Reviewer

Historical Overview of Robot Development

1801 for the performance of a variety of

Joseph Jacquerd invents the textile machine different tasks.
that is operated by punch cards.
These multi-purpose machines are generally
1892 designed to carry out repetitive functions and be
In the US Seward Babbit designed a motorized adapted to other functions.
crane with a gripper to remove ingots from a
furnace.
“Three Laws of Robotics”, Asimov
1921
First reference to the word robot appears in a ● A Robot may not injure a human being,
play opening in London entitled “Rossums or through inaction, allow a human
Universal Robots”. The play was written by being to come to harm
Czechoslovakian Karel Capek and introduces ● A robot must obey orders given to it by
the word robot from the Czeck robota meaning human beings except where such
serf or subservient labor orders would conflict with the first law.
● A robot must protect its own existence
1939 as long as such protection does not
Isaac Asimovs science fiction writing introduces conflict with the first and second laws.
robots designed for humanity and work safely.
He formulates the “Three Laws of Robotics” Communicator
● A unit transmitting information and
1946 receiving instructions from a remote
George David patents a general purpose operator
playback device for controlling machines.
Control Computer/Controller (Brain)
1948 ● The central computer that integrates the
Norbert Wiener, a professor of Massachusetts activity of several microprocessors
Institute of Technology(MIT) publishes ● the brain of the robot
Cybernetics, a book that describes the concept
of communications and control in electronic, End Effectors (Hands)
mechanical and biological systems. ● The device at the end of the
manipulator's arm that performs the
1951 actual work.
A tele-operator equipped articulated arm is ● Gripper, hooks, scoops
designed by Raymond Goertz for the Atomic
Energy Commisison. Manipulator (Arm)

1954 ● A mechanism consisting of several

The first programmable robot is designed by segments or arms which provide the
George Devol who coined the term universal necessary motion to move the tool or
automation. Devol is joined by Joseph part into the proper position.
Engelberger in 1956 and shorten the name to
Unimation and form the first successful robot Power Supply
manufacturing company. ● Generally, some energy storage devices
such as batteries for a mobile units
What is a Robot? otherwise hook up to the power grid.
● A reprogrammable, multifunctional
manipulator designed to move parts,
materials, tools, or special devices
through variable programmed motions
Sensor (Eye) A mechanism consisting of several segment or
arms which provides the necessary motion to
● Usually a transducer of some kind move the tool or part into proper position.
whose inputs are physical phenomena Manipulator, Arm of Robot
and whose outputs consist of electronic
signals. The dielectric constant of wood. 1.4

Actuator A _____ is basically a program that translates a

● Serves as the muscle of the system, high-level language into another language,
and produces the motion with power whether it is machine-specific or assembly.
supplied electrically, pneumatically, or Compiler
through hydraulics.
LU decomposition can be solved using ____.
The Chassis Gauss Elimination methods
Castor wheel
Wheels The ______ command clears the Command
DriveMotor Window. CLC
Motor Controller
The Controller In MATLAB, the command can continue line
Power after line up to a total of _
Debug
Sensors It is a robot that is capable of decision-making
and has memory. Intelligent Robot
Quiz 1 Reviewer
The length of time in years required for a robot
The other name for the axes found on the to pay for itself through the savings it provides.
manipulator? Degrees of freedom Payback Period

It is considered as the robot’s hand. End A short term meaning a human being with
effector artificial limbs or organs. Cyborg

Serves as the muscle of the system, and

produces the motion with power supplied It is considered as the Robot’s brain. Controller
electrically, pneumatically or hydraulics.
Actuator Describes the wrist’s angular movement from
the left side to the right side. Rotation
Reserved for smaller robots which are limited to
simple, fast cycle and pick and place operation. Serves as the muscle of the system, produces
Pneumatic Drive the motion with power supplied electrically,
pneumatically or hydraulically. Actuator
____is a controller for complex and high-level
tasks for controlling a robot. Raspberry pi The operational basis for a machine, computer
or mechanism to perform some function
The total weight that a robot arm can carry. normally associated with human intelligence.
Payload Artificial Intellegence

The total weight that a robot arm can carry. Refers to the movement of the base of the robot.
Manipulator Travel

___ low-cost embedded microcontroller types for The individual sections of the robot arm between
controlling robots. Arduino the joints are____ Links

The device at the end of the manipulator's arm It is considered as the Robot’s brain Controller\
that performs the actual work. End Effectors,
Hand of Robot, Gripper
Any solid object has a maximum ______
degrees of freedom 6 ACCORDING TO CONTROL

Fixed/Variable Sequence
5Ds of Marcelo Ang ● Pick and place robots
(1) Demanding ● Point to point movement
(2) Demeaning
(3) Dirty Playback Robot
(4) Dangerous ● Robots that memorizes and
(5) Driving records the path and sequence
of motions and can repeat them
continuously without guidance
Degrees of Freedom from the operator.

● Refers to different axes of motion of the Numerically Controlled Robot

robotic arm. ● Programmed and operated
● The movement about one axis is much like a numerically
hardware independent of movement controlled machine.
about any other axis. ● Numerically Controlled Robot
Total number of locations ● Servo-controlled by digital data
P=2n
Intelligent (Sensory) Robot
where: P – number of possible locations ● Equipped with a variety of
n – degrees of freedom sensors with visual and tactile
capabilities.
● Waist motion or Arm sweep - Motion ● Controlled by powerful
of the entire arm about the fixed base computers
● Shoulder or Vertical Motion -
Movement above the waist
● Elbow extension
● Wrist Motion ACCORDING TO MOVEMENT
● Pitch – up and down
● Yaw – side to side Rectilinear / Cartesian
● Roll - \rotation of the wrist about ● Works with Cartesian
the axis of the forearm manipulator arm geometry
● Movement is in three directions
only up/down, left/right, and
Pitch Axis front/back.
Describes the wrist's rotational movement up
and down Cylindrical Robot
● Robot whose work envelope is
Yaw Axis cylindrical
Describes the wrist angular movement from the ● Robot’s arm swings around its
left side to the right side. base in a circular or polar
motion. (up and down, front
Roll Axis end)
Describes the rotation around the end of the
wrist. Spherical Robot
● Robot whose work envelope is
spherical in shape and
CLASSIFICATION OF ROBOTS obviously is has spherical
● According to Control manipulator arm geometry.
● According to Movement ● With polar articulation for waist
● According To Program Used and shoulder and rectilinear
motion for reach.
 ● The base moves in a circular FACTORS: SELECTION OF ROBOTS
motion (up to 210 degrees)
while its main arm moves up ● Work Volume
and down and in and out ● Speed and acceleration
(extension and retraction) ● Repeatability
● Resolution
Fully Articulated Robot ● Accuracy
● Robot with polar articulation for ● Economics
all degrees of movement ● Safety
● One example is the SCARA
(Selective Compliance
Assembly Robotic Arm) which MATLAB Windows
has six axes and therefore
increases its degrees of ● Command Window - Main window,
freedom. enters variables, runs programs.
● Used in welding, painting, laser ● Figure Window - Contains output from
cutting, and water jet cutting. graphic commands.
● Editor Window - Creates and debugs
script and function files.
● Help Window - Provides help
ACCORDING TO THE PROGRAM information.
USED ● Command History Window - Logs
commands entered in the Command
Positive Stop Window.
● Produces only 2 position motion ● Workspace Window - Provides
● Limited sequence or Bang – information about the variables that are
bang motion stored.
● Current Folder Window - Shows the
Point to Point files in the current folder.
● Ability to move a robot axis to
any position within its range The command can continue line after line up to
a total of 4,096 characters.
Continuous Path
● Like point to point
● Destination points are very The semicolon ( ; ):
close together.
-When a command is typed in the Command
MODERN USES OF ROBOTS Window, and the Enter key is pressed, the
command is executed.
Exploration
● Full of danger or deep ocean -Any output that the command generates is
displayed in the Command Window.
Industry
● Repetitive Work -If a semicolon ( ; ) is typed at the end of a
command, the output of the command is not
Medicine displayed.
● Operation (making medicines)
-Typing a semicolon is useful when the result is
Military and Police obvious or known, or when the output is very
● Bomb disposal, spying, entering large.
enemy bases

Entertainment
Typing %:

-When the symbol% (percent) is typed at the A script file is a sequence of MATLAB
beginning of a line, the line is designated as a commands, also called a program.
comment.

-This means that when the Enter key is pressed A two-dimensional array, also called a matrix
the line is not executed. has numbers in rows and columns.

-The % character followed by text (comment) Matrices can be used to store information
can also be typed after a command (in the same like the arrangement in a table.
line). This has no effect on the execution of the
command. M = row , N = columns

Comments are frequently used in a program to

add descriptions or to explain the program. A computer program is a sequence of
computer commands

The clc command: Relational and Logical Operators

Conditional
-The clc command (type clc and press Enter)
clears the Command Window.
DIRECT METHODS OF SOLVING LINEAR
EQUATIONS USING DIRECT METHODS
Command - Outcome
● GAUSS-ELIMINATION
● clear - Removes all variables from the ○ Upper Triangular
memory. ○ Lower Triangular
● clear x y z - Removes only variables x, ● GAUSS-JORDAN
y, and z from the memory. ○ Diagonal Form
● who - Displays a list of the variables ● LU DECOMPOSITION
currently in the memory. ○ Gauss Elimination
● whos - Displays a list of the variables ○ Crout's Method
currently in the memory and their sizes ○ Choleski's Method
together with information about their
bytes and class TRANSDUCER
● is defined as a device that converts one
Script Files form of energy into another form of the
energy
● The commands in the Command ● any device or component that converts
Window cannot be saved and executed an input signal of one form to an output
again. signal of another form
● In addition, the Command Window is not ● an element or device which receives
interactive. information in the form of one quantity
● This means that every time the Enter and converts it to information in the
key is pressed only the last command is same or another quantity or form.
executed, and everything executed ● A device for translating the magnitude of
before is unchanged. one quantity into another quantity.
● The commands in the file can be ● Help in reducing the sensitivity of a
corrected or changed, and the file can system to parameter change.
be saved and run again.
● Files that are used for this purpose are The word “Transducer” is the collective term
called Script Files. used for both Sensors which can be used to
sense a wide range of different energy forms
Script files are also called M-files because such as movement, electrical signals, radiant
the extension .m energy, thermal or magnetic energy, etc, and
Actuators which can be used to switch voltages feedback signal from the comparator in
or currents. the demodulator circuit.
● OUTPUT- the output acts as a switch
that is physically connected to the
SENSOR circuitry in which the sensor is wired.

● A device that provides a usable output

in response to a specified measurement
Inductive proximity sensor
Passive Sensors Capacitive Proximity Sensor
ULTRASONIC PROXIMITY SENSOR
● Transducers that require an external
power source for their operation. They
produce an output signal in the form of ROBOTIC VISION SYSTEM
some variation in resistance,
capacitance, or any other electrical
parameter, which then has to be Difference between Computer Vision &
converted to an equivalent current or Machine Vision
voltage signal.
● Computer vision refers to the capture
● For example, a photocell (LDR) is a and automation of image analysis with
passive transducer that will vary the an emphasis on the image analysis
resistance of the cell when light falls on function across a wide range of
it. theoretical and practical applications.
● Machine vision traditionally refers to the
Active Sensors use of computer vision in an industrial or
● An active sensor is a measuring practical application or process where it
instrument that generates a signal, is necessary to execute a certain
transmits it to a target, and receives a function or outcome based on the image
reflected signal from the target. analysis done by the vision system.
Information concerning the target is
obtained by comparison of the received The 3 segments in a robot vision system:
signal with the transmitted signal. ● Image Capture
● Examples of Active Sensor ● Image Processing
- scanning electron microscopes, LiDAR,radar, ● Connectivity and Response
GPS, x-ray,sonar, infrared and seismic.
The advantages of Robot Vision Ai
PROXIMITY SENSOR ● Increases efficiency
● SENSING FACE – is responsible for the ● Ensures product consistency
emission of the ● Reliable
electrostatic/electromagnetic field to ● Promotes a safe workplace
which the target will be exposed. It is ● Reduces operating costs
also the part that is being exposed to
the sensor’s target. SPYDER
● OSCILLATOR – creates the repetitive It refers to Scientific Python Development
signal with a defined frequency, in which EnviRonment
its amplitude varies depending on the
distance of the target from the sensing Powerful Python IDE with advanced editing,
face. interactive testing, debugging, and introspection
● DEMODULATOR – Extracts signal features.
amplitude from the oscillating carrier.
The extracted amplitude carries the JUPYTER NOTEBOOK
information that is equivalent or linear to It is a web-based, interactive computing
the distance of the target object from notebook environment.
● FLIP-FLOP – The flip-flop triggers the
output when it has received the
GOOGLE COLABORATORY (COLAB)
Colab, or "Colaboratory", allows you to write and
execute Python in your browser

Enter Pandas
Pandas is a software library written for the
Python programming language for data
manipulation and analysis

.
NUMPY or np through the use of import numpy
as np in order to
easily use functions for vectors and matrice

ROBOT GRIPPERS AND END EFFECTORS

GRIPPER - A gripper is a device that enables

the holding of an object to be manipulated.

The types of grippers can be classified as

follows:
● based on the primary motion of the
gripper jaws.
● based on the number of fingers
● Internal or External

1. Based on the Primary Motion of the

Gripper Jaws

● Parallel Gripper - The jaw moves in a

parallel motion in relation to the gripper
body.
● Angular Gripper - Jaws are
opened/closed around a central pivot
point (sweeping/arcing motion) jaws
need to move up and out of the way in
limited space.
● Toggle Gripper - The pivot of jaw
movement acts as an over-center toggle
lock and provides a high grip
force/weight ratio.

2. Based on the number of fingers

3. Internal or external
● A. Internal - Part geometry allows
locking as well. A standard 2/ or
3-fingered gripper may be used.
● B. External - Common, closing force
assist gripping.

GRIPPER DRIVE
● Pneumatic
● Electronic Motors
● Hydraulic