Robotics [ME 21396]

for
1st semester M Tech (CC)
Introduction to Robotics
UNIT-1
Introduction: Automation and Robotics,
An over view of Robotics – past, present and future applications –
classification by coordinate system and control system. [4 Lect.]

Reference Books:

1. FU K S, Gonzalez RC, Lee CSG; Robotics –Control, sensing, TMH Publ.

2. Saeed B. Niku, Introduction to Robotics, Analysis, Systems, Applications,
PHI Publications.
3. S R Dev, Robotics Technology and Flexible Automation, Tata McGraw Hill
4. Spong Mark and Vidyasagar; Robot Modelling and control; Wiley India
5. Ghosal Ashitava; Robotics Fundamental concepts and analysis; Oxford
6. Saha S; Introduction to Robotics; TMH Publications
7. Murphy ; Introduction to AI Robotics; PHI Learning
 Automation
Automation is the use of m/c control systems and information
technologies to increase/ optimise productivity for the production
of the goods and delivery of services.
Automation:
1. Fixed or Hard automation(Ex: sewing m/c, electric iron, fan)
(a) Adjustable automation (Ex: adjust stitch length, pitch of
screw of a lathe m/c etc.)
2. Programmable automation after arrival of computers, NC &
CNC m/c, CAM & CIM etc.
3. Flexible automation
Robot is a computer control m/c which is coming under the
category of Highest level of autonomy/automations.
 Fixed Automation
A manufacturing system in which the sequence of
processing (or assembly) operations is fixed by the
equipment configuration
Typical features:
• Suited to high production quantities
• High initial investment for custom-engineered
equipment
• High production rates
• Relatively inflexible in accommodating product variety
 Programmable Automation
A manufacturing system designed with the capability
to change the sequence of operations to accommodate
different product configurations
Typical features:
• High investment in general purpose equipment
• Lower production rates than fixed automation
• Flexibility to deal with variations and changes in
product configuration
• Most suitable for batch production
• Physical setup and part program must be changed
between jobs (batches)
 Flexible Automation
An extension of programmable automation in which
the system is capable of changing over from one job
to the next with no lost time between jobs
Typical features:
• High investment for custom-engineered system
• Continuous production of variable mixes of products
• Medium production rates
• Flexibility to deal with soft product variety
Product Variety and Production Quantity
for Three Automation Types
What is
Robotics

Time-line of
Robotics

Robotic
Technology

Types of
Robots
 Module-1: Introduction
Robotics: Definition
Robotics is science of designing or building an application of robots.
Simply ,Robotics may be defines as “The Study of Robots”. The aim of
robotics is to design an efficient robot.

Robotics is the Brach of Technology that deals with design,

construction, operations and application of robot & computer
system for their control, sensory, feedback & information
processing.

These technologies deals with automated machines that can takes

the place of human in hazardous or manufacturing process or
simply just resemble human.
WHY IS ROBOTICS NEEDED...?
Robotics is needed because:-

•Speed

• Can work in
hazardous/dangerous
temperature

• Can do repetitive tasks

• Can do work with accuracy

 How robot came?
• What can we achieve, if we combine the
power of microprocessor with conventional
automation systems, and arrived at a very
powerful system. That’s why Robot came into
picture.
• There are tremendous development in digital
electronics & high resolution sensors made
the robot highly autonomous.
Why Robotics?
Introduction to Robotics
 What is a Robot…?
A re-programmable, multifunctional, automatic
industrial machine designed to replace human in
hazardous work. It can be used as :-
•An automatic machine sweeper
•An automatic car for a child to play with
•A machine removing mines in a war field
•In space
•In military , and many more..
 What is a Robot ?
• 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 eg.)
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.
 First use of the word
“Robotics”
The word robot was introduced to the public by Czech writer Karel
Capek(1890-1938) in his play R.U.R. (Rossum's Universal Robots),
published in 1920. The play begins in a factory that makes artificial people
called robots . Capek was reportedly several times a candidate for the
Nobel prize for his works .

The word "robotics", used to describe this field of study, was

coined accidentally by the Russian –born , American scientist and
science fiction writer, Isaac Asimov(1920-1992) in 1940s.
 History of Robotics
1922: Czech author Karel Čapek’s novel, Rossum’s Universal Robots,
word “Robota” (worker)

1952: NC machine (MIT)

1955: Denavit-Hartenberg Homogeneous Transformation

1963 The 1st vision system was developed.

1967: Mark II (Unimate robot used for paint spraying)

1968: Shakey (SRI) - intelligent mobile robot

1978: PUMA (Unimation Inc. by General Motors)

21C: Walking Robots, Mobile Robots, Humanoid Robots

• After the technology explosion in
during world war II in 1956. George
C Devol and Josheph F Engelberger
made firm Unimation and developed
the First Robot, named: Unimate
robot.
• Josheph F Engelberger was known as
Father of Robotics.
Introduction to Robotics
Introduction to Robotics
Introduction to Robotics
Introduction to Robotics
Introduction to Robotics
Introduction to Robotics
Introduction to Robotics
Introduction to Robotics
Introduction to Robotics
Introduction to Robotics
Introduction to Robotics
 Laws of Robotics
Si Isaac Asimov in his science Friction stories during 1940
envisioned the robot as a helper of human beings and
postulates the three basic rules for robotics. Which are later
on known as Laws of Robotics.

1. A robot may not injure a human being or, through inaction,

allow a human being to come to harm.

2. A robot must obey the orders given it by human beings

except where such orders would conflict with the First Law.

3. A robot must protect its own existence as long as such

protection does not conflict with the First or Second Laws.
 Advantages VS. Disadvantages of Robots
Advantages
 Robots increase productivity, safety, efficiency, quality, and
consistency of products.
 Robots can work in hazardous environments without the need.
 Robots need no environmental comfort.
 Robots work continuously without experiencing fatigue of problem.
 Robots have repeatable precision at all times.
 Robots can be much more accurate than human.
 Robots replace human workers creating economic problems.
 Robots can process multiple stimuli or tasks simultaneously.
 Greater flexibility, re-programmability, kinematics dexterity
 Greater response time to inputs than humans
 Improved product quality
 Maximize capital intensive equipment in multiple work shifts
 Accident reduction
 Reduction of hazardous exposure for human workers
 Automation less susceptible to work stoppages.
 Disadvantages
• Replacement of human labor, creating unemployment

• Robots lack capability to respond in emergencies.

• Robots, although superior in certain senses, have limited

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

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

Installation costs, Need for Peripherals, Need for
training, Need for programming.
 Limitations
• Assembly dexterity does not match that of human beings,
particularly where eye-hand coordination required.
• Payload to robot weight ratio is poor, often less than 5%.
• Robot structural configuration may limit joint movement.
• Work volumes can be constrained by parts or tooling/sensors
added to the robot.
• Robot repeatability/accuracy can constrain the range of
potential applications.
• Closed architectures of modern robot control systems make it
difficult to automate cells.
Robot Applications
Machine loading
Material Handling: Pick, move and place operations
Fabrication works like; Welding, grinding, cutting,
Painting etc.
Sampling,
Manufacturing
Assembly operation: Electronics, automobile and small
scale applications.
Inspection and testing, Quality control. Looking for
surface, and interior defects
Surveillance
Medical applications
Assisting disabled individuals
Hazardous environments
Underwater, space, and remote locations
 Classification of Robots

- JIRA (Japanese Industrial Robot Association)

Class1: Manual-Handling Device (works with multiple
DOF)
Class2: Fixed Sequence Robot (Hard to modify)
Class3: Variable Sequence Robot (easy to modify)
Class4: Playback Robot (Human operator performs the task
manually, which records the motion for later playback)
Class5: Numerical Control Robot (robot is given a
movement program rather than teaching the task
manually)
Class6: Intelligent Robot (understand the environment and
works accordingly, like human beings)
 Classification of Robots

- RIA (Robotics Institute of America)

Variable Sequence Robot(Class3)
Playback Robot(Class4)
Numerical Control Robot(Class5)
Intelligent Robot(Class6)