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
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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.
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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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