Engr.

Dilruba Siddiqi
Robotics MCT-451
 Course Name Robotics
 Course Code MCT-451
 Instructor Dilruba Siddiqi (Lecturer)
 Semester 7th
 Session 2015
 Credit Hours 4(3+1)
 Contact Hours 6
 Visiting Hours Monday 1000-1200 Thursday 0800-1000
 Marks Distribution
Quiz Assignment Class Participation Mid Term Final Term
10 (5+5) 10 (5+5) 10 30 40
 Evaluation Methods
Quizes, Assignments, Class Participation & Written Examinations (Mid Term & End Term)

September 2018 MCT UET FSD 2

Robotics MCT-451
 Course Objectives
To understand basics of robotics and robot design along with extensive
study of mechanics and types of robotic manipulators and mobile robots.
 Course Outline
Introduction to overview, taxonomy and applications of robotics. Robotic
manipulators, representations, homogeneous transformations, forward
position kinematics, Denavit-Hartenberg conventions, inverse position
kinematics, velocity kinematics and Jacobian, manipulator dynamics, path-
planning and trajectory generation. Robot control and sensing systems,
robot-vision, robot-programming and interfacing, fundamentals of robot-
design and robot-test, end-effector design. Dynamics of robots and its
control, task allocation, navigation techniques, multi-robot systems,
heterogeneous mobile robotic systems. Rehabilitative, behavior-based,
deliberative, adaptive, probabilistic and biologically-inspired robotics.
September 2018 MCT UET FSD 3
Robotics MCT-451
 Robot Dynamics and Control by Spong
 Fundamentals of Robotics by Saeed B. Niku
 Robotics, Vision and Control by Peter Corke
 Introduction to Robotics by Kraig
 Introduction to AI Robotics by RR Murphy

September 2018 MCT UET FSD 4

Important Links
 QS World University Ranking
 MIT opencourseware
 Mechatronics Research Laboratory – MIT, USA
 Biomimetic Robotics Laboratory – MIT, USA
 Stanford Robotics Laboratory – Stanford University, USA
 IRIS – ETH Zurich, Switzerland
 Robotics Research Center – NTU, Singapore
 Mechano-Informatics Deptt. - Tokyo University, Japan
 Mechatronics Center, DLR, Munich, Germany
September 2018 MCT UET FSD 5
Engr. Dilruba Siddiqi
Robotics MCT-451: Introduction

History
 The term ‘Robot’ was first introduced by Czech playwright Karel Capek in
“Rossum’s Universal Robots (RUR)”
 “Robota”  a Czech word for ‘work’
 Movies:
 Big Hero 5
 I-Robots
 Wall-E
 Flash Gordon
 Metropolis
 Lost in Space
 The day the earth stood still
 The forbidden planet
 etc …

September 2018 MCT UET FSD 7

Robotics MCT-451 : Introduction

History
 1947 — the first servoed electric powered teleoperator is developed
 1948 — a teleoperator is developed incorporating force feedback
 1949 — research on numerically controlled milling machine is initiated
 1954 — George Devol designs the first programmable robot
 1956 — Joseph Engelberger, a Columbia University physics student, buys the rights
to Devol’s robot and founds the Unimation Company
 1961 — the first Unimate robot is installed in a Trenton, New Jersey plant of General
Motors to tend a die casting machine
 1961 — the first robot incorporating force feedback is developed
 1963 — the first robot vision system is developed
 1971 — the Stanford Arm is developed at Stanford University
 1973 — the first robot programming language (WAVE) is developed at Stanford
 1974 — Cincinnati Milacron introduced the T3 robot with computer control
 1975 — Unimation Inc. registers its first financial profit

September 2018 MCT UET FSD 8

Robotics MCT-451 : Introduction

History
 1976 — the Remote Center Compliance (RCC) device for part insertion in assembly
is developed at Draper Labs in Boston
 1976 — Robot arms are used on the Viking I and II space probes and land on Mars
 1978 — Unimation introduces the PUMA robot, based on designs from a General
Motors study
 1979 — the SCARA robot design is introduced in Japan
 1981 — the first direct-drive robot is developed at Carnegie-Mellon University
 1982 — Fanuc of Japan and General Motors form GM Fanuc to market robots in
North America
 1983 — Adept Technology is founded and successfully markets the direct drive
robot
 1986 — the underwater robot, Jason, of the Woods Hole Oceanographic Institute,
explores the wreck of the Titanic, found a year earlier by Dr. Robert Barnard.
 1988 — Staubli Group purchases Unimation from Westinghouse
 1988 — the IEEE Robotics and Automation Society is formed
September 2018 MCT UET FSD 9
Robotics MCT-451 : Introduction

History
 1993 — the experimental robot, ROTEX, of the German Aerospace Agency (DLR)
was flown aboard the space shuttle Columbia and performed a variety of tasks
under both teleoperated and sensor-based offline rogrammed modes
 1996 — Honda unveils its Humanoid robot; a project begun in secret in 1986
 1997 — the first robot soccer competition, RoboCup-97, is held in Nagoya, Japan
and draws 40 teams from around the world
 1997 — the Sojourner mobile robot travels to Mars aboard NASA’s Mars PathFinder
mission
 2001 — Sony begins to mass produce the first household robot, a robot dog named
Aibo
 2001 — the Space Station Remote Manipulation System (SSRMS) is launched in
space on board the space shuttle Endeavor to facilitate continued construction of
the space station
 2001 — the first telesurgery is performed when surgeons in New York performed a
laparoscopic gall bladder removal on a woman in Strasbourg, France

September 2018 MCT UET FSD 10

Robotics MCT-451 : Introduction

History
 2001 — robots are used to search for victims at the World Trade Center site after the
september 11th tragedy
 2002 — Honda’s Humanoid Robot ASIMO rings the opening bell at the New York
Stock Exchange on February 15th
 …

September 2018 MCT UET FSD 11

Robotics MCT-451 : Introduction

Definition
 “A robot is a reprogrammable multifunctional manipulator designed
to move materials, parts, tools, or specialized devices through
variable programmed motions for the performance of a variety of
tasks”
[Robot Institute of America, RIA]
 “A goal oriented machine that can sense, plan and act”
[Peter Corke]
 A humanoid (human like) Machine
 …

September 2018 MCT UET FSD 12

Robotics MCT-451 : Introduction

Laws of Robotics
 Sir Issac Asimov proposed three philosophical laws for robotics given
as:
 First Law: A robot must not harm a human being or, through inaction,
allow one to come to harm.
 Second Law: A robot must always obey human beings unless it is in
conflict with higher order law.
 Third Law: A robot must protect itself from harm unless that is in
conflict with a higher order law.
 Zeroth law was added later on as:
 Zeroth Law: A robot must not injure humanity or, through action, allow
humanity to come to harm.

September 2018 MCT UET FSD 13

Robotics MCT-451 : Introduction

Classification

of Robots
According to JIRA (Japenese 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
 Class-6: Intelligent Robot
 The RIA only considers classes 3-6 of the above as robot.
 According to AFR (Association Francaise de Robotique)
 Type A: handling devices with manual control to telerobotics
 Type B: automatic handling devices with predetermined cycles
 Type C: programmable, servo controlled robots with continuous or point-to-
point trajectories.
 Type D: same as C but with capability to acquire information from its
September environment
2018 MCT UET FSD 14
Robotics MCT-451 : Introduction

Applications of Robots
 Production/Factory Automation (e.g. Automobile Industry for Painting,
Welding etc.)
 Loading-Unloading / Pick and Place (e.g. Foundry, Food Industry etc.)
 Service (e.g. in Restaurant etc. )
 Medical/Surgery
 Underwater, Space and inaccessible Locations
 …

September 2018 MCT UET FSD 15

Robotics MCT-451 : Introduction

Robot

Components
Manipulator or the Rover
 End Effector
 Actuators
 Sensors
 Controller/Processor
 Software

September 2018 MCT UET FSD 16

Robotics MCT-451 : Introduction

Robot

Workspace
Characteristics
 Payload
 Reach
 Dexterous
 Nondexterous
 Controller Resolution
 Precision
 Accuracy
 Repeatability

September 2018 MCT UET FSD 17

Robotics MCT-451 : Introduction

Robot

Characteristics
Controller Resolution
“the smallest increment of motion that the controller can sense”
n
Controller Resolution = Total distance travelled by the tip / 2
where
n = number of bits of encoder accurracy

 Example 1: One of the links of a Robot has a telescoping arm with a stroke of 768
mm. The controlled memory of the robot has 8-bit storage capacity for this axis.
Determine the Control Resolution.
 Example 2: A Cartesian Robot has a slide with a total range of 1.2 m and it is desired
that it will have a control resolution of 4.6mm on this axis. Determine the accuracy
of Encoder.

September 2018 MCT UET FSD 18

Robotics MCT-451 : Introduction

Mechanisms

Link and its types
Revision
 Joint and its types
 Degree of Freedom
 Grubbler’s Equation
 Kutzbach Equation
 …

September 2018 MCT UET FSD 19

Robotics MCT-451 : Introduction

Common Kinematic
 Articulated Configuration (RRR)
Configurations
 Spherical Configuration (RRP)
 SCARA Configuration (RRP)
 Cylindrical Configuration (RPP)
 Cartesian Configuration (PPP)
 Spherical Wrist
 Parallel Manipulator
 …

September 2018 MCT UET FSD 20

Robotics MCT-451 : Introduction

Common Kinematic
 Articulated Configuration (RRR)
Configurations
 also known as (a.k.a.) Revolute or Anthropomorphic configuration

September 2018 MCT UET FSD 21

Robotics MCT-451: Introduction

Common Kinematic
 Articulated Configuration (3R)
Configurations
 Elbow manipulator

Kinematic diagram Workspace

September 2018 MCT UET FSD 22

Robotics MCT-451: Introduction

Common Kinematic
 Spherical Configuration (RRP)
Configurations

September 2018 MCT UET FSD 23

Robotics MCT-451: Introduction

Common Kinematic
 Spherical Configuration (2RP)
Configurations

Kinematic diagram Workspace

September 2018 MCT UET FSD 24

Robotics MCT-451: Introduction

Common Kinematic
 SCARA Configuration (RRP)
Configurations
 SCARA stands for Selective Compliant Articulated Robot for Assembly OR
Selective Compliance Assembly Robot Arm

September 2018 MCT UET FSD 25

Robotics MCT-451: Introduction

Common Kinematic
 SCARA Configuration (2RP)
Configurations

Kinematic diagram Workspace

September 2018 MCT UET FSD 26

Robotics MCT-451: Introduction

Common Kinematic
 Cylindrical Configuration (RPP)
Configurations

September 2018 MCT UET FSD 27

Robotics MCT-451: Introduction

Common Kinematic
 Cylindrical Configuration (R2P)
Configurations

Kinematic diagram Workspace

September 2018 MCT UET FSD 28

Robotics MCT-451: Introduction

Common Kinematic
 Cartesian Configuration (PPP)
Configurations

September 2018 MCT UET FSD 29

Robotics MCT-451: Introduction

Common Kinematic
 Cartesian Configuration (3P)
Configurations

Kinematic diagram Workspace

September 2018 MCT UET FSD 30

Robotics MCT-451: Introduction

Common Kinematic
 Spherical Wrist (RRP)
Configurations

Cylindrical Manipulator with Spherical Wrist

September 2018 MCT UET FSD 31
Robotics MCT-451: Introduction

Common Kinematic
 Spherical Wrist (2RP)
Configurations

Kinematic diagram
September 2018 MCT UET FSD 32
Robotics MCT-451: Introduction

Common Kinematic
 Parallel Configuration
Configurations

September 2018 MCT UET FSD 33

Robotics MCT-451: Introduction

Robot Reference Frames

 World Reference Frame
 Joint Reference Frame
 Tool Reference Frame

September 2018 MCT UET FSD 34

Robotics MCT-451: Introduction

Robot Design
 Position Kinematics
 Forward Position Kinematics
 Inverse Position Kinematics
 Velocity Kinematics
 Trajectory Planning
 Position Control
 Dynamics
 Force Control
 …

September 2018 MCT UET FSD 35

Robotics MCT-451: Introduction

Social Issues
 Social Consequences
 Economic Consequences

September 2018 MCT UET FSD 36