Robotics

Prof. Dilip Kumar Pratihar

Department of Mechanical Engineering
Indian Institute of Technology, Kharagpur

Lecture - 01
Introduction to Robot and Robotics

Let us start with the course on Robotics. The first topic is on Introduction to Robots and
Robotics.

(Refer Slide Time: 00:30)

Now, before we start learning robotics, a few questions may come to our mind, these are
as follows: What is a robot? What is robotics? Why should we study robotics? What is
motivation behind robotics? How can we give instruction to a robot that you perform this
particular task? What are the different types of robots, we generally use? What are the
possible applications of robots? Can a human being be replaced by a robot?, and so on.

Similarly, there are many other questions. Now, here actually, what I am going to do, I
am just going to give answer to the first few questions. But, the last one, that is can a
human being be replaced by a robot?, that I will try to answer towards the end of this
particular course. Now, let me start with the first one, that is, what is a robot?
(Refer Slide Time: 01:40)

So, I am just going to define the term: robot. The term: robot has come from the Czech
word: robota, which means the forced or the slave laborer. This is just like a servant, and
we are going to give some tasks to the robot, and it is going to perform those tasks just
like a servant.

Now, the term robot was introduced in the year 1921 by Karel Capek. Karel Capek was a
Czech playwright, he wrote one drama and the name of the drama was: Rossum’s
Universal Robot (R.U.R). And, in that particular drama, he introduced a term: robota,
that is, the robot. But, the way he described robot is as follows: the robot was look-wise
similar to a human being. But, nowadays we use a few robots, which do not look like the
human being. So, this is the way actually, the term robot was introduced in the year
1921. But, during that time, there was not even a single robot in the world.
(Refer Slide Time: 03:05)

Now, if you see the literature, the term robot has been defined in a number of ways. For
example say, according to the Oxford English Dictionary, robot is a machine capable of
carrying out a complex series of actions automatically, especially one programmable by
a computer, so this is nothing but an automatic machine. Then, according to ISO, that is,
International Organization for Standardization, the robot has been defined as follows: the
robot is an automatically controlled, reprogrammable, multifunctional manipulator,
programmable in three or more axes, which can be either fixed in place or mobile for use
in industrial automation applications.

Now, as I mentioned, that robot is nothing but an automatically controlled machine. And,
it is reprogrammable that means the same robot can perform a variety of tasks, and to
perform the variety of tasks, we will have to change its program. And, it is
multifunctional, that means, the same robot, the same manipulator can perform the
different types of machining operations. It can do some sort of peak and place type of
operation, and so on.

Now, here actually, we are using the term: manipulator. By manipulator, we mean that it
is a robot with fixed base. Now, this manipulator could be either serial manipulator or
parallel manipulator. So, these things, I will be discussing in details after some time.
(Refer Slide Time: 05:11)

Now, another very popular definition is given by RIA, that is, Robot Institute of
America. Now, they defined robot as follows: it is a reprogrammable multi-functional
manipulator designed to move materials, parts, tools or specialized devices through
variable programmed motions for the performance of a variety of tasks.

Now, these terms, I have already defined. For example, by manipulator we mean robot
with fixed base, and that is nothing but a mechanical hand; that means, the human hand
we are going to model, design and develop in the form of an artificial hand, and that is
nothing but the manipulator, and it is reprogrammable and multifunctional. Now, in
terms of re-programmability, if we compare a robot with one NC, CNC machine; now in
CNC machine like computerized numerical control machine, we can perform a variety of
tasks by changing the program.

Similarly, in robots, the same robot I can use to serve a variety of purposes, simply by
changing the program. But, here, there is a basic difference between the level of re-
programmability, which can be achieved by a robot, and that can be achieved by a CNC
machine. Now, it is important to note, that the level of re-programmability, which can be
achieved by a robot is more compared to that of the CNC machine. And, that is why, a
CNC machine is not a robot. I have put one note here, that CNC machine is actually not
a robot.
(Refer Slide Time: 07:10)

Now, next I am just going to define, what do we mean by the robotics. Now, the robotics
is a science, which deals with the issues related to design, development, applications of
robots to perform a variety of tasks. The term: robotics actually, it was coined by Isaac
Asimov in the year 1942. Isaac Asimov, wrote one story, the name of this story was
Runaround. And in that particular story, he used the term robotics first, but once again let
me mention that during that time, that is, during 1942, there was not even a single robot
in this world.

Now, here in robotics, we use the fundamentals of different subjects, for example,
physics, mathematics, mechanical engineering, electrical and electronics engineering,
computer science. And, that is why, it is bit difficult to become a true roboticist, because
if we want to become an expert, a true expert of robotics, we will have to know the
fundamentals of all these basic subjects, and a robotics is actually a multi-disciplinary
subject.
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Now, I am just going to define one concept, which I have already mentioned a little bit,
like in robotics, we try to copy 3 Hs. Now, these 3 Hs are nothing but, the Hand, Head,
and Heart, that means, we try to copy the hand of a human being in the artificial way, in
the form of one manipulator, that is, the mechanical hand. We try to copy the head of a
human-being, that is, nothing but the intelligence.

And, we also try to copy the heart of a human being, but not the mechanical heart, but
the emotion of a human-being. And, that is why, in future, the robot will be intelligent
and at the same time emotional too. Now, if we consider the human-beings, we are
intelligent, we are emotional, and in robotics, we try to copy everything from the human
being. So, in future, we are trying to design and develop intelligent and emotional robots.
(Refer Slide Time: 10:03)

Now, the next is, what is the motivation behind robotics?, why should we study
robotics?, what is the reason?. Now, if you see today’s market, it is dynamic and
competitive. And, if you want to be in competition, and if you want to be in business,
what you will have to do is. You will have to fulfill at least three requirements. Now,
these requirements are as follows: like you will have to produce good at low cost; and at
the same time the productivity has to be high; and the quality of the product has to be
good. Now, you see the three objectives, like reduced production cost, increased
productivity, and improved product quality. Now, it is bit difficult to achieve all these
three things at a time, and some of them are actually conflicting.

Now, if you want to achieve all three, there is only one solution, and that is nothing but
automation. So, you will have to go for automation, if you want to achieve all three
requirements. Now, if I proceed further, let me tell you something regarding, the
different types of products and methods, which we generally use. Now, if you see the
production methods, the purpose of production is actually to convert the raw materials
into the finished product. Now, this production could be of three types. For example, we
can have the piece production, then there could be batch production, then there could be
mass production.

Now, for piece production, we have got several designs and each design, we will have to
manufacture small in number. Now, for batch production, we have got a few designs;
and each design, we produce a few in numbers. Now, in mass production, we have got
only one design, and that particular product is to be produced a large in number. Now,
we can automate this particular batch production, mass production and of course for
piece production, automation is not possible; so there is no automation for this particular
piece production.

But, for batch production, we can go for automation. And, for mass production, we go
for automation. For mass production, we generally go for the fixed automation or hard
automation. For this particular batch production, we generally go for the flexible
automation.

Now, robotics is an example of this flexible automation. And, that is why, for batch
production, particularly in the manufacturing unit, we will have to go for the robots, if
you want to survive in this competitive market and that is why, the robotics and the
robots have become so much popular in manufacturing units. But, nowadays, not only in
manufacturing units, the robots are used in different areas. For example, robots are
nowadays used in space science, used in medical science, robots are also used for sea-
bed mining, in agriculture, fire-fighting, and so on. So, there are various applications of
robots, nowadays.

(Refer Slide Time: 14:18)

Now, here all such things I have noted. Automation can help to fulfill the requirements
of the above requirements. And, robotics is an example of the flexible automation, and
that is why, we should study robotics.

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Now, I am just going to concentrate on a brief history of robotics. Now, if you see the
NC machine, that is, the numerical controlled machine; that was developed first in the
year 1950, but robot came after that. So, the first robot, which was developed, that was
developed in the year: 1954. In 1954, the first patent on the manipulator was filed by
George Devol, and he is known as the father of robot. In 1956, Joseph Engelberger
started the first robotics company, and the name of the company is Unimation. So,
Unimation is the first robotics company, which was started in the year 1956. Then, in the
year 1962, General Motors used the manipulator, the name of the manipulator is
Unimate, and this particular robot was used in die-casting application.
(Refer Slide Time: 15:58)

Now, next, in the year 1967, General Electric Operation made one 4-legged robot, and
this is a 4-legged vehicle, and they demonstrated and it worked well. Then, in the year
1969, SAM was built by the NASA, USA. SAM was the name of that particular robot,
which was built by the NASA, then Shakey, an intelligent robot, was actually
manufactured by Stanford Research Institute SRI. In fact, Shakey is the first intelligent
mobile robot that was developed in the year 1969. In 1970, Victor Scheinman,
demonstrated a manipulator known as Stanford Arm, and then, Lunokhod 1 was another
robot, that was sent to the moon by USSR, then ODEX 1, another robot, was built by
Odetics, in the year 1970.
(Refer Slide Time: 17:16)

Then, in the year 1973, Richard Hohn of Cincinnati Milacron Corporation manufactured
one robot, the name of the robot was T3, The Tomorrow Tool. Then, in the year 1975,
Raibart at Carnegie Mellon University, USA, built one one-legged hopping machine, and
that is the first dynamically stable machine. Raibart, in fact, is known as the father of
multi-legged robots.

In the year 1978, Unimation, the first robotics company, could develop the PUMA, that
is, Programmable Universal Machine for Assembly. And, this is actually a manipulator,
whose current version is having 6 degrees of freedom, and it is very frequently used in
various industries.
(Refer Slide Time: 18:25)

Then, in the year 1983, Odetics, a robotics company, introduced a unique experimental
six-legged device. In the year 1986, Adaptive Suspension Vehicle, in short, ASV was
developed by Ohio State University, USA. In 1997, NASA, USA, developed the
intelligent robots like Pathfinder and Sojourner, and they sent them to the Mars, but that
particular mission was a failure. And, that particular failure was due to some sorts of
mismatch of the specifications.

(Refer Slide Time: 19:20)

Next, in the year 2000, Honda could develop one Humanoid robot, Asimo robot. So,
Asimo Humanoid robot was developed by Honda, in 2000. Then, comes in 2004, the
surface of the Mars was explored by Spirit, and Opportunity, and this particular mission
was successful. And, you might be knowing, what happened in 2012, the Curiosity, one
intelligent autonomous robot, was sent to the Mars by the NASA, USA, and this
particular mission was successful.

Then, all of you might be knowing, what happened in the year 2015, Sophia, that is one
intelligent and a little bit emotional humanoid robot, was built by Hanson Robotics,
Hong Kong, and this is actually, as on today, the most sophisticated intelligent humanoid
robot. And, a few weeks ago, this particular robot was brought to IIT, Bombay, and there
she could talk, she could communicate with other people, and some of you might have
seen in paper or a television. So, that particular very sophisticated intelligent humanoid
robot is Sophia.

So, these are in sort the brief history of the robotics. Now, the purpose behind giving this
brief history of this robotics is just to tell you that we started a bit late in India. The study
on robotics, we started around 1979, 80. So, we started a little bit late, although the first
manipulator, the first patent was filed in the year 1954.

(Refer Slide Time: 21:33)

Now, I am just going to concentrate on a particular robotic system. So, what are the
different components of a typical robotic system? Now, here, in this particular schematic
view, you can see that that this particular thing is nothing but a robot. So, this is actually
the robot, and this is the manipulator, this is a serial manipulator. And, this is the drive
unit for this serial manipulator. And, this is the controller or the director for this
particular manipulator.

Now, as I told that this is a serial manipulator, and by manipulator, we mean a robot with
fixed base. So, here, the base of this particular robot is fixed. So, it is a fixed base, we
have got one link here, another link here, another link here, and these links are used just
to transmit the mechanical power. And, in between the two links, we have got the joints,
so we have got a few joints. For example, say if I consider that this is the base of this
particular manipulator, and this is the next link, so in between these two, you have got a
joint here.

Similarly, in between this link, and that particular link, we have got a joint here.
Similarly, here in between this link and that link, we have got a joint here, between these
and these we have got another joint here. So, in between the two links, so we have got a
particular the joint. Now, if you see the robotic joint, the robotic joint could be basically
of two types, it could be either the linear joint, or there could be rotary joints. So, the
linear joint, it could be either prismatic joint or sliding joint. Now, here I am just going to
draw a rough sketch for these prismatic and sliding joints.

(Refer Slide Time: 24:15)

Now, if I just draw this particular prismatic joint, supposing that I have got a block like
this. So, if I consider a block like this. Now, here, I can insert one this type of key. Now,
if I insert this particular key here. So, this particular joint will be nothing but a prismatic
joint, and this is a linear joint. So, this particular part, say part A can be just moved in the
linear direction here, and this is an example of the prismatic joint.

Now, similarly, I am just going to take the example of one sliding joint, now supposing
that I have got a block like this. Say, I have got a block like this. And, here, I will have to
insert one pin, that pin could be something like this. Say, I will have to insert a pin
something like this here, and this particular pin can be inserted here and there will be
only the linear movement, and this is the example of one sliding joint. So, these are all
linear joints.

(Refer Slide Time: 26:47)

Now, next come to the rotary joint. Now, here so, if you see the rotary joint, it could be
of two types basically, we could have the revolute joint, and there could be twisting joint.
Now, both are the rotary joints, but basically there is a difference between these revolute
joint, and twisting joint. Now, to find out the difference between the revolute joint, and
twisting joint; I am just going to take one example here.

Now, let me take one example. So, this is the fixed base, and this is the link, and in
between I have got a joint here. Now, with the help of this particular joint, so this
particular link can be rotated something like this. So, it can be rotated something like
this. Now, if this is the output link and this side is input. The axis of the output link is
nothing but this about which I am taking the rotation. And, this particular axis is
coinciding with the axis of the output link. This is the output link. This is the axis of the
output link, and I am taking this rotation about this particular axis.

So, this particular rotary joint is nothing but, the twisting joint denoted by T. Now, let me
take another example, say this is one link and this is another link. So, here, I am just
going to take the rotation, the rotation about this particular axis. Now, here if this is the
input side, that is the output side. So, the axis of the output link is something like this,
and the axis about which I am taking the rotation is this, and they are at 90 degrees.

So, if this is output, the axis of the output link, and the axis about which I am taking the
rotation, they are at 90 degrees. So, that type of rotary joint is known as the revolute
joint, so this is nothing but a revolute joint denoted by R. So, basically once again let me
repeat that we use two types of joints, namely linear joint, and rotary joint. And, once
again, there are two types of linear joint, the prismatic joint and sliding joint, and two
types of rotary joint we use, one is the revolute joint, another is the twisting joint.

Thank you.