Robotics Intro(Sies Nerul)

8/14/2019 Robotics Intro(Sies Nerul)

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RoboticsRobotics


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What is Robotics / A.I. ?

Robotics is the study of the design,construction and use of robots.

Artificialintelligence isthebranchofcomputer science that deals withwriting computer programs that can

solve problems creatively; "workersin AI hope to imitate or duplicateintelligence in computers androbots"


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Definition of a Robot

Word robot was coined by a Czechnovelist Karel Capekin a 1920 playtitled Rossums Universal Robots (RUR)

Robota in Czech is a word for workeror servant

A robot is a reprogrammable,

multifunctional manipulator designedto move material, parts, tools or specialized devices through variable programmed motions for theperformance of a variety of tasks:

- Robot Institute of America, 1979

Karel Capek


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Laws of Robotics

Asimov proposed three Laws of

Robotics(1942)

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

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

Law 3: A robot must protect itsown existence as long as suchprotection does not conflict with ahigher order law
http://www.amazon.com/exec/obidos/tg/detail/-/0553294385/ref=lib_rd_next_2_ns/104-2044519-8395136?v=glance&s=books&vi=reader&img=2&ns=1


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History of Robotics..

1940:Westinghouse Electric Corp.

creates two of the first robots that use

the electric motor for entire body

motion. Elektra could dance, count to ten

and smoke, while his dog companion

Sparko, could walk, stand on its hind

legs and bark. Elektra & Sparco

1898:

Nikola Tesla ,famous inventor,

patents the first remote controlleddevice.

The 'teleautomaton'was a crewless boatthat was controlled from a distancewithout wires

Teleautomaton


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The first industrial robot :-

UNIMATE

1954:The first programmable robot is

designed by George Devol, whocoins the term UniversalAutomation.

He later shortens this to Unimation,which becomes the name of the firstrobot company (1962).

UNIMATE - originallyautomated the manufacture

of TV picture tubes

1948: The first electronic autonomousrobots were created by William GreyWalterof the Burden Neurological

Institute at Bristol, England in 1948 and1949.

They were namedElmerand ElsieElmer Elsie


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1978:

The Puma (Programmable UniversalMachine for Assembly) robot isdeveloped by Unimation with a General

Motors design supportPUMA 560 Manipulator

1956-Robot in Fiction/Hollywood

Robbythe Robot- the

first robot seen at the

movies

Ascenefrom Forbidden Planet

Lost In Space (1965) Star Wars

1981 :IBM enters the robotics field with its


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1990s: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.

GE WALKINGTRUCK

Cognex In-Sight RobotBarrett TechnologyManipulator (BTM)


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Our Times2001:

The Mini-Androsisused by bomb squads to locate and

dispose of bombs. About threefeetlong, itlookssomething like a small

armoured tank with eight wheels on four "legs" that

extend for climbing stairs.Mini-Andros

2003: NASAs Mars Exploration Rovers launched towardsMars in search of answers about the history of water

on Mars.

2005: Urashima deep-sea autonomous underwater vehicle It is a remotely operated vehicle for deep-sea exploration. The goal is to analyze amounts of carbon dioxide, sodium

and other chemicals for information on global warming and

other environmental changes.


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Dangerous

Space explorationchemical spill cleanupdisarming bombsdisaster cleanup

Boring and/or repetitiveWelding car framespart pick and placemanufacturing parts.

High precision or highspeed

Electronics testingSurgeryprecision machining.

What tasks would you give robots?


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Automata v/s Robots

Automata Machinery designed to carry out a specific task ora predetermined sequence of operations or respond to

encoded instructions.

Bottling machineDishwasherPaint sprayer

Robots

Machinery designed to carry out a variety of tasksPick and place armsMobile robotsComputer Numerical Control machines


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Types of robots

Pick and place

Moves items between points

Continuous path control

Moves along a programmable path

Sensory Employs sensors for feedback


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Pick and Place Moves items from one point

to another

Does not need to follow aspecific path betweenpoints

Uses include loading andunloading machines,placing components oncircuit boards, and moving

parts off


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Continuous path control

Moves along aspecific path

Uses includewelding, cutting,

machining parts.


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Sensor

Uses sensors for feedback.

Closed-loop robots usesensors in conjunction with

actuators to gain higheraccuracy servo motors.

Uses include mobile

robotics, telepresence,search and rescue, pick andplace with machine vision


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The Purpose of Robots

Repetitive tasks that

robots can do 24/7.

Robots never get sick or

need time off.

Robots can do tasks

considered too

dangerous for humans.

Robots can operate

equipment to much

higher precision than

humans.

May be cheaper over

the long term

May be able to perform

tasks that are impossiblefor humans


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Agriculture Automobile Construction Entertainment

Health care: hospitals,patient-care, surgery ,

research, etc. Laboratories: science,

engineering , etc. Law enforcement:

surveillance, patrol, etc.

Industries Using Robots

Military: demining,surveillance, attack,

etc. Mining, excavation,

and exploration Transportation: air,

ground, rail, space,

etc.

Utilities: gas, water,and electric Manufacturing Warehouses


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HOW ROBOTS ARE USED IN

INDUSTRIES

Cartesian robot /Gantry robot: Usedfor pick and place work, assembly

operations, handling machine tools and arc

welding. It's a robot whose arm has three

prismatic joints, whose axes are coincidentwith a Cartesian coordinator.

Cylindrical robot: Used for assembly

operations, handling at machine tools,spot welding, and handling at diecasting

machines. It's a robot whose axes form a

cylindrical coordinate system.
http://prime.jsc.nasa.gov/ROV/images/cartesian.GIFhttp://prime.jsc.nasa.gov/ROV/images/gantry.gifhttp://prime.jsc.nasa.gov/ROV/images/cylindrical2.GIFhttp://prime.jsc.nasa.gov/ROV/images/cylindrical2.GIFhttp://prime.jsc.nasa.gov/ROV/images/gantry.gifhttp://prime.jsc.nasa.gov/ROV/images/cartesian.GIF


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Spherical/Polar robot: Used forhandling at machine tools, spot welding,

diecasting, fettling machines, gas

welding and arc welding. It's a robot

whose axes form a polar coordinate

system.

SCARA robot: Used for pick and placework, application of sealant, assembly

operations and handling machine tools.

It's a robot which has two parallel rotary

joints to provide compliance in a plane.

U d f bl
http://prime.jsc.nasa.gov/ROV/images/sphericalpolar.GIFhttp://prime.jsc.nasa.gov/ROV/images/SCARA.GIFhttp://prime.jsc.nasa.gov/ROV/images/SCARA.GIFhttp://prime.jsc.nasa.gov/ROV/images/SCARA.GIFhttp://prime.jsc.nasa.gov/ROV/images/sphericalpolar.GIF


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Used for assembly

operations, diecasting,

fettling machines, gas

welding, arc welding

and spray painting. It'sa robot whose arm has

at least three rotary

joints.

Parallel robot: Oneuse is a mobile

platform handlingcockpit flight

simulators. It's a robot

whose arms have

i i
http://prime.jsc.nasa.gov/ROV/images/parallel.jpghttp://prime.jsc.nasa.gov/ROV/images/parallel.jpg


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What are the

parts of a robot?Manipulator

PedestalController

End EffectorsPower Source


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Manipulator

(Mimics the human arm) Base

Appendages-Shoulder

-Arm

-Grippers


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Pedestal

(Human waist)

Supports the

manipulator.

Acts as acounterbalance.


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Controller

(The brain) Issues instructions to

the robot.

Controls peripheraldevices.

Interfaces with robot.

Interfaces withhumans.


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End

Effectors Spray paintattachments

Weldingattachments

Vacuum heads

Hands

Grippers


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Power

Source (The food)

Electric

Pneumatic Hydraulic


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Knowledgebase for RoboticsKnowledgebase for Robotics

Typical knowledgebase for the design andoperation of robotics systems

Dynamic system modeling and analysis

Feedback control

Sensors and signal conditioningActuators and power electronics

Hardware/computer interfacing

Computer programming

Disciplines: mathematics, physics, biology, mechanicalengineering, electrical engineering, computer engineering, and

computer science


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Base

Manipulatorlinkage

Controller

Sensors Actuators

Userinterface

Powerconversionunit

Key ComponentsKey Components


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Inclined plane wedge

Slider-Crank

Cam and Follower

Gear, rack, pinion, etc.

Chain and sprocket

Lever

Linkage

Robot Mechanism: Mechanical ElementsRobot Mechanism: Mechanical Elements


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Accelerometer

Using Piezoelectric Effect

Flexiforce

Sensor

Sensors: I

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 robotcontroller as electronic signals (e.g., arm

position, presence of toxic gas)

Robots often need information that is

beyond 5 human senses (e.g., ability to:

see in the dark, detect tiny amounts ofinvisible radiation, measure movement that

is too small or fast for the human eye to

see)


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In-Sight Vision

Sensors

Sensors: II

Vision Sensor: e.g., to pick bins,

perform inspection, etc.

Part-Picking: Robot can handle workpieces that are randomly piled by using

3-D vision sensor. Since alignment

operation, a special parts feeder, and

an alignment pallete are not required,

an automatic system can beconstructed at low cost.


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Sensors: III

Force Sensor: e.g., parts

fitting and insertion, force

feedback in robotic

surgeryParts fitting and insertion: Robots can do

precise fitting and insertion of machine

parts by using force sensor. A robot can

insert parts that have the phases after

matching their phases in addition to

simply inserting them. It can automate

high-skill jobs.


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Actuators: IActuators: I

Common robotic actuatorsCommon robotic actuatorsutilize combinations of differentutilize combinations of different

electro-mechanical deviceselectro-mechanical devices

Synchronous motorSynchronous motor

Stepper motorStepper motor

AC servo motorAC servo motor

Brushless DC servo motorBrushless DC servo motor

Brushed DC servo motorBrushed DC servo motor


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Hydraulic Motor Stepper Motor

Pneumatic Motor Servo Motor

Pneumatic

Cylinder

DC Motor

Actuators: II


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Controller

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


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Controller Hardware: I

Storage devices: e.g., memory to store the

control program and the state of the robot

system obtained from the sensors


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BASIC Stamp 2 ModuleRoboBoard Robotics Controller

Controller Hardware: II

Computational engine thatcomputes the control commands


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Analog to Digital

ConverterOperational

Amplifiers

LM358 LM358

LM1458 dual operational amplifier

Controller Hardware: III

Interface units: Hardware to interface digital controller with theexternal world (sensors and actuators)


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advantages

Quality: Robots have the capacity todramatically improve product quality. Applications are performed withprecision and high repeatability everytime. This level of consistency can be hard to

achieve any other way.


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Production:

With robots, throughput speedsincrease, which directly impactsproduction.

Because robots have the ability towork at a constant speed withoutpausing for breaks, sleep, vacations,

they have the potential to producemore than a human worker.


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Safety:

Robots increase workplace safety. Workers are moved to supervisory

roles, so they no longer have to

perform dangerous applications inhazardous settings.

i


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Savings:

Greater worker safety leads tofinancial savings.

There are fewer healthcare and

insurance concerns for employers. Robots also offer untiring

performance which saves valuable

time. Their movements are always exact, so

less material is wasted.


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Expertise:

Employees will require training inprogramming and interacting with the

new robotic equipment. This normally takestime and financial

output.

S f


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Safety:

Robots may protect workers fromsome hazards, but in the meantime,

their very presence can create othersafety problems.

These new dangers must be taken into

consideration.


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Advantages

They are program from humans for necessary reasons.

We do not have to pay them.

They complete orders more accurate than humans mostly

They follow orders as what they are programmed by us tobe.

They can improved the future in many ways (refer to the

five examples of robots advantages). Creates new jobs.


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disadvantages

The are extremely expensive. costs for maintainence.

Creates job loses

Hard to construct.

Some companies will lag behind in industries due to thelack of sufficient financial resources and technicalexpertise.

require more space, and new technology to accommodate

robotics system and robots. Imperative in hiring skilled engineers, programmers, and

others to set up robotics system and robots to avoidfuture dillemas and mishaps.


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Future of robotics

What does the future hold for robotics? What is the nextstep, or the next technological boundary to overcome?The general trend for computers seems to be fasterprocessing speed, greater memory capacity and so on.One would assume that the robots of the future wouldbecome closer and closer to the decision-making ability of

humans and also more independent. Indeed, the human skeletal and muscular systems are

complicated for many reasons.Presumably, once robotshave the ability perform a much wider array of tasks, andvoice recognition software improves such that computers

can interpret complicated sentences in varying accents,we may in fact see robots doing our housework andcarrying out other tasks in the physical world.


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Robotics Intro(Sies Nerul)

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