Robotics Bertain http:www.engineeringed.org

1
RoboticsBertainhttp//www.engineering-ed.org/

• 1920 The idea of a robot is not new. For
  thousands of years man has been imagining
  intelligent mechanized devices that perform
  human-like tasks. He has built automatic toys and
  mechanisms and imagined robots in drawings,
  books, plays and science fiction movies.

2
Robotics History
What is the definition of a 'robot'?
"A reprogrammable, multifunctional manipulator
designed to move material, parts, tools, or
specialized devices through various programmed
motions for the performance of a variety of
tasks" Robot Institute of America, 1979
Where did the word 'robot' come from?

• In fact, the term "robot" was first used in
  1920 in a play called "R.U.R." Or "Rossum's
  universal robots" by the Czech writer Karel
  Capek. The plot was simple man makes robot then
  robot kills man! Many movies that followed
  continued to show robots as harmful, menacing
  machines.

3
Robotics Terminology

• The term 'robotics' refers to the study and
  use of robots. The term was coined and first used
  by the Russian-born American scientist and writer
  Isaac Asimov (born Jan. 2, 1920, died Apr. 6,
  1992). Asimov wrote prodigiously on a wide
  variety of subjects. He was best known for his
  many works of science fiction.

• The most famous include I Robot (1950),
• He also wrote the three Laws of Robotics for
  which he is also famous.

4

• More recent movies, however, like the 1977
  "star wars", portray robots such as "C3PO" and
  "R2D2" as man's helpers. "Number five" in the
  movie "short circuit" and C3PO actually take on a
  human appearance. These robots,
• which are made to look.
• human are called "androids".

5

• However, robots of today are not exactly the
  walking, talking intelligent machines of of
  movies, stories and our dreams. Today, we find
  most robots working for people in factories,
  warehouses, and laboratories. In the future,
  robots may show up in other places our schools,
  our homes, even our bodies.

6

• Robots have the potential to change our
  economy, our health, our standard of living, our
  knowledge and the world in which we live. As the
  technology progresses, we are finding new ways to
  use robots.

Each new use brings new hope and possibilities,
but also potential dangers and risks.
7
Benefits of Robots

• Robots offer specific benefits to workers,
  industries and countries. If introduced
  correctly, industrial robots can improve the
  quality of life by freeing workers from dirty,
  boring, dangerous and heavy labor.

8

• Robotics for bio-production

• Many robots for bio-production have been
  developed in the world and it is predicted that
  they will be commercialized in the 21st century,
  since some of them were already commercialized by
  some companies in Japan and European countries. A
  tomato and cherry tomato harvesting robot, a
  cucumber harvesting robot, strawberry harvesting
  robots, a multi-operation robot to work in
  grapevine yard, and a chrysanthemum cutting
  sticking robot.

9
EMT

• HAZBOT III is part of JPL's Emergency
  Response Robotics Project, a five-year effort
  begun in 1991 to apply robotics technology to the
  safe handling of hazardous materials. Robots such
  as HAZBOT also hold potential for use in mining
  and law enforcement. "It's almost standard now to
  have robots on bomb squads in major cities, but
  it took several years for the idea to catch on,"
  said Richard Welch, task manager of Emergency
  Response Robotics at JPL.

10
Robotics History
And Future

• Future missions to space will include many
  robotic vehicles designed to perform specific
  tasks both autonomous and remote controlled.

11

• The Mars 2003 Rover Project is designed to have
  two scientific rovers going to Mars in 2003. Each
  rover will search for evidence of liquid water
  that may have been present in Mars past. The
  rovers will be identical to each other, but will
  land at different regions of Mars.

12
Robot Components
Parts of a robot

• Robots use arms, end effectors (grippers),
  drive mechanisms, sensors, controllers, gears and
  motors to perform the human-like functions
  necessary to perform their jobs

13
Robot Components
arms

• Robot arms come in all shapes and sizes. The
  arm is the part of the robot that positions the
  end-effector and sensors to do their
  pre-programmed business.

• Many (but not all) resemble human arms, and have
  shoulders, elbows, wrists, even fingers. This
  gives the robot a lot of ways to position itself
  in its environment. Each joint is said to give
  the robot 1 degree of freedom.

• See http//www.paly.net/dbertain/robotics/robo/gr
  iponrobotics/index.html

14
Robot Components
Degrees of freedom
So, a simple robot arm with 3 degrees of freedom
could move in 3 ways up and down, left and
right, forward and backward. Most working robots
today have 6 degrees of freedom.
Humans have many more and some robots have 8, 12,
or even 20 degrees of freedom, but these 6 are
enough for most basic tasks. As a result, most
jointed-arm robots in use today have 6 degrees of
freedom
15
Robot Components
AXIS OF ROTATION

• X, Y, Z, Tilt and Spin
• Are 3 of the degrees of freedom that robots
  perform. Most arms move according to Cartesian
  coordinates

16
Robot Components
tilt

• Tilt is the angle between gripper and
  Z-Axis.The animation sequence shows the three
  most important tilting angles 45, 0, and -45 and
  how tilting enables to tip over a block. 

17
Robot Components
spin

• Spin is defined as the gripper's rotation
  around the Z-Axis. You need to choose a spin
  value to align the jaws of the gripper with a
  block. Spin 0 aligns the block with the Y-Axis,
  Spin -45 with the diagonal between Y- and X-Axis.

18
Robotics Sensors Controllers
What are sensors?

• Sensors collect all the information a robot needs
  to operate and interact with its environment.

What are Controllers?
Controllers interpret all the input from the
sensors and decide how to act in response.
19
Robotics Sensors Controllers
What are sensors for?
The control of a manipulator or industrial robot
is based on the correct interpretation of sensory
information. This information can be obtained
either internally to the robot (for example,
joint positions and motor torque) or externally
using a wide range of sensors.
20
Robotics Sensors Controllers
Types of Sensors

• Since sensors are any device that provide
  input of data to the robot controller a wide
  verity of sensors exist. Some basic types of
  sensors are shown including
• Light sensors which measure light intensity.
• Heat Sensors which measure temperature.
• Touch sensors which tell the robot when it bumps
  into something.
• Ultra Sonic Rangers which tell the robot how far
  away objects are.
• And gyroscopes which tell the robot which
  direction is up.

21
Robotics Sensors controllers

• The bumper skirt on this robot is an example of a
  touch sensor. When the robot runs into a wall the
  bumper skirt hits a micro switch which lets the
  robot controller know that the robot is up
  against a wall. Other types of touch sensors are
  used internally to let the robot know when an arm
  is extended to far and it should be retracted or
  when the robots other physical limits are
  reached.

22
Robotics Sensors controllers

• Light sensors are used to detect the presence
  and Intensity of light. These can be used to make
  a light seeking robot and are often used to
  simulate insect intelligence in robots.

23
Robotics Sensors controllers

• Heat sensors help robots determine if they are
  in danger of overheating. These sensors are often
  used internally to make sure that the robots
  electronics do not breakdown.

24
Robotics Sensors controllers

• Ultra Sonic Rangers are used to determine how
  far a robot is away from an object. They are
  often used by robots that need to navigate
  complicated terrain and cannot risk bumping into
  anything.

25
Robotics Sensors controllers

• Gyroscopes are used in robots that need to
  maintain balance or are not inherently stable.
  Gyroscopes are often coupled with powerful robot
  controllers that have the processing power
  necessary calculate thousands of physical
  simulations per second.

26
Robotics Sensors controllers

• Transistors

• Use transistors as a switch to control power
  to motors, relays and lamps. Current and power
  handling capability is pretty much dictated by
  package size. The bigger the package, the more
  power.

27
Robotics Sensors controllers
Controllers

• Basic Stamp IIThe Basic Stamp II is a small,
  self-contained computer controller manufactured
  by Parallax Inc. This easy-to-use system is
  programmed using a Basic-like language called
  PBasic. Programs are written on an IBM-style PC
  then downloaded to the Basic Stamp II for
  execution. Large libraries of programs can be
  created and saved.

28
Robotics Sensors controllers
Controls

• Tiny custom microchips like these give
  "vision" to a toy car by processing images and
  telling the vehicle how to respond.

29
Examples

• Tiny-phoon
• www.tinyphoon.com
• Video