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Robotics
Bertain
http://www.engineering-ed.org/
1920
The idea of a robot is not new.
For thousands of years man
has been imagining intelligent
mechanized devices that
perform human-like tasks. He
has built automatic toys and
mechanisms and imagined
robots in drawings, books,
plays and science fiction
movies.
Robotics History
What is the definition of a 'robot'?
"A reprogrammable, multifunctional
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
Where did the word 'robot' come
from?
In fact, the term "robot" was first used in 1920 in a play
called "R.U.R." Or "Rossum's universal robots" by the
Czech writer Karel Capek. The plot was simple: man makes
robot then robot kills man! Many movies that followed
continued to show robots as harmful, menacing machines.
Robotics Terminology
The term 'robotics' refers to the study and
use of robots. The term was coined and
first used by the Russian-born American
scientist and writer Isaac Asimov (born
Jan. 2, 1920, died Apr. 6, 1992). Asimov
wrote prodigiously on a wide variety of
subjects. He was best known for his
many works of science fiction.
The most famous include I Robot (1950),
He also wrote the three “Laws of Robotics for which he is also
famous.
More recent movies, however, like
the 1977 "star wars", portray
robots such as "C3PO" and
"R2D2" as man's helpers.
"Number five" in the movie "short
circuit" and C3PO actually take on
a human appearance. These
robots,
which are made to look.
human are called "androids".
However, robots of today are not exactly the
walking, talking intelligent machines of of movies,
stories and our dreams. Today, we find most robots
working for people in factories, warehouses, and
laboratories. In the future, robots may show up in
other places: our schools, our homes, even our
bodies.
Robots have the potential to change our economy, our
health, our standard of living, our knowledge and the world
in which we live. As the technology progresses, we are
finding new ways to use robots.
Each new use
brings new hope
and possibilities,
but also potential
dangers and risks.
Benefits of Robots

Robots offer specific
benefits to workers,
industries and countries.
If introduced correctly,
industrial robots can
improve the quality of
life by freeing workers
from dirty, boring,
dangerous and heavy
labor.
•Robotics for bio-production
Many robots for bio-production
have been developed in the world
and it is predicted that they will be
commercialized in the 21st century,
since some of them were already
commercialized by some
companies in Japan and European
countries. A tomato and cherry
tomato harvesting robot, a
cucumber harvesting robot,
strawberry harvesting robots, a
multi-operation robot to work in
grapevine yard, and a
chrysanthemum cutting sticking
robot.
EMT
HAZBOT III is part of JPL's Emergency Response
Robotics Project, a five-year effort begun in 1991 to apply
robotics technology to the safe handling of hazardous
materials. Robots such as HAZBOT also hold potential
for use in mining and law enforcement. "It's almost
standard now to have robots on bomb squads in major
cities, but it took several years for the idea to catch on,"
said Richard Welch, task manager of Emergency
Response Robotics at JPL.
Robotics History
And Future
Future missions to
space will include
many robotic vehicles
designed to perform
specific tasks both
autonomous and
remote controlled.
The Mars 2003 Rover
Project is designed to
have two scientific
rovers going to Mars
in 2003. Each rover
will search for
evidence of liquid
water that may have
been present in Mars
past. The rovers will
be identical to each
other, but will land at
different regions of
Mars.
Robot Components
Parts of a robot
Robots use arms, end
effectors (grippers), drive
mechanisms, sensors,
controllers, gears and motors
to perform the human-like
functions necessary to
perform their jobs
Robot Components
arms
Robot arms come in all
shapes and sizes. The arm
is the part of the robot that
positions the end-effector
and sensors to do their preprogrammed business.
•Many (but not all) resemble human arms, and have shoulders, elbows, wrists,
even fingers. This gives the robot a lot of ways to position itself in its
environment. Each joint is said to give the robot 1 degree of freedom.
See http://www.paly.net/~dbertain/robotics/robo/griponrobotics/index.html
Robot Components
Degrees of freedom
So, a simple robot arm with 3 degrees
of freedom could move in 3 ways: up
and down, left and right, forward and
backward. Most working robots today
have 6 degrees of freedom.
Humans have many more and some robots have 8, 12, or even 20
degrees of freedom, but these 6 are enough for most basic tasks.
As a result, most jointed-arm robots in use today have 6 degrees of
freedom
Robot Components
AXIS OF ROTATION
X, Y, Z, Tilt and Spin
Are 3 of the degrees of freedom
that robots perform. Most arms
move according to Cartesian
coordinates
Robot Components
tilt
Tilt is the angle between
gripper and Z-Axis.
The animation sequence
shows the three most
important tilting angles +45,
0, and -45 and how tilting
enables to tip over a block.
Robot Components
spin
Spin is defined as the gripper's rotation
around the Z-Axis. You need to choose a
spin value to align the jaws of the gripper
with a block. Spin 0 aligns the block with the
Y-Axis, Spin -45 with the diagonal between
Y- and X-Axis.
Robotics Sensors &
Controllers
What are sensors?
Sensors collect all the
information a robot needs to
operate and interact with its
environment.
What are Controllers?
Controllers interpret all
the input from the
sensors and decide how
to act in response.
Robotics Sensors & Controllers
What are sensors for?
The control of a manipulator or
industrial robot is based on the
correct interpretation of sensory
information. This information can
be obtained either internally to
the robot (for example, joint
positions and motor torque) or
externally using a wide range of
sensors.
Robotics Sensors &
Controllers
Types of Sensors





Since sensors are any device that provide
input of data to the robot controller a wide
verity of sensors exist. Some basic types of
sensors are shown including:
Light sensors which measure light intensity.
Heat Sensors which measure temperature.
Touch sensors which tell the robot when it
bumps into something.
Ultra Sonic Rangers which tell the robot how
far away objects are.
And gyroscopes which tell the robot which
direction is up.
Robotics Sensors &
controllers
The bumper skirt on this robot is an
example of a touch sensor. When the
robot runs into a wall the bumper
skirt hits a micro switch which lets
the robot controller know that the
robot is up against a wall. Other types
of touch sensors are used internally
to let the robot know when an arm is
extended to far and it should be
retracted or when the robots other
physical limits are reached.
Robotics Sensors &
controllers
Light sensors are used to
detect the presence and
Intensity of light. These can
be used to make a light
seeking robot and are often
used to simulate insect
intelligence in robots.
Robotics Sensors &
controllers
Heat sensors help robots
determine if they are in danger
of overheating. These sensors
are often used internally to
make sure that the robot’s
electronics do not breakdown.
Robotics Sensors &
controllers
Ultra Sonic Rangers are
used to determine how
far a robot is away from
an object. They are
often used by robots that
need to navigate
complicated terrain and
cannot risk bumping into
anything.
Robotics Sensors &
controllers
Gyroscopes are used in robots
that need to maintain
balance or are not inherently
stable. Gyroscopes are often
coupled with powerful robot
controllers that have the
processing power necessary
calculate thousands of
physical simulations per
second.
Robotics Sensors &
controllers
•Transistors
Use transistors as a switch to
control power to motors, relays
and lamps. Current and power
handling capability is pretty
much dictated by package size.
The bigger the package, the
more power.
Robotics Sensors &
controllers
Controllers
Basic Stamp II
The Basic Stamp II is a small, selfcontained computer controller
manufactured by Parallax Inc. This
easy-to-use system is programmed
using a Basic-like language called
PBasic. Programs are written on an
IBM-style PC then downloaded to
the Basic Stamp II for execution.
Large libraries of programs can be
created and saved.
Robotics Sensors &
controllers
Controls
Tiny custom microchips
like these give "vision"
to a toy car by
processing images and
telling the vehicle how
to respond.
Examples

Tiny-phoon


www.tinyphoon.com
Video