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22 views21 pages

Robot C 0

Uploaded by

s4nzr2cxtc
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Introduction

to
ROBOTICS
robot: …

What is a robot?
There is no widely
accepted definition of
what a robot is.
Definition of robot

• Robot: Apparatus made up of mechanical


and or biological parts performing a task with
the ability to further mankind.
• A robot is a machine that was designed and
programmed to perform a specific set of tasks
without human interaction.
• A robot is a man made object that is capable
of running on its own brains.
• Robots are mechanical and electrical devices
that follow programmable tasks and or
respond to external stimuli via algorithms.
An official definition of a robot comes from
the Robot Institute of America (RIA):

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.
Introduction

Robotics is a relatively new field of (about approximately


50 years old) and is finding many application in different
areas.
Robotics is a multidisciplinary field that borrows mostly
from areas of electrical engineering, mechanical
engineering, computer science and mathematics. The
relevant areas include, mechanical design, electronics,
embedded systems, dynamics, control, and artificial
intelligence.

Robot can be defined as:


a programmable device that can perform various tasks
based on some sensed information.
ENG. Fields needed to build a robot

Computer Electrical Mechanical


Science Engineering Engineering

Motion
Mechanics Sensors
Planning

Control
Combining these fields we can create a system that can

SENSE

PLAN

ACT
So What IS a Robot?
What is the robot

• Notion derives from 2 strands of thought:


–Humanoids --human-like
–Automata --self-moving things
• “Robot” --derives from Czech word robota
– –“Robot a” : forced work or compulsory service
• Current notion of robot:
–Programmable
–Mechanically capable
–Flexible
Course description
The purpose of this course is to introduce
you to basics of modeling, design,
planning, and control of robot systems.
In essence, the material treated in this
course is a brief survey of relevant results
from geometry, kinematics, statics,
dynamics, and control.
This semester we will study many aspects of robotics.
Robot classification
Components and structure
of robots
Forward Kinematics
Inverse Kinematics
Motion Planning
Robot sensors
Robot control
Robot programming
Robots applications
Text books
1. John J. Craig “ Introduction to Robotics
Mechanics & Control”
2. Mark W. Spong, M. Vidyasagar “Robot
Dynamic and control.
System Classification

Robots can be classify by their


Power source, method of
control, and application area.
Power source

Typically, robots are either:-


• Electrically powered.
• Hydraulically powered.
• Pneumatically powered.
Hydraulic powered

Hydraulic actuators are unrivaled in their speed of


response and torque producing capability.
Therefore hydraulic robots are used for lifting
loads. The drawbacks of hydraulic are leaking of
hydraulic fluid, more peripheral equipment, such
as pumps and they are noisy.
Electrically powered
Robots driven by DC- or AC-servo motors
are increasingly popular since they are
cheaper and quieter.
Pneumatic powered
Pneumatic robots are inexpensive and
simple but cannot be controlled precisely.
As a result, pneumatic robots are limited in
their range of applications and popularity.
Classification by method of control
Robots are classified by control method into
servo and non-servo robots. The earliest
robots were non-servo robots. These
robots are essentially open-loop devices,
and are useful primarily for material
transfer. They hardly qualify as robots.
Servo robots use closed-loop computer
control and thus capable of being
multifunctional, reprogrammable devices.
Classification by applications area
The largest projection area of future
application of robots is in assembly and
therefore, robots are often classified by
application into assembly and non-
assembly robots. Assembly robots tend to
be small, electrically powered. The main
non-assembly application areas are in
welding, spray painting, material handling
and machine loading and unloading…etc.
Robots application areas
• Exploration –NASA, deep sea, Egyptian pyramids
• Hazardous Duty –Toxic or Nuclear waste, Fire
• Maintenance –Pipeline Inspection and Repair
• Medical –Automated Lab Testing, Tele-presence surgery
• Department of Defense
• Agriculture
• Domestic
• Academic Research

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