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Introduction to Robotics_Chapter1

The document provides an overview of robotics, including its history, types, classifications, and main components. It defines a robot as a mechanical or virtual agent capable of performing tasks autonomously and categorizes robots into industrial, mobile, agricultural, and service types. Additionally, it discusses robot kinematics, including forward and inverse kinematics, and outlines the essential parts of a robot system.

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10 views

Introduction to Robotics_Chapter1

The document provides an overview of robotics, including its history, types, classifications, and main components. It defines a robot as a mechanical or virtual agent capable of performing tasks autonomously and categorizes robots into industrial, mobile, agricultural, and service types. Additionally, it discusses robot kinematics, including forward and inverse kinematics, and outlines the essential parts of a robot system.

Uploaded by

sarakharfan1234
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© © 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

Dr. Hassan SHRAIM


History of Robotics
• Word “robot” ~ robota was coined by Karel Capek’s
(1921) book titled “Rossum’s Universal Robot”.
Robota “worker” in Czech.

• The idea of robots was recorded in ancient Greek ~


Talos (giant bronze sentinel) by Homer.
…
• 1950s ~ real mechanical robots were developed.
…
• 2004 ~ Robotics unmanned vehicles are exploring
Mars (Opportunity and Spirit).
History of Robotics (cont.)

• Two famous robots:

– Puma. (Programmable Universal Machine for


Assembly). ‘78.
– SCARA. (Selective Compliant Articulated Robot
Assembly). ‘79.
What is a ROBOT?
• A robot is a virtual or mechanical artificial
agent able to do tasks on its own.
• It is usually an electro-mechanical machine.
• Is automated to perform various tasks that
humans can perform.
• Guided by computer or electronic
programming.

Simply, a robot is any machine that does


work on its own, after being programmed
by a human.
Types of Robots
• Industrial Robots:
Repetitive tasks
High speed
Few sensing operations
High precision movements
Pre-planned trajectories and task policies
No interaction with humans
Types of Robots
• Mobile Robots: Also known as
Automated Guided Vehicles (AGVs),
these are used for transporting material
over large sized places like hospitals,
container ports, and warehouses, using
wires or markers placed in the floor, or
lasers, or vision, to sense the
environment they operate in.

• Robots Used in Agriculture:can pick


apples, prune grapevines, transplant
seedlings, and so on. In fact, there
already is a type of robot that shears
sheep in Australia.
Classification of Robots
According to Japanese Industrial Robot Assoc. (JIRA)

• Classification by task (manual handling, fixed


sequence, variable sequence, playback, numerical
control , intelligent robot).

• Classification by coordinate system (cartesian,


cylindrical, spherical, articulated , SCARA @
selective compliance assembly robot arm.)

• Classification by control method (non-servo


controlled, servo controlled)

• Classification by means of actuation (hydraulic ~


liquid pressure, pneumatic ~ compressed air,
electric drive)
Classification by coordinate
system
Cartesian robot /Gantry robot:
Used for pick and place work, application of sealant, assembly
operations, handling machine tools and arc welding. It's a robot
whose arm has three prismatic joints, whose axes are coincident
with a Cartesian coordinator.
Classification by coordinate system

Cylindrical robot:
Used for assembly operations, handling at machine
tools, spot welding, and handling at diecasting
machines. It's a robot whose axes form a cylindrical
coordinate system.
Classification by coordinate system
Spherical/Polar robot:
Used for handling at machine tools, spot welding,
diecasting, fettling machines, gas welding and arc
welding. It's a robot whose axes form a polar
coordinate system.
Classification by coordinate system
SCARA robot:
Used for pick and place work, application of sealant,
assembly operations and handling machine tools. It's a
robot which has two parallel rotary joints to provide
compliance in a plane.
Classification by coordinate system
Articulated robot:
Used for assembly operations, diecasting, fettling
machines, gas welding, arc welding and spray
painting. It's a robot whose arm has at least three
rotary joints.
Classification by coordinate system
Parallel robot:
One use is a mobile platform handling cockpit
flight simulators. It's a robot whose arms have
concurrent prismatic or rotary joints.
Types of Robots
• Telerobots:These robots are used in places that are
hazardous to humans, or are inaccessible or far away. A
human operator located at a distance from a telerobot
controls its action, telerobots are particularly useful for
space exploration. And used for military purposes.

• Service Robots: They can be sub-divided into two main


types of robots: one, robots used for professional jobs,
and the second, robots used for personal use.
Examples
Examples

Hanibal ~ the
Spirit ~ the Mars behavioral robot
rover

ASIMO ~ the
humanoid

Medical robot ~
ultrasound
Examples
Basic Components of a Robot
System
visual sensory controller
devices
visual data

sensory data
(position, velocity)
feedback

robot power to actuators


power converter
Main Parts of a Robot
Robots consist of five main parts:
• Controller,
• Arm,
• Actuator
• End effector,
• Sensor
Main Parts of a Robot
• CONTROLLER:
– Robot is connected to a computer
– Functions as the "brain" of the robot.
– Allows to be networked to other systems may work
together with other machines, processes, or robots.

• ARM:
– Robot arms come in all shapes and sizes.
– The arm positions the end-effector and sensors to
do their pre-programmed tasks.

• Actuator:
– The actuator is the "engine" that drives the links.
– Causes movement between joints
– Most drives are powered by air, water pressure, or
electricity.
Main Parts of a Robot
END- EFFECTOR:
– The end-effector is the "hand" connected
to the robot's arm.
– It is often different from a human hand -
it could be a tool such as a gripper, a
vacuum pump, tweezers, scalpel, blowtorch.
– Some robots can change end effectors,
and be reprogrammed for a different set
of tasks.
An Introduction to Robot Kinematics
Kinematics studies the motion of bodies
An Example - The PUMA 560

2
3

4
1
There are two more
joints on the end
effector (the
gripper)

The PUMA 560 has SIX revolute joints


A revolute joint has ONE degree of freedom ( 1 DOF) that is
defined by its angle
Other basic joints

Revolute Joint
1 DOF ( Variable - )

Prismatic Joint
1 DOF (linear) (Variables - d)

Spherical Joint
3 DOF ( Variables - 1, 2, 3)
We are interested in two kinematics topics
Forward Kinematics (angles to position)
What you are given: The length of each link
The angle of each joint

What you can find: The position of any point


(i.e. it’s (x, y, z) coordinates

Inverse Kinematics (position to angles)


What you are given: The length of each link
The position of some point on the robot

What you can find: The angles of each joint needed to obtain
that position

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