INTRODUCTIO

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INTRODUCTIO

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TOTO

ROBOTICS

ROBOTICS

Presentation ObjectivesPresentation Objectives

DefinitionDefinition

Types of RobotTypes of Robot

HistoryHistory

TimelineTimeline

Laws of RoboticsLaws of Robotics

ComponentsComponents

UsesUses

Body Effectors Actuators Sensors Controller Software

DefinitionDefinition“A re-programmable, multi-functional manipulator designed to move material, parts, tools, or specialized devices through various programmed motions for the performance of a variety of tasks” - Robot Institute of America, 1979

“An automatic device that performs functions normally ascribed to humans or a machine in the form of a human.” - Webster's Dictionary

Types of Types of RobotRobot

Simple Level Robots

Middle Level Robots

Complex Level Robots

Are automatic machines that extend human potential.Do work that humans can but should not do.

Are programmable, multipurpose, electromechanical machines.Do work that humans normally do.

Are reprogrammable, multifunctional, manipulators.Are designed to move materials, tools and parts through programmed paths.Are suited for a variety of tasks.

HistorHistoryyLeonardo da Vinci (1452–1519) sketched plans for a Leonardo da Vinci (1452–1519) sketched plans for a

humanoid robot around 1495. Da Vinci's notebooks, humanoid robot around 1495. Da Vinci's notebooks, rediscovered in the 1950s, contain detailed rediscovered in the 1950s, contain detailed drawings of a mechanical knight now known as drawings of a mechanical knight now known as Leonardo's robot, able to sit up, wave its arms and Leonardo's robot, able to sit up, wave its arms and move its head and jaw.move its head and jaw.

In 1738 and 1739, Jacques De Vaucanson exhibited In 1738 and 1739, Jacques De Vaucanson exhibited several life-sized automatons: a flute player, a pipe several life-sized automatons: a flute player, a pipe player and a duck. The mechanical duck could flap player and a duck. The mechanical duck could flap its wings, crane its neck, and swallow food from the its wings, crane its neck, and swallow food from the exhibitor's hand, and it gave the illusion of digesting exhibitor's hand, and it gave the illusion of digesting its food by excreting matter stored in a hidden its food by excreting matter stored in a hidden compartment. Complex mechanical toys and animals compartment. Complex mechanical toys and animals built in Japan in the 1700s were described in the built in Japan in the 1700s were described in the Karakuri zui (Illustrated Machinery, 1796).Karakuri zui (Illustrated Machinery, 1796).

HistorHistoryy

The first industrial robot: UNIMATE

1954: The first programmable robot is designed by George Devol, who coins the term Universal Automation. He later shortens this to Unimation, which becomes the name of the first robot company (1962).

UNIMATE originally automated themanufacture of TV picture tubes

HistorHistoryy

1978: The Puma (Programmable Universal Machine for Assembly) robot is developed by Unimation with a General Motors design support.

PUMA 560 Manipulator

HistorHistoryy

1980s: The robot industry enters a phase of rapid growth. Many institutions introduce programs and courses in robotics. Robotics courses are spread across mechanical engineering, electrical engineering, and computer science departments.

Adept's SCARA robots

Cognex In-Sight Robot

Barrett Technology Manipulator

HistorHistoryy

1995 - present: Emerging applications in small robotics and mobile robots drive a second growth of start-up companies and research

2003: NASA’s Mars Exploration Rovers will launch toward Mars in search of answers about the

history of water on Mars

Timeline

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Robot Name:

Inventor:

1206

First programmable humanoid robots

Boat with four robotic musicians

Al-Jazari

Timeline

Date:

Significance:

Robot Name:

Inventor:

1206

First programmable humanoid robots

Boat with four robotic musicians

Al-Jazari

1495

Designs for a humanoid robot

Mechanical knight

Leonardo Da Vinci

Timeline

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Robot Name:

Inventor:

1495

Designs for a humanoid robot

Mechanical knight

Leonardo Da Vinci

1738

Digesting Duck

Jacques de Vaucanson

Mechanical duck that was able to eat, flap its wings, and excrete

Timeline

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Inventor:

1738

Mechanical duck that was able to eat, flap its wings, and excrete

Digesting Duck

Jacques de Vaucanson

1800s

Karakuri toys

Hisashige Tanaka

Japanese mechanical toys that served tea, fired arrows, and painted

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1800s

Japanese mechanical toys that served tea, fired arrows, and painted

Karakuri toys

Hisashige Tanaka

1921

First fictional automata called "robots" appear in the play R.U.R.

Rossum's Universal Robots

Karel Čapek

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1921

First fictional automata called "robots" appear in the play R.U.R.

Rossum's Universal Robots

Karel Čapek

1930s

Humanoid robot exhibited at the 1939 and 1940 World's Fairs

Elektro

Westinghouse Electric Corporation

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1930s

Humanoid robot exhibited at the 1939 and 1940 World's Fairs

Elektro

Westinghouse Electric Corporation

1948

Simple robots exhibiting biological behaviors

Elsie and Elmer

William Grey Walter

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Inventor:

1948

Simple robots exhibiting biological behaviors

Elsie and Elmer

William Grey Walter

1956

First commercial robot, from the Unimation company founded by George Devol and Joseph Engelberger, based on Devol's patents

Unimate

George Devol

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1956

First commercial robot, from the Unimation company founded by George Devol and Joseph Engelberger, based on Devol's patents

Unimate

George Devol

1961

First installed industrial robot

Unimate

George Devol

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Inventor:

1961

First installed industrial robot

Unimate

George Devol

1963

First palletizing robot

Palletizer

Fuji Yusoki Kogyo

Timeline

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Inventor:

1963

First palletizing robot

Palletizer

Fuji Yusoki Kogyo

1973

First robot with six electromechanically driven axes

Famulus

KUKA Robot Group

Timeline

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Inventor:

1973

First robot with six electromechanically driven axes

Famulus

KUKA Robot Group

1975

Programmable universal manipulation arm, a Unimation product

PUMA

Victor Scheinman

Laws of Robotics

Law 1: A robot may not injure a human being or through inaction, allow a human being to come to harm

Law 2: A robot must obey orders given to it by human beings, except where such orders would conflict with a higher order law

Law 3: A robot must protect its own existence as long as such protection does not conflict with a higher order law

Key ComponentsKey Components

Power ConversionUnit

Controller ActuatorsSensors

User interfaceManipulator

LinkageBase

ComponentsComponents

Typically defined as a graph of links and joints:

BodyBody

A link is a part, a shape with physical properties.

A joint is a constraint on the spatial relations of two or more links.

Body (Types of joint)Body (Types of joint)

Respectively, a ball joint, which allows rotation around x, y, and z, a hinge joint, which allows rotation around z, and a slider joint, which allows translation along x. These are just a few examples…

ComponentsComponents

Component to accomplish some desired physical function

Examples:– Hands– Torch– Wheels– Legs– Trumpet

EffectorsEffectors

ComponentsComponents

Common robotic actuators utilize combinations of different electro mechanical devices

– Synchronous motor

– Stepper motor

– AC servo motor

– Brushless DC servo motor

– Brushed DC servo motor

ActuatorsActuators

ComponentsComponents

Actuators (Examples)Actuators (Examples)

ComponentsComponents

Hydraulic Motor

Stepper Motor

Pneumatic Cylinder

DC Motor

Stepper Motor Servo Motor

ComponentsComponents

Human senses: sight, sound, touch, taste, and smell provide us vital information to function and survive

Robot sensors: measure robot configuration/condition and its environment and send such information to robot controller as electronic signals (e.g., arm position, presence of toxic gas)

SensorsSensors

Robots often need information that is beyond 5 human senses (e.g., ability to: see in the dark, detect tiny amounts of invisible radiation, measure movement that is too small or fast for the human eye to see) Accelerometer Using

Piezoelectric EffectFlexiforce Sensor

ComponentsComponents

Vision Sensor: e.g., to pick bins, perform inspection, etc.

SensorsSensors

In-Sight Vision Sensors Part-Picking: Robot can handle In-Sight

Vision Sensors work pieces that are randomly piled by using 3-D vision sensor. Since alignment operation, a special parts feeder, and an alignment pallets are not required, an automatic system can be constructed at low cost.

ComponentsComponents

Force Sensor: e.g., parts fitting and insertion, force feedback in robotic surgery

SensorsSensors

Tilt sensors: e.g., to balance a robot

Example

ComponentsComponents

Imaging sensors: these create a visual representation of the world.

SensorsSensors

Here, a stereovision systemcreates a depthmap for a GrandChallengecompetitor.

ComponentsComponents

Proprioceptive sensors: these provide information on the robot’s internal state, e.g. the position of its joints.

SensorsSensors

Shaft decoderscount revolutions,allowing forconfiguration dataand odometer.

ComponentsComponents

Provide necessary intelligence to control the manipulator/mobile robot

Process the sensory information and compute the control commands for the actuators to carry out specified tasks

ControllerController

Storage devices: e.g., memory to store thecontrol program and the state of the robot systemobtained from the sensors

ComponentsComponents

There are two controller paradigms

– Open-loop controllers execute robot movement without feedback.

– Closed-loop controllers execute robot movement and judge progress with sensors. They can thus compensate for errors.

ControllerController

ComponentsComponents

Hybrid architectures are software architectures combining deliberative and reactive controllers.

– An example is path-planning and PD control.

Software Software

The most popular hybrid software architecture is the three-layer architecture:

– Reactive layer – low-level control, tight sensor-action loop, decisions cycles (DCs) order of milliseconds.

– Executive layer – directives from deliberative layer sequenced for reactive layer, representing sensor information, localization, mapping, DCs order of seconds.

– Deliberative layer – generates global solutions to complex tasks, path planning, model-based planning, analyze sensor data represented by executive layer, DCs order of minutes.

UsesUses• Agriculture

• Automobile

• Construction

• Entertainment

• Health care: hospitals, patient-care, surgery , research, etc.

• Laboratories: science, engineering , etc.

• Law enforcement: surveillance, patrol, etc.

• Manufacturing

• Military: surveillance, attack, etc.

• Mining, excavation, and exploration

• Transportation: air, ground, rail, space, etc.

• Utilities: gas, water, and electric

• Warehouses

UsesUses

• Jobs that are dangerous for humans

Decontaminating Robot

Cleaning the main circulating pumphousing in the nuclear power plant

UsesUses

•Repetitive jobs that are boring, stressful, or labor-intensive for humans

Welding Robot

UsesUses

•Menial tasks that human don’t want to do

Menial tasks that humandon’t want to do

UsesUses•Robots in Space

NASA Space Station

UsesUses•Robots in Hazardous Environments

TROV in Antarcticaoperating under water

UsesUses

•Medical Robots

Robotic assistant formicro surgery

Thanking You......Thanking You......

Foysal MOHD ShawonFoysal MOHD ShawonID:ID: 071-163-041 071-163-041Group:Group: (D) (D)Mob:Mob: 01913-258484 01913-258484Email:Email: foysal foysalmohdmohdshawon@gmail.comshawon@gmail.comWeb page:Web page: www.foysal.synthasite.com www.foysal.synthasite.com