Fundamentals of Robotics History of Robotics Robot Features Robot Coordinates

EEM 343 ROBOTICS

FUNDAMENTAL TO ROBOTICS

Dr. Muhammad Nasiruddin Mahyuddin

School of Electrical and Electronics Engineering,
Universiti Sains Malaysia

Semester 2 Academic Session 2016/2017

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Fundamentals of Robotics History of Robotics Robot Features Robot Coordinates

F UNDAMENTALS OF R OBOTICS

Figure 1: A crane manipulator (Source: www.directindustry.com)

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Fundamentals of Robotics History of Robotics Robot Features Robot Coordinates

W HAT IS A R OBOT ?

◮ Random House Dictionary: A machine that resembles a human

being and does mechanical routine tasks on command.
◮ Robotics Association of America: An industrial robot is a
re-programmable, multi-functional manipulator designed to
move materials, parts, tools, or specialized devices through
variable programmed motions for the performance of a variety
of tasks.

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Fundamentals of Robotics History of Robotics Robot Features Robot Coordinates

W HAT IS A R OBOT ?

⊲ Robotics is an Inter-Disciplinary Field

◮ Artificial intelligence
◮ Computer Vision / Perception
◮ Machine Learning / Estimation / Inference
◮ Neuroscience
◮ Electronic / Mechanical Engineering

(Source: Andrew Davison of Department of Computing, Imperial College of London)

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Fundamentals of Robotics History of Robotics Robot Features Robot Coordinates

W HAT IS A R OBOT ?

⊲ Is this a Robot?

Figure 2: R2D2 robot from the Famous Science Fiction Movie: Star Wars. (Source:
www.comicvine.com)

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Fundamentals of Robotics History of Robotics Robot Features Robot Coordinates

W HAT IS A R OBOT ?

⊲ What about this? Is this a robot?

Figure 3: An Armoured Personal Unit (APU) from the Famous Science Fiction Movie:
Matrix Revolution. (Source: www.cargocollective.com)

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Fundamentals of Robotics History of Robotics Robot Features Robot Coordinates

W HAT IS A R OBOT ?

⊲ Human and Humanoid.

Figure 4: Myself and BERT II

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Fundamentals of Robotics History of Robotics Robot Features Robot Coordinates

C LASSIFICATION OF R OBOTS

⊲ JIRA (Japanese Industrial Robot

Association)
◮ Class 1: Manual-Handling Device
◮ Class 2: Fixed Sequence Robot
◮ Class 3: Variable Sequence Robot
◮ Class 4: Playback Robot
◮ Class 5: Numerical Control Robot
Figure 5: Asimo (Source:
◮ Class 6: Intelligent Robot www.wikipedia.com)

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Fundamentals of Robotics History of Robotics Robot Features Robot Coordinates

C LASSIFICATION OF R OBOTS

⊲ RIA (Robotics Institute of America)

◮ Variable Sequence Robot(Class3)
◮ Playback Robot(Class4)
◮ Numerical Control Robot(Class5)
◮ Intelligent Robot(Class6)
Figure 6: BAXTER: a robot invented by
Rodney Brooks (Source: www.calumK.com)

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Fundamentals of Robotics History of Robotics Robot Features Robot Coordinates

C LASSIFICATION OF R OBOTS

⊲ AFR (Association Française de

Robotique)
◮ Type A: Manual Handling Devices/
telerobotics
◮ Type B: Automatic Handling
Devices/ predetermined cycles
◮ Type C: Programmable, Servo
controlled robot, continuous
point-to-point trajectories Figure 7: NAO: a robot invented by the
◮ Type D: Same type with C, but it can French (Source: www.robotlab.com)
acquire information.

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Fundamentals of Robotics History of Robotics Robot Features Robot Coordinates

H ISTORY OF R OBOTICS

◮ 1922: Karel Capeks novel, Rossums Universal Robots, word

Robota (worker)
◮ 1952: NC machine (MIT)
◮ 1955: Denavit-Hartenberg Homogeneous Transformation
◮ 1967: Mark II (Unimation Inc.)
◮ 1968: Shakey (SRI) - intelligent robot
◮ 1973: T3 (Cincinnati Milacron Inc.)
◮ 1978: PUMA (Unimation Inc.)
◮ 1983: Robotics Courses
◮ 21st Century: Walking Robots, Mobile Robots, Humanoid
Robots

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Fundamentals of Robotics History of Robotics Robot Features Robot Coordinates

Karel Capek’s novel

Figure 8: Karel Capek

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Fundamentals of Robotics History of Robotics Robot Features Robot Coordinates

MIT’s first Numerical Controlled Machine

Figure 9: NC machine in 1952

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Fundamentals of Robotics History of Robotics Robot Features Robot Coordinates

Unimation Mark II 1967

Figure 10: Unimation Mark II in 1967

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Fundamentals of Robotics History of Robotics Robot Features Robot Coordinates

Shakey 1968

Figure 11: Shakey in 1968 (Source: www.ai.sri.com)

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Fundamentals of Robotics History of Robotics
A DVANTAGES AND DISADVANTAGES OF R OBOTICS
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 and more accurate
than human.
◮ Robots can process multiple
stimuli or tasks simultaneously.
Dr. Muhammad Nasiruddin Mahyuddin ✏B
Robot Features Robot Coordinates
DISADVANTAGES
◮ 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.
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Fundamentals of Robotics History of Robotics Robot Features Robot Coordinates

C OMPONENT OF R OBOTS

◮ Manipulator
◮ Pedestal
◮ Controller
◮ End Effectors
◮ Power Source

Figure 12: Manipulator parts

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P EDESTAL

Human Waist

◮ Supports the manipulator

◮ Acts as a counterbalance

Figure 13: Pedestal

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Fundamentals of Robotics History of Robotics Robot Features Robot Coordinates

C ONTROLLER

The Brain

◮ Issues instructions to the robot

◮ Controls peripheral devices
◮ Interfaces with robot.
◮ Interfaces with humans.

Figure 14: Controller

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Fundamentals of Robotics History of Robotics Robot Features Robot Coordinates

E ND E FFECTORS

The Hand

◮ Spray paint attachments

◮ Welding attachments
◮ Vacuum heads
◮ Robotic hand
◮ Grippers

Figure 15: End Effectors

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Fundamentals of Robotics History of Robotics Robot Features Robot Coordinates

P OWER S OURCE

The Food

◮ Electric
◮ Pneumatic
◮ Hydraulic

Figure 16: Power Source

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Fundamentals of Robotics History of Robotics Robot Features Robot Coordinates

R OBOTS D EGREES OF F REEDOM

◮ Degrees of Freedom: Number of independent position variables

which would has to be specified to locate all parts of a
mechanism.
◮ In most manipulators this is usually the number of joints.

Figure 17: 1 D.O.F., 2 D.O.F. and 3 D.O.F.

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Fundamentals of Robotics History of Robotics Robot Features Robot Coordinates

R OBOT J OINTS
Prismatic Joint: Linear, no rotation involved

Figure 18: Prismatic joint

Revolute joint: Rotary

Figure 19: Revolute joint

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Fundamentals of Robotics History of Robotics Robot Features Robot Coordinates

C ARTESIAN C OORDINATES

⊲ 3 cylinders joint

Figure 20: Cartesian Coordinate

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C YLINDRICAL C OORDINATE (R2P)

⊲ 2 Prismatic joint and 1 revolute joint

Figure 21: Cylindrical Coordinate

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Fundamentals of Robotics History of Robotics Robot Features Robot Coordinates

S PHERICAL C OORDINATE (2RP)

⊲ 1 Prismatic joint and 2 revolute joints

Figure 22: Spherical Coordinate

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Fundamentals of Robotics History of Robotics Robot Features Robot Coordinates

A RTICULATED / ANTHROPOMORPHIC

⊲ All revolute (human arm)

Figure 23: Articulated

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Fundamentals of Robotics History of Robotics Robot Features Robot Coordinates

SCARA

⊲ Selectively Compliance Assembly Robot Arm (SCARA)- 2 paralleled

revolute joint and 1 additional prismatic joint

Figure 24: SCARA

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