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    Intro2robotics PPT SMR

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    Robot was coined by a Czech novelist in a 1920 play titled Rassum's Universal Robots (RUR) robot is a reprogrammable, multifunctional manipulator designed to move material, parts, tools or specialized devices. Asimov proposed three "Laws of Robotics" and later added the "zeroth law"

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    Intro2robotics PPT SMR

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    Robot was coined by a Czech novelist in a 1920 play titled Rassum's Universal Robots (RUR) robot is a reprogrammable, multifunctional manipulator designed to move material, parts, tools or specialized devices. Asimov proposed three "Laws of Robotics" and later added the "zeroth law"

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    Robot was coined by a Czech novelist in a 1920 play titled Rassum's Universal Robots (RUR) robot is a reprogrammable, multifunctional manipulator designed to move material, parts, tools or specialized devices. Asimov proposed three "Laws of Robotics" and later added the "zeroth law"

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    167 views48 pages

    Intro2robotics PPT SMR

    Uploaded by

    api-115728880
    Robot was coined by a Czech novelist in a 1920 play titled Rassum's Universal Robots (RUR) robot is a reprogrammable, multifunctional manipulator designed to move material, parts, tools or specialized devices. Asimov proposed three "Laws of Robotics" and later added the "zeroth law"

    Copyright:

    Attribution Non-Commercial (BY-NC)
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    of 48

    Introduction to Robotics

    Outline
    Definition Types Uses History Key components Applications Future

    Robot Defined
    Word robot was coined by a Czech novelist Karel Capek in a 1920 play titled Rassums Universal Robots (RUR) Robot in Czech is a word for worker or servant
    zDefinition

    Karel Capek

    of robot:

    Any machine made by by one our members: Robot Institute

    of America -

    A robot is a reprogrammable, multifunctional manipulator

    designed to move material, parts, tools or specialized devices through variable programmed motions for the performance of a variety of tasks: Robot Institute of America, 1979

    Types of Robots: I
    Manipulator

    Types of Robots: II
    Legged Robot Wheeled Robot

    Types of Robots: III


    Autonomous Underwater Vehicle Unmanned Aerial Vehicle

    Robot Uses: I

    Jobs that are dangerous for humans

    Decontaminating Robot Cleaning the main circulating pump housing in the nuclear power plant

    Robot Uses: II

    Repetitive jobs that are boring, stressful, or laborintensive for humans

    Welding Robot

    Robot Uses: III

    Menial tasks that human dont want to do

    The SCRUBMATE Robot

    Laws of Robotics
    Asimov proposed three Laws of Robotics and later added the zeroth law Law 0: A robot may not injure humanity or through inaction, allow humanity to come to harm Law 1: A robot may not injure a human being or through inaction, allow a human being to come to harm, unless this would violate a higher order law 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

    History of Robotics: I
    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 the manufacture of TV picture tubes

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

    PUMA 560 Manipulator

    History of Robotics: III


    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.

    Adepts SCARA robots

    Cognex In-Sight Robot

    Barrett Technology Manipulator

    History of Robotics: IV
    1995-present: Emerging applications in small robotics and mobile robots drive a second growth of start-up companies and research
    2003: NASAs Mars Exploration Rovers will launch toward Mars in search of answers about the history of water on Mars

    Knowledgebase for Robotics


    Typical knowledgebase for the design and operation of robotics systems Dynamic system modeling and analysis Feedback control Sensors and signal conditioning Actuators (muscles) and power electronics Hardware/computer interfacing Computer programming Disciplines: mathematics, physics, biology, mechanical engineering, electrical engineering, computer engineering, and computer science

    Key Components
    Power conversion unit Sensors Controller User interface Manipulat or linkage Base Actuators

    Robot Base: Fixed v/s Mobile


    Robotic manipulators used in manufacturing are examples of fixed robots. They can not move their base away from the work being done. Mobile bases are typically platforms with wheels or tracks attached. Instead of wheels or tracks, some robots employ legs in order to move about.

    Robot Mechanism
    Mechanical Elements

    Sensors
    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) 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 Effect

    Flexiforce Sensor

    Vision Sensors
    Vision Sensor: e.g., to pick bins, perform inspection, etc.
    Part-Picking: Robot can handle work pieces 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 be constructed at low cost.

    In-Sight Vision Sensors

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

    Proximity Sensors

    Infrared Ranging Sensor

    Example

    KOALA ROBOT
    6 ultrasonic sonar transducers to explore wide, open areas Obstacle detection over a wide range from 15cm to 3m 16 built-in infrared proximity sensors (range 5-20cm) Infrared sensors act as a virtual bumper and allow for negotiating tight spaces

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

    Example

    Tilt Sensor

    Planar Bipedal Robot

    Actuators/Muscles: I
    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

    http://www.ab.com/motion/servo/fseries.html

    Actuators/Muscles: II
    Pneumatic Cylinder

    Hydraulic Motor

    Stepper Motor

    DC Motor

    Pneumatic Motor

    Muscle Wire

    Servo Motor

    Controller
    z z

    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

    Storage Hardware
    Storage devices: e.g., memory to store the control program and the state of the robot system obtained from the sensors

    Computation Hardware
    Computational engine that computes the control commands

    RoboBoard Robotics Controller

    BASIC Stamp 2 Module

    Interface Hardware
    Interface units:
    Analog to Digital Converter

    Hardware to interface digital controller with the external world (sensors and actuators)
    Operational Amplifiers

    LM358

    LM358

    LM1458 dual operational amplifier

    Robots in Industry
    Agriculture Automobile Construction Entertainment Health care: hospitals, patient-care, surgery , research, etc. Laboratories: science, engineering , etc. Law enforcement: surveillance, patrol, etc. Manufacturing Military: demining, surveillance, attack, etc. Mining, excavation, and exploration Transportation: air, ground, rail, space, etc. Utilities: gas, water, and electric Warehouses

    Industrial Applications of Robots


    Material handling Material transfer Machine loading and/or unloading Spot welding Continuous arc welding Spray coating Assembly Inspection

    Material Handling Manipulator

    Assembly Manipulator Spot Welding Manipulator

    Robots in Space

    NASA Space Station

    Robots in Hazardous Environments

    TROV in Antarctica operating under water

    HAZBOT operating in atmospheres containing combustible gases

    Medical Robots

    Robotic assistant micro surgery

    for

    Robots in Military

    PREDATOR SPLIT STRIKE: Deployed from a subs hull, Manta could dispatch tiny mine-seeking AUVs or engage in more explosive combat. GLOBAL HAWK ISTAR

    GOLDENEYE

    Robots at Home

    Sony SDR-3X Entertainment Robot

    Sony Aido

    Future of Robots: I
    Artificial Intelligence

    Cog

    Kismet

    Future of Robots: II
    Autonomy

    Robot Work Crews

    Garbage Collection Cart

    Future of Robots: III


    Humanoids

    HONDA Humanoid Robot

    Robotics @ MPCRL: Remote Robot Arm Manipulation

    Robotics @ MPCRL: Smart Irrigation System

    Robotics @ MPCRL: RoboDry

    Robotics @ MPCRL: 4-Legged Hexapod

    Robotics @ MPCRL: Hexapod for Disaster Recovery

    Robotics @ MPCRL: Hexapod for Disaster Recovery

    Robotics @ MPCRL: Robotic Vacuum Cleaner

    Robotics @ MPCRL: Automated Distinguisher

    Robotics @ MPCRL: Automated Distinguisher

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