Robotics: From Androids to Types of Robots
Robotics
Dr. Waheed ur Rehman
1
Robot Defined
•
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
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,
1979
2
Robot
•
A robot is an autonomous system which exists in the physical world,
can sense its environment, and can act on it to achieve some goals.
•
A robot is a re-programmable, multi-functional, manipulator
designed to move material, parts, or specialized devices though
variable programmed motions for the performance of a task
(Robotics Industry Association)
•
An autonomous robot acts on the basis of its own decisions, and is
not controlled by a human.
•
Robotics is the study of robots, which means it is the study of their
autonomous and purposeful sensing and acting in the physical
world.
3
Android and Cyborgs
•
Androids are synthetic human beings with
mechanical limbs and electronic brain.
•
Cyborg is a human being which has been
supplemented by some type of
electromechanical devices. A cyborg uses
robot-like parts to correct a physical deficiency
or to enhance mental or physical capabilities
4
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
5
*If we ever able to make an android
6
Types of Robots
•
Robot Manipulators
•
Mobile Manipulators
7
Types of Robots
Humanoid
Legged robots
Underwater robots
Wheeled mobile robots
Aerial Robots
•
Locomotion
8
Mobile Robot Examples
Hilare II
http://www.laas.fr/~matthieu/robots/
Sojourner Rover
NASA and JPL, Mars exploration
9
Autonomous Robot Examples
Quadcopter
10
11
Autonomous helicopter
•
Goal:
To develop a vision-guided robot helicopter which can
autonomously carry out functions applicable to search and
rescue, surveillance, law enforcement, inspection, mapping,
and aerial cinematography, in any weather conditions and
using only on-board intelligence and computing power
http://www-2.cs.cmu.edu/afs/cs/project/chopper/www/haughton-do.html
Example
12
13
Why Use Robots?
•
Application in 4D environments
–
Dangerous
–
Dirty
–
Dull
–
Difficult
•
4A tasks
–
Automation
–
Augmentation
–
Assistance
–
Autonomous
14
Why Use Robots?
•
Increase product quality
–
Superior Accuracies (thousands of an inch, micro inch)
–
Repeatable precision
Consistency of products
•
Increase efficiency
–
Work continuously without fatigue
–
Need no vacation
•
Increase safety
–
Operate in dangerous environment
–
Need no environmental comfort – air conditioning, noise protection, etc
•
Reduce Cost
–
Reduce scrap rate(1)
–
Lower in-process inventory (2)
–
Lower labor cost
•
Reduce manufacturing lead time
–
Rapid response to changes in design
•
Increase productivity
–
Value of output per person per hour increases
(1) Percentage of failed assemblies or material that cannot be repaired or restored, and is
therefore condemned and discarded.
(2) company's partially finished goods waiting for completion and
eventual sale
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Programmable Universal Machine for Assembly
PUMA 560 Manipulator
1968
Unimation (first
robot company)
takes its first
multi-robot order
from General
Motors.
15
16
Shakey
•
S
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)
–
the first mobile robot to be
operated using AI
techniques
•
S
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:
–
To recognize an object
using vision
–
Find its way to the object
–
Perform some action on the
object (for example, to push
it over)
http://www.frc.ri.cmu.edu/~hpm/book98/fig.ch2/p027.html
Components of a robot
17
Manipulator arm
Sensing
•
Sensors are physical devices that enable a robot to perceive its physical
environment
•
in order to get information about itself and its surroundings.
18
Sensors
19
Sonar
20
Actuators
•
The actuator is also referred to as the power
source
•
Three different types
–
Electric
–
Hydraulic
–
Pneumatic
21
Hydraulic Motor
Stepper Motor
Pneumatic Motor
Servo Motor
Actuators
Pneumatic Cylinder
DC Motor
22
Manipulator arm
23
Degrees of Freedom
•
A
degree of freedom (DOF) is any of the
minimum number of coordinates
required to
completely specify the motion of a mechanical
system.
24
Robotics, a field with origins in Czech playwright Karel Capek's play, encompasses a diverse range of autonomous systems, including robots, androids, and cyborgs. Laws of Robotics proposed by Asimov highlight ethical considerations in robotics. Types of robots include manipulators and mobile manipulators, each designed for specific tasks.
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Presentation Transcript
Robotics Dr. Waheed ur Rehman 1
Robot Defined 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, 1979 2
Robot A robot is an autonomous system which exists in the physical world, can sense its environment, and can act on it to achieve some goals. A robot is a re-programmable, multi-functional, manipulator designed to move material, parts, or specialized devices though variable programmed motions for the performance of a task (Robotics Industry Association) An autonomous robot acts on the basis of its own decisions, and is not controlled by a human. Robotics is the study of robots, which means it is the study of their autonomous and purposeful sensing and acting in the physical world. 3
Android and Cyborgs Androids are synthetic human beings with mechanical limbs and electronic brain. Cyborg is a human being which has been supplemented by some type of electromechanical devices. A cyborg uses robot-like parts to correct a physical deficiency or to enhance mental or physical capabilities 4
http://lookinside-images.amazon.com/Qffs+v35leoW+RGkuo00/4pTltbjFQankwoa6XfvAbz7xFtj9UzOGt8KC3QHBfGTQqXWGS6O+y0=http://lookinside-images.amazon.com/Qffs+v35leoW+RGkuo00/4pTltbjFQankwoa6XfvAbz7xFtj9UzOGt8KC3QHBfGTQqXWGS6O+y0= 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 *If we ever able to make an android 5
Types of Robots Robot Manipulators Mobile Manipulators mm 6
Types of Robots Locomotion Aerial Robots Wheeled mobile robots Legged robots Underwater robots Humanoid 7
Mobile Robot Examples Hilare II Sojourner Rover http://www.laas.fr/~matthieu/robots/ NASA and JPL, Mars exploration 8
Quadcopter 10
Autonomous helicopter Goal: To develop a vision-guided robot helicopter which can autonomously carry out functions applicable to search and rescue, surveillance, law enforcement, inspection, mapping, and aerial cinematography, in any weather conditions and using only on-board intelligence and computing power http://www-2.cs.cmu.edu/afs/cs/project/chopper/www/haughton-do.html 11
Example 12
Why Use Robots? Application in 4D environments Dangerous Dirty Dull Difficult 4A tasks Automation Augmentation Assistance Autonomous 13
Why Use Robots? Increase product quality Superior Accuracies (thousands of an inch, micro inch) Repeatable precision Consistency of products Increase efficiency Work continuously without fatigue Need no vacation Increase safety Operate in dangerous environment Need no environmental comfort air conditioning, noise protection, etc Reduce Cost Reduce scrap rate(1) Lower in-process inventory (2) Lower labor cost Reduce manufacturing lead time Rapid response to changes in design Increase productivity Value of output per person per hour increases (1) Percentage of failed assemblies or material that cannot be repaired or restored, and is therefore condemned and discarded. (2) company's partially finished goods waiting for completion and eventual sale A lead time is the latency between the initiation and execution of a process. For example, the lead time between the placement of an order and delivery of a new car from a manufacturer may be anywhere from2 weeks to 6 months. 14
Programmable Universal Machine for Assembly 1968 Unimation (first robot company) takes its first multi-robot order from General Motors. PUMA 560 Manipulator 15
Shakey Shakey the robot Shakey (Stanford Research Institute) the first mobile robot to be operated using AI techniques Simple tasks to solve: To recognize an object using vision Find its way to the object Perform some action on the object (for example, to push it over) http://www.frc.ri.cmu.edu/~hpm/book98/fig.ch2/p027.html 16
Components of a robot Manipulator arm 17
Sensing Sensors are physical devices that enable a robot to perceive its physical environment in order to get information about itself and its surroundings. 18
Sensors 19
Sonar 20
Actuators The actuator is also referred to as the power source Three different types Electric Hydraulic Pneumatic 21
Actuators Pneumatic Cylinder Hydraulic Motor Stepper Motor DC Motor Pneumatic Motor Servo Motor 22
Degrees of Freedom A degree of freedom (DOF) is any of the minimum number of coordinates required to completely specify the motion of a mechanical system. 24
