Introduction to

Robotics

Robotics is concerned with the

generation of computer- controlled
motions of physical objects in a
wide variety of settings

Reference:
Halperin, D., Kavraki, L., & Latombe, J. C. (1997). Robotics. In In Discrete and
Computational.
Terminolog
y

The term robot derives

from the Czech word
robota (“forced labour”
or “serf”) used by Karel
Capek in his play R.U.R in
1920.
Reference:
Palep, J. H. (2009). Robotic assisted minimally invasive surgery. Journal of minimal access
surgery, 5(1), 1. Kumar, Vijay. "Introduction to robotics." University of Pennsylvania,
Philadelphia, USA2014 (2014).
 Robots
Robot is a unit that implements this
interaction with the physical world based on
sensors, actuators, and information
processing.

Most industrial robots have at least the

following five parts: 1 sensors 2
effectors 3 actuators 4 controllers 5
Arms
Sensors are used in robotics to calculate the condition
and environment of robots, using functions similar to
the human sensory organs. A variety of sensors are
required by different robots to navigate their
environment while performing tasks. This article covers
the types of sensors in robotics.
Effectors in robotics are devices or tools that used to perform
a specific task. Effectors are essential components of robots,
and they come in various types, each with its unique
advantages and disadvantages.
Types of Effectors in Robotics
Mechanical Grippers: Mechanical grippers are
the most commonly used effectors in robotics.
They are used to grip, hold, and manipulate
objects.
Process tools: are used to perform specific
tasks, such as welding, painting, or drilling.
Vacuum cups: are used to pick and place only
flat objects.
Magnetic effectors: Magnetic effectors use a
magnetic field to handling steels.
actuator is a device that converts energy into
physical motion, and the vast majority of
actuators produce rotary or linear motion.
controller, the so-called “brain” of the robot, is where the
magic happens. It takes input signals from the robot’s
sensors, processes this information based on programmed
instructions, and then sends output signals to the robot’s
actuators to perform the desired actions.
serial robot arm can be described as a chain of
links that are moved by joints which are actuated
by motors.
A robot is a machine which has some ability to
interact with physical objects and to be given
electronic programming to do a specific task or to do
a whole range of tasks or actions. It may also have
some ability to perceive and absorb data on physical
objects, or on its local physical environment, or to
process data or respond to various stimuli. This is in
contrast to a simple mechanical device, such as a
gear or a hydraulic press or any other item, which
has no processing ability and which does tasks
through purely mechanical processes and motion.
Robots can include these parts:
• effectors (simulating arms, hands, legs and
feet)
• sensors (simulating senses that detect objects
or things like heat and light and convert the
objects’ information into symbols that computers
understand)
• computer (simulates the brain that controls the
robot)
• equipment (includes tools and mechanical
fixtures)
• power source (such as batteries or solar cells)
Not All Machines are classified as Robots
In order to be classified as one, a robot should have
the following:
1. Sensing – its ability to sense its environment.
The use of sensors makes the robot aware of its
surroundings.
2. Movement – it has an ability to move
3. Energy – should have a power source
4. Intelligence – the robot needs to be smart to
perform its task and it is being done by its
programmer.
 Robots and human beings
Robots can take any form but many of
them have given the human appearance.

The robots which have taken the form of

human appearance may likely to have the
walk like humans, speech, cognition and
most importantly all the things a human
can do.

Most of the robots of today are inspired by

nature and are known as bio-inspired robots.
 Aspects of Robots
Many aspects of robotics involve artificial
intelligence; robots may be equipped with the
equivalent of human senses such as vision,
touch, and the ability to sense temperature.
Some are even capable of simple decision
making
A robot in human form is called an
android.
 Artificial intelligence in Robots
Artificial Intelligence is the branch of
computer sciences that emphasizes the
development of intelligence machines,
thinking and working like humans. For
example, speech recognition, problem-
solving, learning and planning.

AI gives robots a computer vision to

navigate, sense and calculate their
reaction accordingly.
Robots learn to perform their tasks from humans through
machine learning which is a part of computer programming
and AI
 Programming languages in Robots
Two main programming languages are
the best when used in robotics: C++
and Python, often used together as
each one has pros and cons.

C++ is used in control loops, image

processing and to interface low-level
hardware.
. To program the robot, the operator
moves it from point-to-point, using the
buttons on the pendant to move it
around and save each position
History of
Robotics
Ancient Ideas

The Greek Myth

3500 B.C.E Myths of Hephaestus and
Pygmalion incorporate the idea of
intelligent mechanisms

Egyptian Thinking Machines

2500 B.C.E The idea of “thinking
machines” was invented by
ancient Egyptians 4500 years ago.
 Babylonians Clepsydra

1400 B.C.E - First Robotic

Device

References:
Rees, A. (1970). Rees’s Clocks, Watches and Chronometers, 1819-20. David & Charles
Neugebauer, O. (1947). Studies in Ancient Astronomy. VIII. The Water Clock in Babylonian Astronomy. ISIS, 1/2, 37–43. https://doi.org/10.1086/347965
 Al-Jazari's Invention

1206 A.D Arabic engineer

Al-Jazari described in detail
fifty devices, including this
elephant clock which rang
every half an hour
Reference:
Elices, J. (2020). Ismail al-Jazari, the Muslim inventor whom some call “Father of Robotics.” National Geographic
History Magazine.
1206 A.D. Al-Jazari's
Automated Girl

References:
Al-Jazari, I. (2012). The Book of Knowledge of Ingenious Mechanical Devices (P. Hill, Trans.). Springer Science & Business
Media.
 Modern
Robotics

Unimate — The First Industrial

Standford's Shakey Robot
Robot
In 1958, Charles Rosen led a
In 1954, George C. Devol invented and
research team in developing a
patented a reprogrammable
robot called "Shakey."
 Latest Advancements

Universal Robots (UR) e-Series Boston Dynamics’ Atlas doing

Cobots parkour
References:
Yang, Guang-Zhong, et al. "Ten robotics technologies of the year." Sci. Robot
4.26 (2019)
Robotic
Technology
 Robotic Technology

Robotics involves design, construction, operation, and use

Reference:
https://en.wikipedia.org/wiki/Robotic
of robots.
s
 Robot Components

Manipulator or Rover End Effecter

Main body of robot (Links, Joints, other
The part that is connected to the
structural element of the robot.
last joint hand of a manipulator
Reference:
http://seminarprojects.kreview.com/item.php?id
=1
33
 Robot Components
Actuators
Muscles of the manipulators (servomotor, stepper motor, pneumatic
and hydraulic cylinder)

Actuator Sensor
s s
Sensors
To collect information about the internal state of the robot or To
communicate with the outside environment
 Robot Components
Controller
Similar to cerebellum. It controls and coordinates the motion of
the actuators

Controlle Softwar
r e

Software
Operating system, robotic software and the collection of
routines
 Robot Components
Processor
The brain of the robot. It calculates the motions and the velocity of the
robot’s joints, etc

Reference:
http://www.globalrobots.com/robot- applications.htm
 Laws of
First Law Robotics
A robot may not injure a human
being or, through inaction, allow
a human being to come to harm

Second Law
A robot must obey the orders
given it by human beings except
where such orders would
conflict with the First Law

Third Law
A robot must protect its own
existence as long as such
protection does not conflict with
the First or Second Law
Reference:
Clarke, R. (1994). Asimov's laws of robotics: Implications for information technology. 2. Computer,
27(1), 57-66.
Types & Applications of
Robots
 Types
• Artificial Intelligence based • Industrial based
Robots Robots
 Artificial Intelligence based Robots

These Robots required Artificial Intelligence for their working. They work like
humans and use AI as their brain. AI contains information about their tasks and
these robots are manufactured to do that work.
 Artificial Intelligence based Robots
Pre-Programmed Robots
Pre-programmed robots operate in a controlled
environment where they do simple, monotonous
tasks. . The arm serves one function — to weld a
door on, to insert a certain part into the engine, etc.
and its job is to perform that task longer, faster and
more efficiently than a human.

Humanoid Robots
Humanoid robots are robots that look like and/or
mimic human behavior. These robots usually
perform human-like activities (like running, jumping
and carrying objects), and are sometimes designed
Autonomous Robots
Autonomous robots operate independently of
human operators. These robots are usually
designed to carry out tasks in open environments
that do not require human supervision.
Teleoperated Robots
Teleoperated robots are mechanical bots
controlled by humans. These robots usually
work in extreme geographical conditions,
weather, circumstances, etc.
Augmenting Robots
Augmenting robots either enhance current
human capabilities or replace the capabilities a
human may have lost.
Artificial
Intelligence based
Robots
Applicatio
n
· Security and Surveillance in
crimes
· Surgical Assistance These
are most tele-manipulators.
· Defense
· Research & Development
· Education in terms of
experiments and practice
· Cleaning
 Industrial based Robots

These robots are based on much of mechanical work and they don't
require AI for their actions. They are mostly use in Industries to lift heavy
loads and in transferring items. Their programming is easy than AI but
they can only do specific tasks at specific angles.
 Industrial based Robots
Articulated Robots
An articulated robot is the type of robot that comes to
mind when most people think about robots. Much like CNC
mills, articulated robots are classified by the number of
points of rotation or axes they have. Flexibility, dexterity,
and reach make articulated robots ideally suited for tasks
that span non-parallel planes, such as machine tending.

SCARA Robots
A Selective Compliance Articulated Robot Arm (SCARA) is a
good
— and cost-effective — choice for performing operations
between two parallel planes. SCARA robots are lightweight
and have small footprints, making them ideal for
 Industrial based Robots

Delta Robots
Delta robots, also referred to as “spider
robots,” use three base-mounted motors to
actuate control arms that position the wrist. A
delta robot’s arm is very lightweight so it
works fast with light loads.

Cartesian Robots
Cartesian robots typically consist of three or
more linear actuators assembled to fit a
particular application.
Positioned above a workspace, cartesian
robots can be elevated to maximize floor
space and accommodate a wide range of
workpiece sizes.
 Industrial based
Robots
Cylindrical Robots
The robot has at least one rotary joint at the
base and at least one prismatic joint to connect
the links. The rotary joint uses a rotational
motion along the joint axis, while the prismatic
joint moves in a linear motion. Cylindrical
robots operate within a cylindrical-shaped work
envelope.

Polar Robots
Also called spherical robots, in this
configuration the arm is connected to the base
with a twisting joint and a combination of two
rotary joints and one linear joint. The axes form
a polar coordinate system and create a
spherical-shaped work envelope.
 Industrial based Robots

Application
s
· Arc Welding
· Spot Welding
· Materials Handling
· Machine Tending
· Painting
· Picking, Packing and
Palletizing
Advantages and
Disadvantages
 Advantages of Robitics
Increased Efficiency
Industrial robots can complete certain
tasks faster and more efficiently than
humans as they are designed and
built to perform them with higher
accuracy. They are used to increase
the efficiency of production lines.

Increased Profitability
The results of introducing robots can
only ensure higher profitability levels
with lower cost per product as by
increasing the efficiency of your
process, reducing the resource and
Reference: time required to complete it.
SP Technology , AUGUST 3, 2018 , PLASTIKMEDIA GUEST
https://www.plastikmedia.co.uk/advantages-disadvantages-of-industrial-
robots/
 Advantages of Robitics
Longer Working Hours
As human breaks in the working day are
required. Whereas robots can work 24/7 and
keep working at 100% efficiency. On average
a 40% increase in the output of a production
line occurs when one key person is replaced
by a robot.
Works in Every
Environment

Robots are designed to work in

harsh environments like in space,
without the air, underwater & in
the fire, They can be used instead
Reference:
Advantages and disadvantages of using robots in our life, PUBLISHED MAY 20, 2016 of the people when the human
https://www.online-sciences.com/robotics/advantages-and-disadvantages-of-using-robots-in-our-
life/
 Improved working environment
Some tasks are too dangerous or
laborious and repetitive for humans to
carry out and so robots can perform
these tasks instead. Working
conditions can be vastly improved.

Improved Quality
Given their higher levels of accuracy,
robots can be used to produce higher
quality products which result in the
reduction of time required for quality
control and ensures that standards of
quality are adhered to.

Reference:
SP Technology , AUGUST 3, 2018 , PLASTIKMEDIA GUEST
https://www.plastikmedia.co.uk/advantages-disadvantages-of-industrial-
robots/
Disadvantages of Robotics
Huge Investments
It costs a lot of money to make or buy
robots. The software and the
equipment that you need to use with
the robot cost much money. In case of
breakdown, the cost of repair may be
very high.
Proper Maintenance
Robots need maintenance to
keep them running. The
programs needs to be updated to
suit the changing requirements.
The procedure to restore lost
code or data may be time-
consuming & costly.
Reference:
Advantages and disadvantages of using robots in our life, PUBLISHED MAY 20, 2016
https://www.online-sciences.com/robotics/advantages-and-disadvantages-of-using-robots-in-our-
life/
 Disadvantages of Robotics

Replace Humans Not Completely Reliable

Robots can take the place of many humans in The robot can also result in a lag. If the robot
factories. This will lead to unemployment. The has malfunctioned, you need extra time to fix
humans may become overly dependent
the machines onmental
and lose their it, which would require reprogramming.
Reference:
capacities.
Advantages and disadvantages of using robots in our life, PUBLISHED MAY 20, 2016
https://www.online-sciences.com/robotics/advantages-and-disadvantages-of-using-robots-in-our-
life/
Deficit in Self Learning
Robots are not intelligent or sentient. They can never improve the results of their
jobs outside of their predefined programming. This limits how the robots can help
& interact with people. They can perform repetitive tasks for a long time but they
do not get better with experience such as the humans do.

Reference:
Advantages and disadvantages of using robots in our life, PUBLISHED MAY 20, 2016
https://www.online-sciences.com/robotics/advantages-and-disadvantages-of-using-robots-in-our-
life/
Future of
Robotics
Predictions of Tomomichi
Sugihara & Shuuji Kajita

Super-Human Robots expected

to appear in 2050

Reference:
Kajita, S., & Sugihara, T. (2009). Humanoid robots in the future. Advanced Robotics, 23(11),
1527-1531.
Better Health Facilities

• Global Market will

Reaches $12.4b by 2024
• Over-aged population
double by 2050 as in
2000
• Fill the shortage of 14
million Health Workers
by 2030 in England
Reference:

Alone
Russell, J. (2017, November 24). The future of medical robotics | ITProPortal. ITProPortal;
ITProPortal. https://www.itproportal.com/features/the-future-of-medical-robotics/
Better
Policing

• As Prison Guards
• As Traffic Police
• As Lifesaving
Guard
• As Robot Dog
During The
Pandemic
Reference:
What Could Be The Future Of Robot Policing In Smart Cities? (2020, July 8). Smart City;
SmartCity Press. https://www.smartcity.press/robot-policing-in-smart-cities/
 Dubai planning to recruit enough robots to make up 25% of its police force by
2030
Reference:
Page, T. (2017, May 22). The inevitable rise of the robocops - CNN. CNN; CNN. https://edition.cnn.com/2017/05/22/tech/robot-police-o cer-future-
dubai/index.html
 Assistants

• In shopping malls
• In Education
• In Agriculture
• In Hospitals/Nursing
Homes
• Public Places
• For Aircraft Inspectors
• For Elderly People
• For Children
• For Everyone &
Everywhere
Reference:
The Kiplinger Washington Editors. (2013, March 19). 6 Fields Where Robots Are Taking Charge | Kiplinger.
Kiplinger; Kiplinger. https://www.kiplinger.com/slideshow/business/t057-s005-robots-taking-charge/index.html
 •Scientists say that it is possible that a
robot brain will exist by 2019 .

•Vernor Vinge has suggested that a

moment may come when computers
and robots are smarter than humans.

•In 2009, some robots acquired various

forms of semi-autonomy, including being
able to find power sources on their own.

•The Association for the

Advancement of Artificial Intelligence
has researched on this problem.
 Conclusion
The robotics field is quite promising but to make a really intelligent robot
takes supreme effort.The ultimate goal of robotics is a super human system
that embodies all the skills (such as intelligence, touch and sensitivity) of
humans without of any their limitations (such as strength, ageing).
Today we find most robots working for people in industries, factories,
warehouses, and laboratories. Robots are useful in many ways. For instance, it
boosts economy because businesses need to be efficient to keep up with
the industry competition.

Therefore, having robots helps business owners to be competitive, because

robots can do jobs better and faster than humans can, e.g. robot can built,
assemble a car. Yet robots cannot perform every job, today robots roles
include assisting research and industry. Finally,as the technology improves,
there will be new ways to use robots which will bring new hopes and new