : Today’s Buzzword –– May 19, 2008May 19, 2008
•• Robotics[ATRobotics[AT]?: A ]?: A RoCRoC--BEE Concept?BEE Concept?–– May 20, 2008May 20, 2008
•• MuDRAMuDRA: A New Research Direction: A New Research Direction–– May 21, 2008May 21, 2008
Introduction: PersonalIntroduction: Personal• BE (Mech)’83: REC (NIT), Durgapur
• M. Tech’85: IIT Kharagpur
Ph. D’91: McGill Univ., Canada
Res. Sc.’91-95: Toshiba R&D, Japan
Vis. Fac.’95-96 & Prof.’06-07: IIT Madras
Asst. Prof.’96 -> Prof.’06: IIT Delhi
ContentsContents
• Introduction
• Video
• Robotics [My Books]
• RIDIM Software
• Robocon
• Conclusions
Qrio (Sony): 58cm; 7kgAsimo (Honda): 120cm; 52kg
Humanoid RobotsHumanoid RobotsMore RobotsMore Robots
Move to DirectoryMove to Directory
•• Session: ‘Session: ‘sess1’ (9 min)sess1’ (9 min)
0000--03, 0603, 06--12 12 minmin
•• Session: ‘sess2’ (7 min) Session: ‘sess2’ (7 min)
0808--15 min15 min
Prof. S.K. Saha
Robotics[AT]?: A RoC-BEE Concept 2
Definition of RobotDefinition of Robot
• What is a robot?
Robit (Check word) --> Work
Robota (Slav word) --> Menial or slave labour
Got publicity from the play
Rossum’sRossum’s Universal Robots (RUR) [1921]Universal Robots (RUR) [1921]
KarelKarel CapekCapek
PUMA RobotPUMA Robot
SCORBOTSCORBOT--Israeli (by Falcon)Israeli (by Falcon) Pick/Place RobotPick/Place Robot--SystemanticsSystemantics, India, India
RTX RTX RobotRobot
Space RobotSpace Robot
Prof. S.K. Saha
Robotics[AT]?: A RoC-BEE Concept 3
Wheeled RobotsWheeled Robots
Centre-driven Vehicle (Carlisle, 1984)
With Mecanum wheel (Jonsson, 1985) or Omnidirectional wheel
(Muir and Neuman, 1987)
RoboTRACRoboTRAC
A system supported with wheels and legs
Snake-like articulated mobile robot
Parallel RobotsParallel Robots
Int. Std. Org. (ISO) DefinitionInt. Std. Org. (ISO) Definition
•• RobotRobot
An automatically controlled, re-programmable, multi-purpose manipulative machine, with or without locomotion, for use in industrial automation applications
•• Other definitions: Other definitions: Rob. Soc. of Japan, etc.
•• Common Common temrstemrs: Re-programmable, Multi-purpose
Laws of RoboticsLaws of Robotics
•• By By IssacIssac Asimov (1940s)Asimov (1940s)
1. A robot may not injure a human being or, though inaction, allow a human being to come to harm.
2. A robot must obey the orders given by human beings, except when such orders would conflict with the first law.
3. A robot must protect its own existence, as long as such protection does not conflict with the first or second law.
Prof. S.K. Saha
Robotics[AT]?: A RoC-BEE Concept 4
First RobotFirst Robot
•• First Commercial Robot (1962)First Commercial Robot (1962)
By Unimation Inc., USA, founded by Joseph F. Joseph F. EngelbergerEngelberger(Father of Robotics)
in 1950
•• Installed in General Motors plantInstalled in General Motors plant
ApplicationsApplications
Industrial Robot PopulationIndustrial Robot Population Other Robot PopulationOther Robot Population
Stoc
k an
d St
ock
and
Fore
cast
Fore
cast
In IndiaIn India
•• Makers: Makers: Systemantics (Bangalore), MTAB (Chennai), BARC (Mumbai), BEL, BEML, CMTI, HMT, BHEL (Hyderabad), Pravak Cybernatics
•• Research Organizations:Research Organizations: IISc, IITs, JU (Kolkata), CMERI (Durgapur), CAIR (Bangalore), BARC [Research started: 1970]
•• Users: Users: All auto manufacturers (Maruti, Honda, Hyundai, Tata Motors), SAMTEL, and others.
Prof. S.K. Saha
Robotics[AT]?: A RoC-BEE Concept 5
Reasons for Poor UtilizationReasons for Poor Utilization
•• Mainly due to Mainly due to
U N E M P L O Y M E N TU N E M P L O Y M E N T[Japan with 3 50 000 robots in 1992 had <
3% unemployment]
•• Other reasonsOther reasons– Lack of proper perspective
– Cheap labour
– Non-availability
– High import cost/High investment
More ReasonsMore Reasons•• R&D Supports: R&D Supports: By Govt. only (DST, DIT)
•• Companies involved: Companies involved: At least 12
•• Advanced Research Absorption: Advanced Research Absorption: Poor
•• Questions:Questions:
Should India Use Robots?
Does India Need Robots?
If yes, how?
Yes
Yes (modified way)
Let’s see
Robotics in IndiaRobotics in India
•• To Overcome `To Overcome `Robotics vs. Unemployment’
•• Do we like to Do we like to – work in front of a furnace at 500oC [Hazardous]
– weld two parts for 8H/day for several years? [Monotonous]
•• Robot = MachineRobot = Machine [Robot ≠ Human]
Where and How?Where and How?
•• Where?Where?
– In hazardous environment (Chemical, Steel, Nuclear, … plants)
– High precision applications
– Export oriented products
•• How?How?
– Indigenous design
– Develop as required (Customized design)
– Make awareness
– Think it as a machine
When to Use a Robot?When to Use a Robot?
Thumb Rules:Thumb Rules:
•• Is task Dirty, Dull, Dangerous, Difficult?Is task Dirty, Dull, Dangerous, Difficult?
•• Will a human be jobless?Will a human be jobless?
•• Is a human willing to do a job?Is a human willing to do a job?
•• Is robot usage economic?Is robot usage economic?
Robot SubsystemsRobot Subsystems
Prof. S.K. Saha
Robotics[AT]?: A RoC-BEE Concept 6
Subsystems (Contd.)Subsystems (Contd.)
•• MotionMotion: Manipulator (Arm & Wrist), End: Manipulator (Arm & Wrist), End--effectoreffector, Actuators (Set in motion), and , Actuators (Set in motion), and TransmissionTransmission
•• RecognitionRecognition: Sensors (Measure status), : Sensors (Measure status), and ADCand ADC
•• Control (Supervision)Control (Supervision): DAC, and Digital : DAC, and Digital ControllerController
ClassificationClassification
(a) Cartesian, Gantry;
(b) Cylindrical;
(c) Spherical;
(d) SCARA;
(e) Anthropomorphic
Robotics for Students: VRL (ADAMS)Robotics for Students: VRL (ADAMS)
Applications: Your Chance!Applications: Your Chance!
1.1. Industrial: Industrial: ☺☺
2.2. Domestic: Domestic:
3.3. Outer Space: ?Outer Space: ?
4.4. Undersea: ??Undersea: ??
5.5. Nuclear: ???Nuclear: ???
Topics of InterestTopics of Interest•• KinematicsKinematics (pos., vel., accn. Analyses)
–– InverseInverse
–– Direct or ForwardDirect or Forward
•• DynamicsDynamics (force vs. motion)–– InverseInverse
–– Direct or ForwardDirect or Forward
•• ControlControl: : Based on Inverse Kin. & Dyn.
•• SimulationSimulation: : Based on Direct Kin. & Dyn.
Inverse vs. Forward DynamicsInverse vs. Forward Dynamics
Inverse Dynamics
Find joint torques/forces for given end-effector motion
Forward Dynamics
Find end-effector motion for known joint torques/forces
Prof. S.K. Saha
Robotics[AT]?: A RoC-BEE Concept 7
RIDIMRIDIM: IIT Delhi’s Robot Software: IIT Delhi’s Robot Software(Freely available from: (Freely available from: http://http://web.iitd.ac.inweb.iitd.ac.in/~saha/~saha))
RoCRoC--BEE BEE ConceptConcept
•• Robotics ContestRobotics Contest--Based Based Education in Education in Engineering (Engineering (RoCRoC--BEE)BEE)
•• Demonstration through Demonstration through RoboconRobocon
ROBOCON: National TV CoverageDD-Robocon’03Bangkok, Thailand
Takraw Ball Playing Robot DD-Robocon’03
DDDD--Robocon’04: Twice SemiRobocon’04: Twice Semi--FinalistFinalistDD-Robocon’04Seoul, S. Korea
ABUABU--RoboconRobocon 2005, Beijing, 2005, Beijing, ChinaChina
•• Extra grantExtra grant
•• Two teams from IITDTwo teams from IITD
•• Only one team in QOnly one team in Q--finalfinal
Prof. S.K. Saha
Robotics[AT]?: A RoC-BEE Concept 8
DDDD--MITMIT--Robocon’06: Best Manual RobotRobocon’06: Best Manual RobotKualalumpur, Malaysia
Manual Testing Automatic Testing
DDDD--MITMIT--Robocon’07Robocon’07Final in DD-Sports Test of Automatic
Hanoi, Vietnam DDDD-- MITMIT-- Robocon’08: Best Manual RobotRobocon’08: Best Manual RobotPune, India, Oct. 31, 2008 Final for NIT vs. MIT
DDDD--RoboconRobocon Experience (IITD)Experience (IITD)
•• 2003: Semi2003: Semi--finalfinal
•• 2004: Semi2004: Semi--finalfinal
•• 2005: Quarter2005: Quarter--finalfinal
•• 2006: Semi2006: Semi--final (final (Most Popular Manual RobotMost Popular Manual Robot))
•• 2007:2007: ChampionChampion (Represented India)(Represented India)–– Lost both the games in ABULost both the games in ABU--RoboconRobocon, Hanoi, Hanoi
•• 20082008: Semi: Semi--final (final (Best Manual RobotBest Manual Robot))
RobotechRobotech Room@IITDRoom@IITD
Prof. S.K. Saha
Robotics[AT]?: A RoC-BEE Concept 9
Robocon@OthersRobocon@Others
Experience w/NITDExperience w/NITD•• First time participant in 2008First time participant in 2008
•• Beat IITBBeat IITB
•• Reached QuarterReached Quarter--finalfinal
Experience w/IITMExperience w/IITM•• First time participant in 2005First time participant in 2005
•• Scored no points in 2007Scored no points in 2007
•• Won two games in 2008Won two games in 2008
Experience w/IITGExperience w/IITG: Lost all in 2008
RoboconRobocon Activity in BriefActivity in Brief
•• Requires about 15Requires about 15--20 students20 students–– Mechanical, Electrical, …Mechanical, Electrical, …
•• 77--8 months preparations8 months preparations
•• Min. Min. RsRs. 1. 1--2 2 lakhslakhs (as a part of lab. dev.)(as a part of lab. dev.)
•• Can be integrated with course workCan be integrated with course work
•• CGPACGPA increasedincreased
ProposalProposal•• Create environment in SAC RoomCreate environment in SAC Room
–– Drill, Grinder, Table with work bench, …Drill, Grinder, Table with work bench, …
–– Soldering iron, ICs, Resistors, …Soldering iron, ICs, Resistors, …
–– Magazines, Other interesting books, etc.Magazines, Other interesting books, etc.
•• Maintain RegistrarMaintain Registrar–– To record attendanceTo record attendance
–– Complain/RequirementComplain/Requirement
•• Weekly/BiWeekly/Bi--weekly ‘weekly ‘RobomaniacsRobomaniacs’ meet’ meet–– Discuss plan, Q&A sessionsDiscuss plan, Q&A sessions
•• Summer training to 1Summer training to 1stst/2/2ndnd Year studentsYear students–– Preparation for next year’s competitions, e.g., ROBOCONPreparation for next year’s competitions, e.g., ROBOCON
Robotics@GVPRobotics@GVP+...+...
PLEASE PLEASE FILL UPFILL UP
ConclusionsConclusions
•• Robotics is explainedRobotics is explained
•• Several advanced robots are shownSeveral advanced robots are shown
•• Robot software RIDIM is introducedRobot software RIDIM is introduced
•• RoboconsRobocons are emphasizedare emphasized
Prof. S.K. Saha
Robotics[AT]?: A RoC-BEE Concept 10
saha@mech.iitd.ac.insaha@mech.iitd.ac.inhttp://http://web.iitd.ac.inweb.iitd.ac.in/~saha/~saha
Thank YouThank YouSaha’sSaha’s BooksBooks
May End’08
Available
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