Introduction to
Robotics
Dynamics, Control and Design of BSc (Hons) in Engineering in Electronics and
Robotics (EE4314) Telecommunication Engineering/ in Mechanical
Engineering
Randeera Liyanage
Extracted Presentation From: Dr. Buddhika Jayasekara (University of Moratuwa)
Syllabus of UoM – (Reference Only)
1. Introduction
History of Robotics and Mechatronics, Different disciplines of
Robotics, What to be expected in the future.
2. Kinematics and Kinetics of Machines
Practical movements in 2D/3D, Rigid motions and homogeneous
transformation, Forward and Inverse Kinematics, Velocity Kinematics
Jacobian
3. Path and Trajectory Planning
4. Dynamics
5. Control and Sensing aspects in robotics and
mechatronics Sensors and Actuators for robotics, Introduction to
Artificial Intelligence, Microprocessor based Controllers, Vision based
controllers.
2
[Humanoid Robot]
ROBOTS
[Industrial Robot Hands]
[Mobile robot assistant]
Ref:
new.abb.com/products/robotic
s asimo.honda.com/
3
WHAT ARE ROBOTS?
Webster Dictionary
An automatic device that performs functions normally
ascribed to
humans or machine in the form of a human
The International Organization for Standardization -ISO
An automatically controlled, re-programmable, multipurpose,
manipulator programmable in three or more axes, which may be either
fixed in place or mobile for use in industrial automation applications
A re-programmable
The Robotic Institute of multi-functional
America manipulator designed to
materials, parts, tools, or specialized
move devices, variable
through
programmed motions for the performance of a variety of
tasks.
4
ISAAC ASIMOV’S THREE LAWS OF ROBOTICS
A robot may not injure a human being nor
through inaction allow a human being to come
to harm
A robot must obey the order given it by human
beings except where such orders would conflict
with the first law
A robot must protect its own existence as long
as such protection does not conflict with the first
and second law
6
HISTORY OF ROBOTICS
• Putting machines to work for
us to perform routine tasks
Early
on command
Mythology • Aristotle (384-322 BC).
Aristotle
• Automatons that mimicked
human movements -clock
13th –15th controlled ornaments with
Century self- moving parts.
Tea-serving Japanese automaton
7
HISTORY OF ROBOTICS
https://www.youtube.com/watch?v=C7oSFNKIlaM
8
HISTORY OF ROBOTICS
• “Automatic Scribe”-in 1774 inventors Pierre
and Henri-Louis Jacquet-Droz
• lifelike figure of a boy could draw and write
any message up to 40 characters long.
Century
• A robot woman playing a piano was another
18th
one of their great inventions.
8
HISTORY OF ROBOTICS
• [Unlike the toy automatons of 18th
19th Century
century, robots of the 19th century
were designed to meet the industry]
• [E.g. Textile Machine-programmable
loom was capable of mass production]
• [In 1890 Thomas Edison -the design
of the famous talking doll. ]
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HISTORY OF ROBOTICS
•1921: the first reference to the word robot
is made in a play by Czech writer Karel
20th Century
Capek . The word “robot” comes from the
Czech “robota” - labour.
•In a play, the Czech robot is defined as "a
worker of forced labour". After this play,
electromechanical automatons were referred
to as robots.
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HISTORY OF ROBOTICS
• [1940: Westinghouse Electric Corp. creates
two of the first robots that use the
20th Century
electric motor for entire body motion.
• Elektra could dance, count to ten and
smoke, while his dog companion Sparko,
could walk, stand on its back legs and
bark].
• [1941: Isaac Asimov first uses the term
'robotics' to describe the technology of
robots. He predicted the rise of the
robot industry.]
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HISTORY OF ROBOTICS
• [The first mobile robot capable of
reasoning about its surroundings, Shakey
was built in 1968 by the Stanford Research
Institute (now SRI International)]
• [1969: Stanford University develop the
first electrically powered computer
controlled robotic arm. This becomes
Century
First Mobile Robot with
standard for research projects.] vision capability-Shakey
20th
• 1974: Market a version of the arm
(Silver Arm) controlled by
microcomputer for industrial
applications.
• 1968: General Electric Walking truck
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Wal ki nIg Truck -1968
HISTORY OF ROBOTICS -Shakey
Shakey was developed at the Artificial Intelligence laboratory of
Stanford Research Institute (now called SRI International) in 1966
through 1972 13
Robotics Today
PICK AND
[INDUSTRIAL
ROBOTS] PLACE /
PALLETIZING
OTHER
AUTOMATE MACHINING
D
Robots PROCESSES [INDUSTRIAL
ROBOTS]
[SERVICE PAINTING /
ASSEMBLING
GLUING
ROBOTS
] 14
[Robotics Today]
[INDUSTRIAL
ROBOTS]
Industrial Robot Manipuator-Components
Robot
Controller and Manipulator Ref: http://www.abb.lk/product/us/9AAC100735.aspx
teaching device
15
Industrial Robot Manipuator- DOF and
[INDUSTRIAL
ROBOTS]
Workspace
E.g. PA-10 Robot Manipulator
Wrist bend
(W1) 7 DOF
Lower arm
rotate Wrist rotate
(E2) (W2)
Lower arm
bend (E1) Upper arm
rotate (S3)
Shoulder bend
(S2)
S
h
o
u
l
d
e 17
Industrial Robot Manipuator-
[INDUSTRIAL
ROBOTS]
DOF and Workspace
6 DOF
L 18
[Robotics Today]
[INDUSTRIAL
ROBOTS]
PICK AND PLACE / PALLETIZING
18
[Robotics Today]
[INDUSTRIAL
ROBOTS]
MACHINING-CUTTING, WELDING, ETC.
http://www.youtube.com/watch?v=HUU3HdxOqZs
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[Robotics Today] PAINTING / GLUING
[INDUSTRIAL
ROBOTS]
http://www.youtube.com/watch?v=syYHTFZxU7k
20
[Robotics Today] ASSEMBLING
[INDUSTRIAL
ROBOTS]
http://www.youtube.com/watch?v=1X0-58OuFhE
21
[Robotics Today]
[INDUSTRIAL HUMANOID
ROBOTS] ROBOTS
MILITAR MEDICAL
Y ROBOTS
ROBOTS
Robots [SERVICE
EXOSKELETON DOMESTIC
/ ASSISTIVE
ROBOTS
ROBOTS] SERVICE
ROBOTS
[SERVICE
SECURITY
ANDROIDS
ROBOTS
ROBOTS
] 22
[Robotics Today] HUMANOID
[SERVICE ROBOTS
ROBOTS
]
https://www.youtube.com/watch?v=R8UeT9r4cmg
23
[Robotics Today] MILITARY ROBOTS
[SERVICE
ROBOTS
]
Ref: www.bostondynamics.com
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[Robotics Today] ANDROIDS
[SERVICE
ROBOTS
]
25
[Robotics Today] EXOSKELETON
[SERVICE
ROBOTS
]
EMG-based control of SUEFUL-7
26
[Robotics Today] EXOSKELETON
[SERVICE
ROBOTS
]
Assistive Robot (HAL-5)
27
[Robotics Today] SECURITY ROBOTS
[SERVICE
ROBOTS
]
28
[Robotics Today] MOBILE ROBOTS
[SERVICE
ROBOTS
]
https://www.youtube.com/watch?v=vasBnRS3tQk
29
Industrial Robot-Decision Making
Ref: http://www.youtube.com/watch?v=wBASpwch5qc
30
Thank You
KUKA KR6
Service robot platform
Tracked mobile robot platform Robot heads
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