MTE 3205

ROBOTICS FUNDAMENTALS

Dr. Md. Helal An Nahiyan

Professor
Department of Mechanical Engineering
Khulna University of Engineering & Technology, Khulna-9203
ROBOTICS COURSE CONTENT
🞆 Introduction-1
🞆 Mechanical Design of Robots-2
🞆 Spatial Descriptions and Transformations-2
🞆 Manipulator Kinematics-3
🞆 Manipulator Dynamics-4
🞆 Robot Control Architecture-5,6,7
⚫ Trajectory planning,
⚫ Control of Manipulators, motor control,
⚫ low level robot vision,
⚫ robot programing.
🞆 Mobile Robots; Robot sensors and actuators; -8
 INTRODUCTION
🞆 Definitions and Laws of Robotics;
🞆 Classification, specification, and
application of robots;
🞆 Components of robot systems:
Manipulator arm, Robot end effectors,
Robot sensors and actuators;
🞆 Trends of robots: Historical trend and
future direction
MECHANICAL DESIGN OF ROBOTS
🞆 Links and joints
🞆 Kinematic chain
🞆 Degree of freedom
🞆 Mechanisms and Mechanics for
manipulators and mobile robots
 SPATIAL DESCRIPTIONS AND
TRANSFORMATIONS
🞆 Description of position; Orientation and frames, Homogeneous
transformations
MANIPULATOR KINEMATICS
🞆 Link parameters and link co-ordinate systems, D-H
homogeneous transformation matrices, forward and inverse
kinematics of serial manipulators, Jacobian matrix analysis
MANIPULATOR DYNAMICS
🞆 Newton-Euler formation and Lagrangian formulation of serial
manipulator
ROBOT CONTROL ARCHITECTURE
🞆 Trajectory planning,
🞆 Control of Manipulators, motor control,
🞆 low level robot vision,
🞆 robot programing.
 MOBILE ROBOTS
🞆 Mobile robot kinematics
🞆 Medical robot
ROBOTS SYSTEMS AND STRUCTURES
 BIBLIOGRAPHY
🞆 Introduction to Robotics, Mechanics and Control
by John J. Craig
🞆 Robotics and Control
by R K Mittal and I J Nagrath
🞆 Handouts
INDUSTRIAL REVOLUTIONS
INDUSTRIAL REVOLUTIONS
DIFFERENT ROBOTS

14
Some more
Robots

15
PUMA ROBOT
HUMANOID ROBOT
DA VINCI ROBOT
WHAT IS A ROBOT: I

Manipulator
WHAT IS A ROBOT: II

Legged Robot Wheeled Robot

WHAT IS A ROBOT: III

Autonomous Underwater Vehicle Unmanned Aerial Vehicle

What can Robots Do: I

Jobs that are dangerous for

humans

Decontaminating Robot
Cleaning the main circulating pump
housing in the nuclear power plant
What can Robots Do: II

Repetitive jobs that are

boring, stressful, or labor-
intensive for humans

Welding Robot
WHAT CAN ROBOTS DO: III

The SCRUBMATE Robot The Roomba domestic

vacuum cleaner Robot

Menial tasks that human don’t want to do

 Robot Definition
🞆 Word robot was coined by a Czech novelist Karel Capek in a 1920 play titled
Rossum’s Universal Robots (RUR)
🞆 Robota in Czech is a word for worker or servant

Karel Capek
● Definition of robot: 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. (Robot Institute of America)
HISTORY OF ROBOTICS: I
🞆 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: II

🞆 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: III
🞆 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 Cognex In-Sight Barrett Technology

robots Robot Manipulator
HISTORY OF ROBOTICS: IV
🞆 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 launch toward Mars in
search of answers about the history of water on Mars
 INDUSTRIES USING ROBOTS
🞆 Agriculture: Harvester, Picking
🞆 Automobile
🞆 Construction
🞆 Entertainment: Dancing, Drummer
🞆 Health care: hospitals, patient-care, surgery, research
🞆 Laboratories: science, engineering
🞆 Law enforcement: surveillance, patrol
🞆 Manufacturing: Assembly, Material Handling
🞆 Military: demining, surveillance, attack
🞆 Mining, excavation, and exploration
🞆 Transportation: air, ground, rail, space
 ROBOTS IN INDUSTRY
Industrial Robots

•Material handling
•Material transfer
•Machine loading and
unloading
•Spot welding
•Continuous arc welding
•Spray coating
•Assembly
•Inspection
ROBOTS IN AGRICULTURE
ROBOTS IN SPACE

NASA Space Station

ROBOTS IN HAZARDOUS ENVIRONMENTS

TROV in Antarctica HAZBOT operating in

operating under water atmospheres containing
combustible gases
MEDICAL ROBOTS

Robotic assistant for micro surgery

ROBOTS AT HOME

Sony SDR-3X Entertainment Robot Sony Aido

FUTURE OF ROBOTS: I
Artificial Intelligence

Cog Kismet
FUTURE OF ROBOTS: II
Autonomy

Robot Work Crews Garbage Collection Cart

FUTURE OF ROBOTS: III
Humanoids

HONDA Humanoid Robot

ROBOT MARKET
ROBOT MARKET
ROBOT MARKET
ROBOT USED IN DIFFERENT COUNTRIES
MEDICAL ROBOT
MEDICAL ROBOT MARKET
ROBOT VS HUMAN LABOR
SAVINGS OF LABOR COST
 WHY ROBOT IS PREFERRED
🞆 As robots become more cost effective at their jobs, and as human labor
continues to become more expensive, more and more industrial jobs become
candidates for robotic automation.
🞆 Robots are not just getting cheaper, they are becoming more effective, faster,
accurate and flexible.
🞆 Economics aside, robots become more capable to do the tasks that might be
dangerous or impossible for human workers to perform.
 ROBOTICS VS AUTOMATION
🞆 The distinction lies somewhere in the sophistication of the
programmability of the device
⚫ If a mechanical device can be programmed to perform a wide variety of
applications, it is probably an industrial robot.
⚫ Machines which are for the most part limited to one class of task are considered
fixed automation.
STUDY OF THE MECHANICS AND
CONTROL OF MANIPULATORS
🞆 Mechanical engineering contributes methodologies for the study of
machines in static and dynamic situations.
🞆 Mathematics supplies tools for describing spatial motions and other
attributes of manipulators.
🞆 Control theory provides tools for designing and evaluating algorithms
to realize desired motions or force applications.
🞆 Electrical-engineering techniques are brought to bear in the design of
sensors and interfaces for industrial robots, and
🞆 Computer science contributes a basis for programming these devices
to perform a desired task.
 DESCRIPTION OF POSITION AND ORIENTATION
🞆 In the study of robotics, the location of objects in three-dimensional
space are concerned.
🞆 These objects are the links of the manipulator, the parts and tools with
which it deals, and other objects in the manipulator's environment.
🞆 At a crude but important level, these objects are described by just two
attributes: position and orientation.
 FRAME
🞆 In order to describe the position and orientation of a body in space, a
coordinate system, or frame, will be always rigidly attached to the
object.
 TRANSFORMATION
🞆 Any frame can serve as a reference system within which to express the
position and orientation of a body.
🞆 It is necessary to think of transforming or changing the description of
these attributes of a body from one frame to another.
 MANIPULATOR
🞆 Manipulators consist of nearly rigid links, which
are connected by joints that allow relative motion
of neighboring links.
🞆 These joints are usually instrumented with position
sensors, which allow the relative position of
neighboring links to be measured.
🞆 In the case of rotary or revolute joints, these
displacements are called joint angles.
🞆 Some manipulators contain sliding (or prismatic)
joints, in which the relative displacement between
links is a translation, sometimes called the joint
offset.
🞆 At the free end of the chain of links that make up
the manipulator is the end-effector.
 DEGREES OF FREEDOM
🞆 The number of degrees of freedom that a manipulator possesses is the number
of independent position variables that would have to be specified in order to
locate all parts of the mechanism.
🞆 In the case of typical industrial robots, the number of joints equals the number
of degrees of freedom because a manipulator is usually an open kinematic
chain, and because each joint position is usually defined with a single variable.
FORWARD KINEMATICS OF MANIPULATORS
🞆 The position of the manipulator is generally described by giving a description
of the end-effector, relative to the base frame of the manipulator.
🞆 Forward kinematics is the static geometrical problem of computing the position
and orientation of the end-effector of the manipulator. Specifically, with a set of
joint angles, the forward kinematic problem is to compute the position and
orientation of the tool frame relative to the base frame.
 INVERSE KINEMATICS OF MANIPULATORS
🞆 Inverse kinematics problem deals with the position and orientation of the end-
effector of the manipulator to calculate all possible sets of joint angles.
 VELOCITIES
🞆 The Jacobian specifies a mapping from velocities in joint space to
velocities in Cartesian space.
🞆 The nature of this mapping changes as the configuration of the
manipulator varies.
 SINGULARITIES
🞆 At certain points, called singularities, mapping is not invertible. An
understanding of the phenomenon is important to designers and users
of manipulators.
 STATIC FORCES
🞆 Manipulators do not always move through space; sometimes they are
also required to touch a work piece or work surface and apply a static
force.
🞆 In this case the problem arises: Given a desired contact force and
moment, what set of joint torques is required to generate them?
 DYNAMICS
🞆 In order to accelerate a manipulator from rest, glide at a constant end-
effector velocity, and finally decelerate to a stop, a complex set of torque
functions must be applied by the joint actuators.
🞆 Algorithms that constructs to control the motions of a robot manipulator
should take dynamics into account.
 TRAJECTORY GENERATION
🞆 A common way of causing a manipulator to move from here to there in a smooth,
controlled fashion is to cause each joint to move as specified by a smooth function
of time.
🞆 Each joint starts and ends its motion at the same time, so that the manipulator
motion appears coordinated.
🞆 A path is described not only by a desired destination but also by some intermediate
locations, or via points, through which the manipulator must pass en route to the
destination.
 MANIPULATOR DESIGN AND SENSORS
🞆 Along with issues such as size, speed, and load capability, the designer must
consider the number of joints and their geometric arrangement.
🞆 The more joints a robot arm contains, the more dexterous and capable it will
be. Of course, it will also be harder to build and more expensive.
🞆 In order to build a useful robot, that can take two approaches: build a
specialized robot for a specific task, or build a universal robot that would able
to perform a wide variety of tasks.
 LINEAR POSITION CONTROL
🞆 A primary concern of a position control system is to compensate automatically
for errors in knowledge of the parameters of a system and to suppress
disturbances that tend to perturb the system from the desired trajectory.
🞆 To accomplish this, position and velocity sensors are monitored by the control
algorithm, which computes torque commands for the actuators.
 FORCE CONTROL
🞆 When a manipulator is touching a rigid surface, position-control schemes can
cause excessive forces to build up at the contact or cause contact to be lost with
the surface when it was desired for some application.
🞆 A mixed or hybrid control is required, with some directions controlled by a
position-control law and remaining directions controlled by a force-control law.
🞆 A robot should be instructed to wash a window by maintaining a certain force
in the direction perpendicular to the plane of the glass, while following a
motion trajectory in directions tangent to the plane.
PROGRAMMING ROBOTS
🞆 A robot programing language serves as the interface between the
human user and the industrial robot.
🞆 Central questions arise:
⚫ How are motions through space described easily by the
programmer?
⚫ How are multiple manipulators programmed so that they can work
in parallel?
⚫ How are sensor-based actions described in a language?
🞆 Robot manipulators differentiate themselves from fixed automation by
being "flexible," which means programmable. Not only are the
movements of manipulators programmable, but, through the use of
sensors and communications with other factory automation,
manipulators can adapt to variations as the task proceeds.
 LAWS OF ROBOTICS
🞆 Asimov proposed three “Laws of Robotics”
🞆 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 orders given to it
by human beings, except where such orders
would conflict with a higher order law.
🞆 Law 3: A robot must protect its own
existence as long as such protection does
not conflict with a higher order law.