What is Robot?

The term robot was used in 1920 for the first time by the
Czech playwright Karel Capek play titled Rassums Universal
Robots (RUR). Robot in Czech is a word for worker or servant
In 1940 a robot having a human like appearance has been
introduced in the science fiction written by the Russian, Issac
Asimov.
The term Robotic was introduced by Asimov as- the Science
devoted to the study of robot and it is based on the three
fundamental laws.
1 A robot may not injure a human being or, through inaction
allow a human being to come to harm.
2 A robot must obey the orders given by human beings, except
when such orders would conflict with the first law.
3 A robot must protect its existence, as long as such protection
does not conflict with the first and second law.

Eyob D. Introduction To Robotics

History of Robotics

1922: Karel apeks novel, Rossums Universal Robots, word Robota

(worker) 1952: NC machine (MIT) 1955: Denavit-Hartenberg
Homogeneous Transformation 1967: Mark II (Unimation Inc.)
1968: Shakey (SRI) - intelligent robot 1973: T3 (Cincinnati
Milacron Inc.) 1978: PUMA (Unimation Inc.) 1983: Robotics
Courses 21C: Walking Robots, Mobile Robots, Humanoid Robots

Eyob D. Introduction To Robotics

Introduction To Robotics
An industrial robot is a re-programmable, multi functional
manipulator designed to move materials, parts, tools, or
specialized devices through variable programmed motions for
the performance of a variety of tasks.
Robot mechanical structure
1 Robot Manipulator-Having a fixed base
2 Mobile robot-Having a mobile base

Figure: manipulator Figure: mobile robot

Eyob D. Introduction To Robotics

cont...

A Robot manipulator (or an industrial robot) is composed of a

series of links connected to each other via joints. Each joint
usually has an actuator (a motor for eg.) connected to it.
These actuators are used to cause relative motion between
successive links. One end of the manipulator is usually
connected to a stable base and the other end is used to deploy
a tool.
Knowing the dof of a rigid body and the number of
constraints provided by joints, we can derive Grubler’s formula
for calculating the dof of general robot mechanisms
A robot arm is typically equipped with a hand or gripper,
more generally called an end-efector

Eyob D. Introduction To Robotics

Parts of a robot manipulator
Pedestal

• Supports the manipulator.

• Acts as a counterbalance.
Eyob D. Introduction To Robotics
Parts of a robot manipulator
Controller

• Issues instructions to the robot. • Controls peripheral devices.

• Interfaces with robot. • Interfaces with humans.
Eyob D. Introduction To Robotics
Parts of a robot manipulator

End-Effectors

Eyob D. Introduction To Robotics

Parts of a robot manipulator

Power

Eyob D. Introduction To Robotics

Joints

Figure: prismatic joint

Figure: revolute joint

Eyob D. Introduction To Robotics

Degrees of Freedom(DOF)

Degrees of Freedom: Number of independent position

variables which would has to be specified to locate all parts of
a mechanism.
In most manipulators this is usually the number of joints.
configuration of a rigid body in space can be described using
six variables (three for the position and three for the
orientation). The number of variables is the number of
degrees of freedom (dof ) of the rigid body.
The number of degrees of freedom that a manipulator
possesses is the number of independent position variables that
would have to be specified in order to locate all parts of the
mechanism.
DOF

Eyob D. Introduction To Robotics

The forward kinematics problem is to find the position and
orientation of the reference frame attached to the end effector
given the set of joint positions.
Velocity kinematics refers to the relationship between the joint
linear and angular velocities and those of the end effector
frame
Robotics is an interdisciplinary subject that benefits from
mechanical engineering, electrical and electronic engineering,
computer science, biology, and many other disciplines.
Mechanical engineering contributes methodologies for the
study of machines in static and dynamic situations.
Mathematics supplies tools for describing spatial motions and
other attributes of manipulators.
Control theory provides tools for designing and evaluating
algorithms to realize desired motions or force applications.
Electrical-engineering techniques are brought to bear in the
design of sensors and interfaces for industrial robots, and
computer science contributes a basis for programming these
devices to perform a desired task.
Eyob D. Introduction To Robotics
cont...
The inverse kinematics problem is to determine the set of joint
positions that achieves a desired end effector configuration.
The forward dynamics problem is to determine the resulting
joint accelerations for a given set of joint forces and torques.
Task space is the configuration space of the end effector for
a given specific task.
Work Space is that volume of space that the end-effector of
the manipulator can reach. (independent of the task.)
it is useful to consider two definitions of workspace: Dextrous
workspace is that volume of space that the robot end-effector
can reach with all orientations. That is, at each point in the
dextrous workspace, the end-effector can be arbitrarily
oriented. The reachable workspace is that volume of space
that the robot can reach in at least one orientation. Clearly,
the dextrous workspace is a subset of the reachable workspace.
The revolute joint (R), also called a hinge joint, allows
rotational motion about the joint axis.video
The prismatic joint (P),Eyobalso
D. called a sliding
Introduction To Roboticsor linear joint,
Position, orientation and Robots degrees of freedom

configuration of a rigid body in space can be described using

six variables (three for the position and three for the
orientation). The number of variables is the number of
degrees of freedom (dof ) of the rigid body.
In order to describe the position and orientation of a body in
space, we always attach a coordinate system, or frame, rigidly
to the object. We then proceed to describe the position and
orientation of this frame with respect to some reference
coordinate system.
Kinematics is the science of motion that treats motion
without regard to the forces which cause it. Within the
science of kinematics, one studies position, velocity,
acceleration, and all higher order derivatives of the position
variables (with respect to time or any other variable(s)).

Eyob D. Introduction To Robotics

Title
The number of degrees of freedom that a manipulator
possesses is the number of independent position variables that
would have to be specified in order to locate all parts of the
mechanism.
In the case of typical industrial robots, because a manipulator
is usually an open kinematic chain, and because each joint
position is usually defined with a single variable, the number
of joints equals the number of degrees of freedom.
At the free end of the chain of links that make up the
manipulator is the endeffector. Depending on the intended
application of the robot, the end-effector could be a gripper, a
welding torch, an electromagnet, or another device. We
generally describe the position of the manipulator by giving a
description of the tool frame, which is attached to the
end-effector, relative to the base frame, which is attached to
the nonmoving base of the manipulator.
Eyob D. Introduction To Robotics
Title

The forward kinematic problem is to compute the position

and orientation of the tool frame relative to the base frame.
inverse kinematics is given the position and orientation of the
end-effector of the manipulator, calculate all possible sets of
joint angles that could be used to attain this given position
and orientation. The inverse problem can have many solution
or no solution at all.

Eyob D. Introduction To Robotics