Chapter 1

Fundamentals
1. Introduction

Fig. 1.1 (a) A Kuhnezug truck-mounted crane Fig. 1.1 (b) Fanuc S-500 robots performing
Reprinted with permission from Kuhnezug Fordertechnik GmbH. seam-sealing on a truck.
Reprinted with permission from Fanuc Robotics, North America, Inc.
 What is a Robot

 The difference between a robot and a manipulator

 Run by a computer or microprocessor not a human
 Controlled by feedback devices
 Mostly autonomous
 What is a Robot ?

 Random House Dictionary A machine that

resembles a human being and does mechanical
routine tasks on command.
 Robotics Association of America An industrial
robot is a re-programmable, multifunctional
manipulator designed to move materials, parts,
tools, or specialized devices through variable
programmed motions for the performance of a
variety of tasks.
 What is a Robot ?
 A manipulator (or an industrial robot) is
composed of a series of links connected to each
other via joints. Each joint usually has an
actuator (a motor for eg.) connected to it.
 These actuators are used to cause relative
motion between successive links. One end of
the manipulator is usually connected to a stable
base and the other end is used to deploy a tool.
 Ideal Tasks for Robots

Tasks which are:

– Dangerous
• Space exploration
• chemical spill cleanup
• disarming bombs
• disaster cleanup
– Boring and/or repetitive
• Welding car frames
• part pick and place
• manufacturing parts.
– High precision or high speed
• Electronics testing
• Surgery
• precision machining.
General Types of Robots
General Types of Robots
General Types of Robots
 What is Robotics?
 Robotics is the art, knowledge base, and
the know-how of designing, applying, and
using robots in human endeavors.
 Robotics is an interdisciplinary subject that
benefits from mechanical engineering,
electrical and electronic engineering,
computer science, biology, and many
other disciplines.
ROBOT CHARACTERISTICS
• Payload
Payload is the weight a robot can carry
• Reach
• Reach is the maximum distance a robot can
reach within its work envelope.
• Precision
Precision is defined as how accurately a specifies
point can be reached
• Repeatability
Repeatability is how accurately the same position
can be reached if the motion is repeated many
times.
http://www.directindustry.com/prod/yamaha-motor-industrial-
robots/product-25092-56426.html#video
 Robot Application

Machine loading
Pick and place operations
Welding
Painting
Sampling
Assembly operation
Manufacturing
Surveillance
Medical applications
Assisting disabled individuals
Hazardous environments
Underwater, space, and remote locations
Advantages VS. Disadvantages of
Robots
Robots increase productivity, safety, efficiency, quality, and
consistency of products.
 Robots can work in hazardous environments without the need.
 Robots need no environmental comfort.
 Robots work continuously without experiencing fatigue of problem.
 Robots have repeatable precision at all times.
 Robots can be much more accurate than human.
 Robots replace human workers creating economic problems.
 Robots can process multiple stimuli or tasks simultaneously.

 Robots lack capability to respond in emergencies.

 Robots, although superior in certain senses, have limited
capabilities in Degree of freedom, Dexterity, Sensors, Vision
system, real time response.
 Robots are costly, due to Initial cost of equipment, Installation
costs, Need for Peripherals, Need for training, Need for
programming.
 Robot Control

•Open loop, i.e., no feedback, deterministic

•Closed loop, i.e., feedback, maybe a sense of

touch and/or vision (using sensors)
 How Do (Simple) Sensors Work?

Sensors Actuators

Environment

Sensations
(and reward) actions

Controller
= agent
 Classification of Sensors
 Where is the information coming from?
 Inside: Proprioceptive sensors
 motor speed, wheel load, heading of the robot, battery status
 Outside: Exteroceptive sensors
 distances to objects, intensity of the ambient light, unique
features
 How does it work? Requires energy emission?
 No: Passive sensors
 temperature probes, microphones, camera

 Yes: Active sensors

 Controlled interaction -> better performance
Sensors - What Can Be Sensed?
• Light
– Presence, color, intensity, content (mod), direction
• Sound
– Presence, frequency, intensity, content (mod), direction
• Heat
– Temperature, wavelength, magnitude, direction
• Chemicals
– Presence, concentration, identity, etc.
• Object Proximity
– Presence/absence, distance, bearing, color, etc.
• Physical orientation/attitude/position
– Magnitude, pitch, roll, yaw, coordinates, etc.
 Sensors - What Can Be Sensed?

• Magnetic & Electric Fields

– Presence, magnitude, orientation, content (mod)
• Resistance (electrical, indirectly via V/I)
– Presence, magnitude, etc.
• Capacitance (via excitation/oscillation)
– Presence, magnitude, etc.
• Inductance (via excitation/oscillation)
– Presence, magnitude, etc.
• Other Things?
 What Sensors Are Out There?

 Feelers (Whiskers, Bumpers) – Mechanical

 Photoelectric (Visible) – Active & Passive
 Infrared (light) – Active & Passive
 Ultrasonic (sound) – Active & Passive
 Sonic – Active & Passive
 Resistive/Capacitive/Inductive – Active &
Passive
 What Sensors Are Out There?
 Visual – Cameras & Arrays (Active & Passive)
 Color Sensors (Active & Passive)
 Magnetic (Active & Passive)
 Orientation (Pitch & Roll)
 GPS (location, altitude)
 Compass (orientation, bearing)
 Voltage – Electric Field Sensors
 Current – Magnetic Field Sensors
 Chemical – Smoke Detectors, Gas Sensors
 Sensors – Conclusion

 Sensors provide a way of simulating “aliveness”

 Sensors give robots environmental awareness
 Sensors provide of means of human protection
 Sensors help robot preserve itself
 Sensors enable goal seeking
 Sensors enable closed-loop interaction
 Sensors make robots interesting
 Sensors can make programming “challenging”
Actuators
Actuators
Controller