Intrduction to

Robotics
Dr. K. Fathima Patham
Professor
Dept. of Robotics and Automation

PSG College of Technology

Coimbatore

.but small spark could initiates a big

fire!
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EE2023 ROBOTICS AND AUTOMATION

UNIT I BASIC CONCEPTS

Definition and origin of robotics different types of robotics

various generations of
robots degrees of freedom Asimovs laws of robotics dynamic
stabilization of robots.

UNIT II POWER SOURCES AND SENSORS

Hydraulic, pneumatic and electric drives determination of HP of motor and gearing ratio variable speed
arrangements path determination micro machines in robotics machine vision ranging laser acoustic
magnetic, fiber optic and tactile sensors.

UNIT III MANIPULATORS, ACTUATORS AND GRIPPERS

Construction of manipulators manipulator dynamics and force control electronic and pneumatic manipulator
control circuits end effectors U various types of grippers design considerations.

UNIT IV KINEMATICS AND PATH PLANNING

Solution of inverse kinematics problem multiple solution jacobian work envelop hill climbing techniques robot
programming languages

UNIT V CASE STUDIES

Multiple robots machine interface robots in manufacturing and non- manufacturing

applications robot cell design selection of robot.

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What is a robot?
Great things came from imagination.
Karel apek (Czech) (January 9, 1890 December
25, 1938) was a Czech writer of the early 20th
century best known for his science fiction, including
his novel War with the Newts and the play R.U.R.
that introduced the word robo.
ROBOTA Self labour or servant
Defn : 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 Insititute of America in 1979
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How a robot is different from a machine?

Machines: CNC machines, cars etc
Human and Animals:
On the most basic level, human beings are made up of five
major components:
A body structure
A muscle system to move the body structure
A sensory system that receives information about the body
and the surrounding environment
A power source to activate the muscles and sensors
A brain system that processes sensory information and tells
the muscles what to do

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Issac
Asimov

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I am not
HAPPY!!!

???

Why they need

us?

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Why we need Robots?

Machines => To assist man in difficult tasks and minimize
the process time
Robots => Machines + intelligence
To perform
lines
To perform
drilling
To perform
To work on
To perform

heavy tasks - Material handling and assembly

repeated tasks pick and place , welding and
unpleasent tasks Cleaning toilets and drainages
a hazadious tasks - Mine and bomb defusing
higly accurate tasks Surgical robots

Robots with AI
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To interact with human

History of Robots

1978

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1980

10

TYPES of ROBOTS
Mobile robots: Robots that move freely in their environment
We can subdivide these into indoor robots, outdoor robots,
terrain robots, etc based on the environment they are
programmed to handle
Robotic arms: Stationary robots that have manipulators, usually
used in construction and car manufacturing
These are usually not considered AI because they do not
perform planning and often have little to no sensory input
Autonomous vehicles: like mobile robots, but in this case, they
are a combination of vehicle and computer controller
Autonomous cars, autonomous plane drones, autonomous
helicopters, autonomous submarines, autonomous space
probes
There are different classes of autonomous vehicles based on
the level of autonomy, some are only semi-autonomous
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TYPES of ROBOTS
Soft robots: Robots that use soft computing approaches (fuzzy
logic, neural networks)
Mimicking robots: Robots that learn by mimicking
For instance robots that learn facial gestures or those that
learn to touch or walk or play with children
Softbots: Software agents that have some degrees of freedom
(the ability to move) or in some cases, software agents that can
communicate over networks
Nanobots: Theoretical at this point, but like mobile robots, they
will wander in an environment to investigate or make changes

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Degrees of Freedom

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Glimpses
of

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Todays Robots

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Interested in
Robotics?

Mechanic
al

Electrical

Roboti
cs

Computer

Electronic
s

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Industrial robots and Automation

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Questions?

Contact
Dr. K. Fathima Patham,
Professor and Program Coordinator,
Robotics and Automation
Engineering,
PSG College of Technology,
Coimbatore 641 004,
Tamil Nadu, India.
Eamil: kfp@rae.psgtech.ac.in

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Thank
you!

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