Chapter 1

Introduction to
Robotics

PS: Most of the pages of this presentation were obtained and adapted
from various sources in the internet.
1
 I. Definition of Robotics
 Definition (Robot Institute of America):
 A robot is a programmable multifunction manipulator
designed to move material, parts, tools, or specialized
devices through variable programmed motions for the
performance of a variety of tasks.
 Robots can be autonomous or semi-autonomous and
range from humanoids to industrial robots, and even
microscopic nano robots.
 By mimicking a lifelike appearance or automating
movements, a robot may convey a sense of intelligence or
thought of its own.
2
 A typical robot
upper arm

elbow
lower arm
shoulder wrist

Chest
(base)
end effector
3
 Applications of robotics
 Assembly
 Welding, painting
 Surveys
 Medical applications
 Pick and place.
 Assisting disabled individuals
 Hazardous environments
 Underwater, space, and remote locations

4
 Robot examples
An experimental robot picks
up a simulated pipe bomb
during a demonstration for
the media.

This new technology enables

to make bomb disposal easier
and safer for police bomb
squads.
(Sandia National Laboratories in Albuquerque)
5
 Robot examples

The Nomad robot during its solo drive on an icy Antartic plain.

The robot, a product of the university's Robotics Institute, began testing its wheels in
January after it was taken by helicopter to a harsh region known as Elephant Moraine
where it was left to inspect rocks and look for meteorites.
(Carnegie Mellon Uniuversity ) 6
 Robot examples
Robotics surgery
Doctor Franckle watches a
video monitor as he assists
in a gall bladder (safra
kesesi) operation using a
robotic surgery machine
called da Vinci Surgical
System.

Franckle assited Dr. Andrew Boyarsky, who was manipulating small

robotic instruments, one is seen on monitor, while looking at a three-
dimensional image of the patient's abdomen from a work station about 10
feet away from the patient.
7
Robot examples

8
 Robot examples: Biomimetic
Robots
 Using biological principles to reduce design
space

Ayers; Northeastern
BigDog; Boston Dynamics MFI; Harvard & Berkeley

9
 Basic components of robots
 Manipulators
 End effectors
 Sensors
 Software
 Actuators
 Controller
 Processor

10
 Manipulator
 Open chain kinematic structure with
mostly six DoF.
 Manipulator = arm + wrist
6 DoF = 3 DoF + 3 DoF
Arm: Used for positioning the wrist
Wrist: Used for angular positioning
(orientation) the end effectors.
11
 Types of
robot arms

12
 Types of robot arms
 Articulated robot arm

3R: Three
revolute joint.

13
 Articulated Configuration
 Features
 Light payload capacity
 Lower accuracy
 Easy to integrate with
other manipulators

14
 Types of robot arms
 Cartesian robot arm

3P: Three
prismatic
joint.

15
 Cartesian Configuration
 Features
 High resolution
 High accuracy
 High payload capacity
 More volume needed for
motion Epson Cartesian Arm

 Difficult to integrate with

other machines
 Uniform resolution

Reachable Workspace
16
 Types of robot arms
 Cylindirical robot arm

R2P

17
 Cylindrical Configuration
 Joint coordinates map to
cylindrical coordinates
Denso
 r, θ, z Cylindrical
arm
 Non-uniform precision
 Horizontal precision highest
along inside edge of work
envelope

Reachable Workspace
18
 Types of robot arms
 Spherical robot arm

2RP

19
 Spherical Configuration
 Joint variables directly
correspond to spherical
coordinates
 φ
 θ
 r

Reachable Workspace
20
Types of robot arms

SCARA (selective
compliance
assembly robot
arm) robot arm

21
 SCARA Configuration
Introduced in 1979
 Revolutionized
manufacturing of small
electronics

Reachable Workspace
22
Types of robot arms

Human arm

23
Types of robot arms

Human arm model 24

(http://www.robot-
welding.com/robots.htm)
25
Wrist motions

26
 Robots degrees of freedom
 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.

27
Robots degrees of freedom

1 DoF 2 DoF 3 DoF

28
Robots degrees of freedom

Oussama Khatib, Lecture Notes.

29
Robots degrees of freedom

30
Robots degrees of freedom
If the robot is a
mobile robot,
then,
DoF of the
system is
n+6

31
32
 What is the DoF of this moving human model ?

Pelvis : 6 DoF body

Total = 6+ 3x3 + 2x1 + 2x2 + 2x1

3 DoF joint Total = 23 DoF

1 DoF joint

2 DoF joint

1 DoF joint

Anderson&Pandy, 1999
33
 Robot Joints
Prismatic Joint: Linear, No rotation involved.
(Hydraulic or pneumatic cylinder)

Revolute Joint: Rotary, (electrically driven with stepper motor, servo motor)

34
 Common Robot Configurations
 Revolute joints (R)
 Compact
 Increased dexterity –
easier to maneuver
around obstacles
 Large kinematic and
dynamic coupling
between links
 Larger error accumulation
 Difficult control problem
 Prismatic joints (P)
 Increased accuracy
 Higher payload
 Difficult to integrate
 Require more volume 35
 Example end-effector: Grippers
 Anthropomorphic or task-specific
 Force control v. position control

Utah MIT hand

36
 Actuators

 Common robotic actuators utilize combinations of

different electro-mechanical devices
 Synchronous motor
 Stepper motor
 AC servo motor
 Brushless DC servo motor
 Brushed DC servo motor

http://www.ab.com/motion/servo/fseries.html
37
 Actuators

Pneumatic Cylinder

Hydraulic Motor Stepper Motor

Pneumatic Motor DC Motor

Servo Motor 38
 Sensors
•Human senses: sight, sound, touch, taste, and smell
provide us vital information to function and survive

•Robot sensors: measure robot configuration/condition

and its environment and send such information to robot
controller as electronic signals (e.g., arm position,
presence of toxic gas) Accelerometer
Using Piezoelectric Effect

•Robots often need information that is beyond 5 human

senses (e.g., ability to: see in the dark, detect tiny
amounts of invisible radiation, measure movement that is
too small or fast for the human eye to see)

Flexiforce Sensor
39
 Sensors

Vision Sensor: e.g., to pick bins,

perform inspection, etc.

Part-Picking: Robot can handle In-Sight Vision Sensors

work pieces that are randomly piled
by using 3-D vision sensor. Since
alignment operation, a special parts
feeder, and an alignment pallete
are not required, an automatic
system can be constructed at low
cost.
40
 Sensors
Force Sensor: e.g., parts
fitting and insertion,
force feedback in robotic
surgery
Parts fitting and insertion:
Robots can do precise fitting and
insertion of machine parts by using
force sensor. A robot can insert parts
that have the phases after matching
their phases in addition to simply
inserting them. It can automate high-
skill jobs.
41
 Accuracy, Repeatability and
Resolution
 Accuracy: A measure of how
close a manipulator can come Accuracy
to a given point within its Actual Desired
workspace Position
 Repeatability: A measure of A B
how close a manipulator can
return to a previously taught
point
Resolution
 Resolution (Precision): The
smallest increment of motion
that can be sensed (executed).
It is a function of distance
traveled and the number of
bits of encoder accuracy. 42
 Robot Specifications
 Joint Variable (joint):
 Relative displacement between adjacent links. Can be revolute
or prismatic.
 End effector:
 Gripper or tool used to perform the robots tasks.
 Degree of freedom (DOF)
 Number of joints (DOF > 6 implies redundant robot)
 Workspace (work envelope):
 Total volume spread out by the end effector as the
manipulator executes all possible motions
 Accuracy, Repeatability and Resolution
 Speed and Acceleration (min and max)
 Payload Capacity
43
 Typical Robot Specifications
 Hydraulic or Electric
 Payload capacity
 50 – 100 Kgs (Hydraulic)
 1 – 25 Kgs (Electric)
 Degrees of freedom: 4 to 7 based on application
 Repeatablity
 ± 1 mm – 1.5mm (Hydraulic)
 ± 0.05mm – 0.01mm (Electric)
 Cost
 $80,000 - $200,000 (Hydraulic)
 $40,000 – $100,000 (Electric)

44
 Robotic System Architecture
 Components
Environment
 Mechanical structure Sensors
 Drives
 Electric
 Hydraulic
 Pneumatic Planner World space
Output
 Computing and Control
 Sensors
 Encoders
 Force Controller Drives
Mechanical
Structure
 Vision
 many more
Computer
 Communication
 CAN, ethernet, Wireless,
Serial link (RS232), USB,
Configuration
analog link, PROFIBus, Sensor
GPIB, and many more
45
Robot Programming

46