DEPARTMENT OF ELECTRICAL, ELECTRONICS

AND
COMPUTER ENGINERRING

COE 519
ROBOTICS AND AUTOMATION
LECTURE 1
FUNDERMENTALS
 RECOMMENDED MATERIALS

Textbooks

 Introduction to Robotics by John Craig.

 Industrial Robotics: Theory, Modelling and Control by S. R.
Munasinghe and Masatoshi

 Robotics vision and control; Fundamental algorithms in

Matlab by Peter coke, 2011 Edition

 Introduction to Robotics: Analysis, control and application by

Saeed B. Niku, 2nd Edition
 Robotics Toolbox 9.3 Manual
Software

Matlab versions 2012-2017

Matlab Toolbox 9.3
 OVERVIEW
 Definition of robotics and robots
 Associations of robotics

 History of robotics

 Laws of robotics

 Classification of robot

 Components of a robot

 Robot Geometry

 Application of robots

 Advantages

 Disadvantages of robots
 DEFINITION OF ROBOTICS AND ROBOTS
 Robotics is the art, knowledge base, and the know-how
of designing, applying, and using robots in human
endeavors.

 Robotics is an interdisciplinary subject that benefits

from mechanical engineering, electrical and electronic
engineering, computer science, biology, and many other
disciplines.

 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.

 A Robot can be defined as a goal oriented machine that

can sense, plan and act.
 History of Robotics

The first industrial

•
robot: UNIMATE
• 1954: The first
programmable robot is designed by
George Devol, who coins the term
Universal Automation. He later shortens
this to Unimation, which becomes the
name of the first robot company (1962).

UNIMATE originally automated the manufacture

of TV picture tubes
 History of Robotics

1978: The Puma (Programmable

Universal Machine for
Assembly) robot is developed
by Unimation with a General
Motors design support

PUMA 560 Manipulator

 History of Robotics…
1980s: The robot industry enters a phase of rapid growth. Many
institutions introduce programs and courses in robotics. Robotics
courses are spread across mechanical engineering, electrical
engineering, and computer science departments.

Adept’s SCARA robots Barrett Technology Manipulator

Cognex In-Sight Robot
 History of Robotics….

1995-present:
Emerging applications in
small robotics and
mobile robots drive a
second growth of start-up
companies and research

2003: NASA’s Mars Exploration Rovers will launch toward

Mars in search of answers about the history of water on Mars
 LAWS OF ROBOTICS
 A robot may not injure a human being or, by
failing to act, allow a human being to come to
harm.
 A robot must obey orders given to it by human
beings, except where carrying out those orders
would break the First Law.
 A robot must protect its own existence, as long
as the things it does to protect itself do not break
the First or Second Law
ASSOCIATION OF ROBOTICS
There are many robotics association in world

 JIRA (Japan industrial robotics association)

 WRO (world robotic Olympiad)

 RIA (robotics institute of America)

 IFR (international federation of robotics)

 CRIA (China Robot Industry Alliance )

 IEEE robot & automation society

CLASSIFICATION OF ROBOTICS
According to JIRA
JIRA’s chiefly concerned with industrial robots but
has created a robot classification system.
i. Manual Robot
ii. Fixed Sequence robot
iii. Variable sequence robot

iv. Numerical robot

v. Playback robot
vi. Intelligent robot
CLASSIFICATION OF ROBOTICS…CONT.
MANUAL ROBOT
 Thistype of robot has multiple degrees of
freedom, but all of its actions are
performed under the direct control of an
operator.
CLASSIFICATION OF ROBOTICS…CONT.
FIXED SEQUENCE ROBOT
 This type of robot repeats a fixed sequence of
actions without needing to be controlled by an
operator
CLASSIFICATION OF ROBOTICS…CONT.
VARIABLE SEQUENCE ROBOT
 This type of robot is similar to class 2, except that
the sequence of actions can be reprogrammed
easily allowing it to be quickly adapted to
perform new tasks
CLASSIFICATION OF ROBOTICS…CONT.
PLAYBACK ROBOT
 This type of robot is first guided through a
sequence of actions by an operator, then repeats
the same actions automatically.

playback robot with point to point control

CLASSIFICATION OF ROBOTICS…CONT.
NUMERICAL ROBOT
 This type of robot moves through a sequence of
actions, which it receives in the form of
numerical data.
CLASSIFICATION OF ROBOTICS…CONT.
INTELLIGENT ROBOT
 A robot that senses its environment and responds
to changes in it in order to continue performing
its function.
 Component of a robot
•Manipulator
•Actuators
•Sensor
•Controller
•End Effectors
•Power Source
 Component of a robot…cont.
A manipulator (or an industrial robot) is
composed of a series of links connected to each
other via joints. Each joint usually has an
actuator (a motor for e. g.) connected to it.

 These actuators are used to cause relative

motion between successive links. One end of the
manipulator is usually connected to a stable
base and the other end is used to deploy a tool.
Component of a robot…cont.

PHOTOS OF TYPICAL MANIPULATOR

 Component of a robot…cont.
Geometry of a robotic arm

 Links are rigid components

that provide relative motion
between input link and
output link.

 Joints are the connection

between two links.
 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
 Actuators

Pneumatic Cylinder

Hydraulic Motor Stepper Motor

DC Motor

Pneumatic Motor Muscle Wire Servo Motor

 Component of a robot…cont.
Controller : The controller receives data from the
computer, controls the motions of the actuator and
coordinates these motions with the sensory
feedback information.

End-effector: This is the part that generally

handles objects, makes connection to other
machines, or performs the required tasks, such as
spray paint, Welding ,Vacuum head, Grippers attachment.
It can vary in size and complexity from a end
effector on the space shuttle to a small gripper
 Component of a robot…cont.
CONTROLLER

Micro Controller

Micro Controller Burner

 Component of a robot…cont.
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
.
Vision Sensors

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

perform inspection, etc

Part-Picking: Robot can

handle 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.
 Force 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.
 Proximity Sensors

Example
Infrared Ranging Sensor

KOALA ROBOT

• 6 ultrasonic sonar transducers to explore wide, open areas

•Obstacle detection over a wide range from 15cm to 3m
•16 built-in infrared proximity sensors (range 5-20cm)
•Infrared sensors act as a “virtual bumper” and allow for
negotiating tight spaces
 Component of a robot…cont.
Tilt Sensors
Tilt sensors: e.g., to balance a robot

Example

Tilt Sensor

Planar Bipedal Robot

 POWER SOURCES
The sources of power used in robot are electric, pneumatic and
hydraulic
Electric power source:
o All robots use electricity as the primary source of energy.

 Electricity turns the pumps that provide hydraulic and

pneumatic pressure.
 It also powers the robot controller and all the electronic
components and peripheral devices.
 In all electric robots, the drive actuators, as well as the
controller, are electrically powered.
 Because electric robot do not require a hydraulic power unit,
they conserve floor space and decrease factory noise.
 No energy conversion is required.
 POWER SOURCES….CONT.
Pneumatic: these are generally found in relatively low-cost
manipulators with low load carrying capacity.

 Pneumatic drives have been used for many years for

powering simple stop-to-stop motions.
 It is inherently light weight, particularly when operating
pressures are moderate.
Hydraulic: are either linear position actuators or a rotary vane
configuration.
 Hydraulic actuators provide a large amount of power for a
given actuator.
 The high power-to-weight ratio makes the hydraulic
actuator an attractive choice for moving moderate to high
loads at reasonable speeds and moderate noise level.

 Hydraulic motors usually provide a more efficient way of

energy to achieve a better performance, but they are
expensive and generally less accurate.
 DEGREES OF FREEDOM

 Degrees of Freedom: Number of independent

position variables which would has to be
specified to locate all parts of a mechanism.
 It can also defined as refer to the movement
range available for a given piece of
equipment within three dimensions

 In most manipulators this is usually the

number of joints.
 DEGREES OF FREEDOM (CONTD.)

Consider what is the degree of Fig. 3

1 D.O.F. 2 D.O.F. 3 D.O.F.

Fig. 1.3 A Fanuc P-15 robot.

Reprinted with permission from Fanuc Robotics, North America, Inc.
 DEGREES OF FREEDOM (CONTD.)
The three degrees of freedom located
in the arm of a robotic system are:

 The rotational transverse: is the

movement of the arm assembly
about a rotary axis, such as left-
and-right swivel of the robot’s arm
about a base.

 The radial transverse: is the

extension and retraction of the
arm or the in-and-out motion
relative to the base.

 The Vertical Transverse: Provides

The Up-and-down Motion Of The
Arm Of The Robotic System.
 DEGREES OF FREEDOM (CONTD.)

The three degrees of freedom

located in the wrist, which bear
the names of aeronautical
terms, are:
o Pitch or bend: is the up-and-
down movement of the
wrist.
o Yaw: is the right-and-left
movement of the wrist.
o Roll or swivel: is the rotation
of the hand.
 ROBOT JOINTS
Prismatic Joint: Linear, No rotation involved.
(Hydraulic or pneumatic cylinder)

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

Fig. 1.4

 Cartesian/rectangular/gantry (3P) : 3 cylinders joint

 Cylindrical (R2P) : 2 Prismatic joint and 1 revolute joint
 Spherical (2RP) : 1 Prismatic joint and 2 revolute joint
 Articulated/anthropomorphic (3R) : All revolute(Human arm)
 Selective Compliance Assembly Robot Arm (SCARA):
2 paralleled revolute joint and 1 additional prismatic joint
ROBOT REFERENCE FRAMES

Fig. 1.6 A robot’s World, Joint, and Tool

reference frames.
Most robots may be programmed
to move relative to either of these
reference frames.
ROBOT WORKSPACE

Fig. 1.7 Typical workspaces for common robot configurations

 Application of Robots
IDEAL TASKS
Tasks which are:
 Dangerous
 Space exploration

 chemical spill cleanup

 disarming bombs

 disaster cleanup

 Boring and/or repetitive

 Welding car frames

 part pick and place

 manufacturing parts.

 High precision or high speed

 Electronics testing

 Surgery

 precision machining.
Application of Robot….Cont.
Robots in Industry
•Agriculture
•Automobile
•Construction
•Entertainment
•Health care: hospitals, patient-care, surgery , research, etc.
•Laboratories: science, engineering , etc.
•Law enforcement: surveillance, patrol, etc.
•Manufacturing
•Military: demining, surveillance, attack, etc.
•Mining, excavation, and exploration
•Transportation: air, ground, rail, space, etc.
•Utilities: gas, water, and electric
•Warehouses
 Application of Robot….Cont
Industrial Applications of Robots

•Material handling
•Material transfer
•Machine loading and/or
unloading
•Spot welding Material Handling Manipulator

•Continuous arc welding

•Spray coating
•Assembly
•Inspection
Assembly Manipulator

Spot Welding Manipulator

 Application of Robot….Cont.
 Robot Application

Fig. 1.8 A Staubli robot loading and unloading Fig. 1.9 Staubli robot placing dishwasher tubs

Fig. 1.10 An AM120 Fanuc robot Fig. 1.11 A P200 Fanuc painting automobile bodies
Application of Robot….Cont.
Robots in Space

NASA Space Station

Robots in Hazardous Environments

HAZBOT operating in
TROV in Antarctica
atmospheres
atmospheres containing
containing
operatingunder
operating underwater
water
gases
 Medical Robots

Robotic assistant for

micro surgery
 Robots in Military

PREDATOR
SPLIT STRIKE: ISTAR
Deployed from
Deployed a a
from
sub’s hull, Manta
could dispatch tiny
mine-seeking AUVs
or engage in more
explosive combat
GLOBAL HAWK GOLDENEYE
 Application of Robot….Cont.
Robots at Home

Sony SDR-3X Entertainment Robot Sony Aido

 Application of Robot….Cont.
Robots at Home

Photo: Robotic Vacuum

Cleaner Photo: Garbage Collector

Photo: The SCRUBMATE Robot

 ROBOT CHARACTERISTICS

Payload: Payload is the weight a robot can carry

Reach :Reach is the maximum distance a robot can

reach within its work envelope.

Speed: speed is the distance per unit time the robot

can move, specified in inches per seconds or meters
per second.

Precision :Precision is defined as how accurately a

specifies point can be reached

Repeatability:Repeatability is how accurately the

same position can be reached if the motion is
repeated many times.
 ADVANTAGES OF ROBOTS
Some of the key benefits of robots in industry
and society in general are:

 Robots can perform many tasks more quickly, safely,

accurately and cheaply than human workers.
 Robots can work continuously for long periods of time
without fatigue or boredom.
 A robot can use sensors to gather information about its
environment that is not detectable using the human
senses.
 Robots can be equipped with dexterous capabilities
beyond those of humans, in terms of speed, force and /
or accuracy.
 Robots can work in hazardous or uncomfortable
environments.
 DISADVANTAGES OF ROBOTS

o Robots replacing human worker causes economic

hardship, workers dissatisfaction and resentment, the
needs to retrain replaced workers

o Robots lack capability to respond in emergencies.

o Robots, although superior in certain senses, have

limited capabilities in Degree of freedom, Dexterity,
Sensors, Vision system, real time response.

o Robots are costly, due to Initial cost of equipment,

Installation costs, Need for Peripherals, Need for
training, Need for programming.