ROBOTIKA

IT-012276
P1 | Dasar-dasar Robotika
Dr. Tb. Maulana Kusuma, SKom., MEngSc.
mkusuma@staff.gunadarma.ac.id http://mkusuma.staff.gunadarma.ac.id

What is a Robot?
Electro-mechanical device.
Performs Various tasks. May be human controlled or automated. It finds its uses in all aspects of our life.

Robota
The term robot originates from the Czech word, robota, meaning compulsory labor (or slave) From the play R.U.R. (Rossums Universal Robots) by Czech play writer Karel Capek in 1921.

Three Laws of Robotics

In 1942, Issac Asimov, An American science fiction writer, introduced the word robotics in his short story Law 1: A robot may not injure a human being, or, through inaction, allow a human being to come to harm Law 2: A robot must obey the orders given it by human beings except where such orders would conflict with the First Law Law 3: A robot must protect its own existence as long as such protection does not conflict with the First or Second Law

G. Walters Robot The first Robot

1948, 1953 A wheeled machine with motors Photocells Two vacuum tubes Moved toward light if moderate intensity Avoided bright light

What defines a robot?

Sense a robot has to take in information about its environment Plan a robot has to use that information to make a decision Act a robot needs moving parts to carry out commands

Robot Classes
Manipulators: robotic arms. These are most commonly found in industrial settings. Mobile Robots: unmanned vehicles capable of locomotion. Hybrid Robots: mobile robots with manipulators.

Manipulators Configuration
Polar Cylinder Cartesian Joint-arm

Mobile Robots
Wheeled
Holonomic Non-holonomic

Legged
Humanoid Animaloid

Flying Underwater

What Robots can do?

Industrial Robots
Material handling Material transfer Machine loading and/or unloading Spot welding Continuous arc welding Spray coating Assembly Inspection

Material Handling Manipulator

Assembly Manipulator Spot Welding Manipulator

Basic Parts of a Robot

Mechanical system Power supply system Actuators Sensory devices for feedback Sensor Data processing unit Control system

Mechanical System
The most basic and important part of the robot.
It comprises of chassis, motors, wheels and their placement. This system decides the locomotion of the robot.

Wheeled Locomotion Systems

Differential drive Car type drive Skid steer drive Synchronous drive Pivot drive

Differential Drive
This is the most commonly used form of locomotion system used in robots as its the simplest and easiest to implement.

It has free moving wheel(s) in the front accompanied with a left and right wheel. The two wheels are driven by different motors.

Differential Drive (Contd

Car Type Drive (Rack and Pinion)

It is characterized by a pair of driving wheels and a separate pair of steering wheels.
The translation and rotation are interlinked, hence this system faces severe path planning problem.

Car Type Drive (Contd)

Skid Steer Drive

A close relative of the differential drive system. It is mostly used in tracked machines e.g. tanks. Also finds application in some four / six wheeled robots The left and right wheels are driven independently. Steering is accomplished by actuating each side at a different rate or in a different direction, causing the wheels or tracks to slip, or skid, on the ground.

Skid Steer Drive (Contd)

Synchronous Drive
As the name suggests, it uses synchronous rotation of its wheels to achieve motion & turns
It is made up of a system of motors. One set of which drive the wheels and the other set turns the wheels in a synchronous fashion The two sets can be directly mechanically coupled as they always move in the same direction with same speed

Synchronous Drive (Contd)

Pivot Drive
The most unique type of Locomotion system
It is composed of a four wheeled chassis and a platform that can be raised or lowered

Pivot Drive (Contd)

The wheels are driven by a motor for translation motion in a straight line For rotation one motor is needed to lower/raise the platform & another to rotate the chassis around the platform
This system can guarantee perfect straight line motion as well as accurate in place turns to a desired heading

Power Supply System

Suitable power source is needed to run the robots.
Robots are most suitably powered by batteries. The weight and energy capacity of the batteries may become the determinative factor of its performance.

Actuators
They convert the electrical energy into meaningful mechanical work Mechanical output can be rotational or linear (straight line)
Motors provide rotational motion

Electromagnets provide linear motion

Motors are of various kinds

AC Motors : Not used much in robotics
Stepper Motors : For controlled rotation DC Motors : Finds extensive general use Servo Motors : DC motor with in built feedback & error compensation

Hydraulic Motor

Pneumatic Cylinder

Stepper Motor

Pneumatic Motor

DC Motor

Servo Motor

Sensors
Analogous to human sensory organs Eyes, ears, nose, tongue, skin Sensors help the robot knowing its surroundings better
Improves its actions and decision making ability

Provides feedback control

Examples
Light Dependent Resistor Thermistor Flame Sensor (ie. UVTron) IR Photo Sensor Proximity Sensor (ultrasonic, IR) Vision (camera)

Line Following Robot

A line follower is a robot capable of tracking a line drawn on a surface Optical sensors capture the line position at the front end of the robot The robot is steered to keep it always over the line

Optical Reflectors

TERIMA KASIH
Informasi Selengkapnya: UG Robotics Workshop (Bengkel Robot) Kampus D, Gedung 3 Lantai 1 Utara

UG-VIBORG | Vision, Robotics and Real-time System Group http://ugviborg.wordpress.com

Blog Komunitas Robotika UG: http://robotika.blog.gunadarma.ac.id/