Chapter 12 law and class robot

Robotic & Automation
By
Abd Samad Hanif
Chapter 12
• Laws of Robotic
• Classification of Robotic and
Automation
• Types of Robotic and Automation
• Selection of robot
By : Abd Samad Hanif , Faculty of Technical and Vocational Education

• Laws of Robotic
• Robot and Automation
Classification
• Robot and Automation
Component / Element
• Task in Each Component
• Technology Level
Learning Outcomes
Faculty of Technical and
Vocational Education

• Robot (a Slavic word for worker) was first introduced
in 1921 in a play by the Czech playwright, Karel
Čapek.
• The use of the word Robot was introduced into his play
R.U.R. (Rossum's Universal Robots) which opened in
Prague in January 1921.
• The word 'robotics' was first used in Runaround, a
short story published in 1942, by Isaac Asimov (born
Jan. 2, 1920, died Apr. 6, 1992). I, Robot, a collection
of several of these stories, was published in 1950.

Three Laws of Robotics:
• This law was Introduce by Isaac Asimov
• He is a professor of biochemistry
interested in academics writing and best
known for his works of science fiction
and for his popular science books.
• Having written or edited more than 500
books and an estimated 9,000 letters and
postcards
• Examples , Liar (1941) I Robot (1950), and Robot
Visions (1990). Run around (1950), The Foundation
Trilogy (1951-52), and Foundation's Edge (1982)
witch won the award Hugo and Nebula. The
Complete Robot series (1982),
•Asimov suggested 3 “rules of Robot" witch known as “Zeroth law" in
Science fiction short story magazine known as Run around (1950)
Isaac Asimov

The Law of Robot (1942)
Law One : A robot may not injure a human being, or,
(zeroth law) through inaction, allow a human being to
come to harm,unless this would violate
(break) a higher order law.(Liar 1941)
Law Two : A robot must obey orders given by human
beings,except where such orders would
conflict with a higher order law.(First Law)
Law Three : A robot must protect its own existence as
long as such protection does not conflict with
a higher order law.(First or Second Law. )
(Robot series )

Additional laws
The Fourth Law of Robotics : A robot must establish its
identity as a robot in all cases.”
• The 1974 Lyuben Dilov novel "Icarus's Way" introduced
a Fourth Law of robotics:
The Fifth Law : A robot must know it is a robot.
• It was introduced by Nikola Kesarovski in his short story
"The Fifth Law of Robotics". The plot revolves around a
murder. The forensic investigation found out that the
victim was killed by a humaniform robot using a simple
hug. The robot directly violated the First and the Fourth
Laws by not establishing for itself that it was a robot

Base on hardware and software. Three main
classification are :
1. Fixed (hard) automation – involve hardware only
2. Programmable automation – involve software only
3. Flexible automation – involve hardware and
software
Classification of Automation

• Is a machine refer to totally hardware that can operate
automatically without human interference.
• Examples – door with spring load – watch , gravity
machine, water-wheel, animal/wind – wheel.
• Used in low and medium production manufacturing.
• Special machine for production process efficiency at
higher number/rate of product.
• An Automatic machine and numerical control machine is
an example of fixed automation because the inner
construction and function can’t be change.
1) Fixed / Hard Automation

2) Programmable Automation
• Combination of hardware (machine) and
software (programmable).
• Example – Production line assemble, Air
condition, screen saver, traffic light,
radiator
• Used when rate of production are small
and there is a variation at the product.
• An equipments can be easily change their
setup according to the product
configuration needs after the first
production is finish.
• More different/variety and unique product
can be produce economically in small
amount.
• One set of program to control the whole
operation of product. Faculty of Technical and

3) Flexible Automation
• Also known as “Flexible Manufacturing System(FMS)” and
“Computer Integrated Manufacturing(CIM)”.
• Combination of hardware and software ( same as
programmable) but can easily changed during the
operation without waiting the whole operation completed.
• It can be programmed for different configuration product
either at the beginning, middle or end of the production
according to the production changes.
• But usually configuration product are limited compare to
the programming automation.
• Allows combination of certain system.
• In flexible automation, different product can be made in
the same time at the same manufacture system.
• Flexible Automation System mostly consist of series of
workstation that is connected to the material operation and
storage system, assembly line and control of operation of
work by using a program for a different work station.
Example – Automobile assemble line.
Faculty of Technical and Vocational Education

Function and control manufacturing

• One of the main character in the programming
automation is the programming product will be made
in batch.
• When the batch is completed, then the equipment will
be programmed again to process another batch.
• In flexible automation, different product can be made
in the same time at the same manufacture system.
• This character enable versatility level that is not
available in the programming automation.
Programmable vs Flexible Automation

Classification of Automation
Automation
or Robot
Automasi tetap
(fixed automation)
Number of
material
Automasi berubah
(Flexible
Automation)
Productivity
3 9 30 100 1000
15000
500
15
Automasi
pengaturcaraan
(Programmable
Automation)
Production
Per year

Introduction
• Majority of us think that robot like
a human
• Actually robot look like human is
very ray and hard to buildup
• until now we can only produced
an ASIMO
• in science fiction, robot made to
ensemble a human being
• Since that human become one of
the factor for the robot
classification.

Classification of robot
Possible classification schemes are base on :
1. Anatomy (Body)
2. Control of movement
3. Kinematics /geometry structure
4. Energy source
5. Authority body
6. Industry/non industry
7. Technology level
8. Based on design
9. Application/job
10. By number of degree of freedom (gripper configuration)

1. Based On Anatomy (Body)
 Arm
 Two arm
 Arm and leg
 Arm, leg and face
 Finger
- 2 fingers
- 3 fingers
- 5 fingers

2. Based On Control of movement
a) Limited sequence Robot
b) From point to point Robot
c) Continues Robot

a) Limited Sequence Robot
• The movement of robot is limited in linear direction.
• Use of mechanical stop and limit switch to control the
movement of manipulator.
• Difficult to fixed the stop point.
• The stop point on the path cannot be changed easily (only
one stop point on a single path between the 2 point)
• Mechanical stop give a fixed position stop (repetition +/-
0.5mm).
Advantages :
• the cost is cheap 25% to 50%. Compare to others.
• This type of robot are used for casting, pressing and fixed
movement.
• The robot not sophisticated.
Disadvantages :
1) Control and movement are limited.
2) used longer time for setting machine.

b) From Point to Point Robot
• The movement of robot is in linear direction.
• Can stop the axes at any point through the path.
• At the end of the tool will be programmed at
sequence discrete points in the work space.
• No control for movement speed.
• Move at different speed and distance.
• Axes can reach the destination and stop before
another axes.
• Usually used in industry environment where
amount of work is zero and consistency between
the movement of the outside object like
”conveyer” not needed.

c) Continues Control Robot
• The movement of robot is in any direction
continuously.
• For complex workstation environment.
• Position and end tool must be controlled and follow
3 dimension (3-D) space.
• Speed of movement action is different.
• Example : paint spray, welding works and
application.

Work space can be defined as space that robot
manipulate (MOVE)
a) Cartesian Coordinate /Movement (x,y,z)
b) Cylindrical Movement(Ø, r, z)
c) Spherical Movement(Ø, R, Ø)
d) SCARA Movement(Ø, Ø, Z)
e) Revolute Movement(Ø, Ø, Ø)
3. Based On Kinematics coordinate
(MOVEMENT)

• There is 5 types of robot Coordinat ( INSTALLATION)
• Shape of work space are determine by robot
configuration.
• Comparison between different robot configuration :
1. Cartesian (x,y,z)
2. Cylindrical (Ø, r, z)
3. Spherical (Ø, R, Ø)
4. SCARA (Ø, Ø, Z)
5. Revolute (Ø, Ø, Ø)
Robot Kinematics coordinate

Robot Coordinates

1) Cartesian Coordinate (x,y,z)
• Cartesian coordinate (x,y,z) – movement base, access,
height.
• Advantages :
– Consist of 3 linear axes.
– Easy to describe.
– Hard and roburst structure.
– Can be programmed in off-line situation.
– Linear axes can make mechanical movement layoff
more easier.
• Disadvantages :
– Access is limited only at the front part.
– Need wide area workspace.
– Axes are quite difficult to change.

By : Abd Samad Hanif , Faculty of Information Technology and Communication

2) Cylindrical coordinate (Ø, r, z)
• Cylindrical coordinate (Ø, r, z) – revolute base, access
radius, height
• Advantages :
– 2 linear movement and 1 rotation axes.
– well suited to round workspaces.
– Access axes and height are stiff.
– Easy to change rotation axes.
• Disadvantages :
– Cannot achieve/move upside from the body.
– Rotation site are less strenght/roburst then linear axes.
– Linear axes quite difficult to change.
– Cannot move at the barrier.

• Spherical coordinate (Ø, R, Ø) – revolute site,
access, height radius
• Horizontal movement that rotate.
• Advantages :
– 1 linear movement and 2 rotation axes.
– Horizontal access ( long horizontal ).
• Disadvantages :
– Access is denied along the barrier.
– Usually, access in short vertical.
3) Spherical coordinate (Ø, R, Ø)

• SCARA coordinate (Ø, Ø, Z) – revolute site, access radius,
height
• SCARA is a summary from Selective Compliance Assembly
Robot Arm.
• Same workspace as cylinder robot,but access axes is a
rotation joint in flat surface and parallel on the floor.
• Advantages :
- 1 linear movement axes, 2 rotation movement axes.
- Height axes is hard and roburst.
- Can do a lot of things/works in small workspace.
- Can access along the barrier.
- There is 2 paths/ways to reach 1 point.
• Disadvantages :
- Hard to programmed in off-line situation.
- Consist of complex arm structure.
4) SCARA coordinate (Ø, Ø, Z)

• Revolute coordinate (Ø, Ø, Ø) – rotation site, height
radius, access radius
• Advantages :
– It have 3 rotation movement axes.
– Can move/achieve above and bottom of the
barrier.
– Many/huge load for a small workspace.
– 2 or 4 paths/ways to reach 1 point.
• Disadvantages :
– Hard to programmed in off-line situation.
5) Revolute coordinate (Ø, Ø, Ø)

Type of configuration
(Geometry Structure Configuration)
• Cartesian configuration (PPP)
• Cylindrical configuration (RPP)
• Spherical configuration (RRP)
• SCARA configuration (RRP/PRR)
• Revolute configuration (RRR)

• Also known as Rectilinear/Gantry configuration.
• Positioning is done in the workspace with
prismatic joints.
• Manipulator with 3 prismatic joints that is known as
Cartesian manipulator.
• Joint variable is a Cartesian coordinate for end
tool with the ground.
• Kinematics explanation for manipulator is the most
simple one.
• This configuration is well used when a large
workspace must be covered,or when consistent
accuracy is expected from the robot.
• Used for desk assembling application.
• As robot gantry to remove thing and cargo.
1) Cartesian Configuration (PPP)
Faculty of Technical and Vocational Education

Symbol for Prismatic joint
z
i2
d
i1
Z = motion axis,
d = sliding distance or joint variable)
i = a links
base

• First joint is revolute that produce revolute motion at
the base.
• Second and third joint is prismatic joint (a prismatic
joint for height and a prismatic joint for radius).
• Joint variable is a cylindrical coordinate for end tool
with the ground.
• This robot is well suited to round workspaces.
2) Cylindrical Configuration (RPP)

z
i2
i1 
Symbol for Rotary joint
Z = motion axis,
i = a links
 = angle of rotating joint
base

3) Spherical Configuration (RRP)
• Also known as polar ( magnet pole).
• First and second joints is revolute.
• Third joint is prismatic joint .
• Joint variable is a spherical coordinate for
end tool with the ground.
• allow the robot to point in Many directions,
and then reach out some radial distance.

• SCARA – summary for “Selective Compliant
Articulated Robot for Assembly”.
• There is 2 type of configuration, either :
1) First and second joints is revolute and third joints
is prismatic or
2) First joints is revolute with second and third joints
is prismatic.
• Although it is a RRP type but it quite different from the
polar in both arise and usage limit.
• SCARA robot used in installation operation.
• This robot conforms to cylindrical coordinates, but the
radius and rotation is obtained by a two planar links
with revolute joints.
4) SCARA Configuration (RRP/PRR)

5) Revolute Configuration (RRR)
• Also known as Articulated Manipulator atau Anthromorpic Manipulator.
• Another word for Revolute Configuration is Articulated/Jointed Spherical
configuration.
• The robot uses 3 revolute joints to position the robot.
• Generally the work volume is spherical.
• Robot design is similar human hand/arm. This robot most resembles the
human arm, with a waist, shoulder, elbow, wrist.
• There is 2 types of robot design :
– elbow types like PUMA.
– Square connection like Cincinnati Milacron T3 735.
• Elbow types prepare large Degree of Freedom (DOF) and compact
space.
• Parallel square connection usually less efficient but it have some
advantage that can make the design more interesting and popular.

Classification of Robot Based on Energy
• is refer to energy source TO MOVE THE actuator OR
robot joint.
• Normally there is four categories :
1) Electrical Robot
2) Hydraulic Robot
3) Pneumatic Robot
4) Mechanical Robot

Used electrical energy to move the motor.
• DC stepper motor, DC servomotor or AC
servomotor,solenoid or plunger at the segment
joint.
• Advantages :
- Very popular,
- low price,
- clean,
- silent and
- easy to assemble.
• Avoided backlash ( slow response )
• Easy to control or brake the circuit/operation
1) Electrical Robot

• Small and medium size of robot.
• Usually used electric power through gear power
that used servomotor and stepper motor.
• Usually used DC motor, unless for bigger robot it
will be equipped by AC motor.
• Advantages :
– More accurate.
– Good Repeatability.
– Need only small space.
– Suitable for accurate work like assembling
application.
Electric Power

• Disadvantages :
– Less powerful and fast compare to hydraulic
power.
– Expensive price for the huge robot and powerful.
– High risk to destructive burning.
• Nowadays, there is new design style that used fully
electric power.
• New design based on direct power ( without gear ).

• Develop in 1981 at Universiti Carnegie-Mellon,
USA.
• The motor replace the joint for the manipulator.
• Or pulling the segment/link/lever by used of pulley
and motor.
• It will be equipped with power motor closely to robot
joint.
• Advantages :
– Can vanish backlash and scarcity in mechanical.
– Abolish the necessary of sending power ( more
efficient).
– backdrivable joint.
Direct Drive Robot
Example of Electrical Energy

2) Hydraulic Robot
• Used hydraulic energy to move the actuator.
• Advantages :More powerful and response more
faster then electrical robot.
• Used to manipulate high speed in range of huge
payload.
• Disadvantages : Less clean and cleanliness is a
important feature in assembling application.

• Big size robot usually used hydraulic power.
• Hydraulic power system always produce :
- rotate movement ( energy / pressure to rotate )
- linear movement ( hydraulic piston )
• Advantages :
- more strength ratio on weight.
- Can move in high speed.
• Disadvantages :
- Need large workspace.
- Oil leaking.
Hydraulic Power

3) Pneumatic Robot
• Both electrical and hydraulic robot usually use
end tool from pneumatic power.
• Limited for robot network.
• In general, this robot is more cheaper and simple.
• But it quite hard to control and perform less
dynamic then other robot.
Notes :
• Usually robot movement can be classified based on
arm geometry or kinematics structure.
• Majority robot movement can be classified to 5
configuration :
Cartesian (PPP), Cylinder (RPP), Sphere (RRP),
SCARA (RRP) dan Revolute (RRR).

Pneumatic Power
• Suitable for small robot.
• Degree of freedom (DOF) are more smaller such
as 2 to 4 degree joint movement freedom.
• Limited to take and place task with a fast cycle.
• Pneumatic power also can be used in producing
energy from piston to enable linear movement
while rotation movement can be achieve through
rotation.

• Power system for robot can be determine by :
– Capacity to move body.
– Operation speed.
– Strength of dynamic performance.
– Application type for robot.
– In commercial, industrial robot are consist of
variety movement power such as :
1) Electric power
2) Hydraulic power
3) Pneumatic power
Notes : Usually Electric and Pneumatic Power used for more sophisticated
robot.
Comparison in Power System Robot :

• Japan Industrial Robot Association (JIRA)
– divide into 6 class.
• Robotics Institute of America (RIA)
– divide into 4 class (only consider class 3-6 as
robots )
• Association Francaise de Robotique (AFR)
– divide into 4 class ( A to D )
Classification of Robot
Base on Authority Body

JIRA (Japan Industrial Robot Association )
Class 1: manual handling device
– a device with several DOF’s actuated by the operator.
Class 2: fixed sequence robot
– similar to fixed automation.
Class 3: variable sequence robot
– similar to programmable automation.
Class 4: playback robot
– the human performs tasks manually to teach the robot what
trajectories to follow.
Class 5: numerical control robot
– the operator provides the robot with the sequence of tasks to
follow rather than teach it.
Class 6: intelligent robot
– a robot with the means to understand its environment, and the
ability to successfully complete a task despite changes in the
surrounding conditions where it is performed.Faculty of Technical and

Class 3: variable sequence robot
– similar to programmable automation.
Class 4: playback robot
– the human performs tasks manually to teach the robot what
trajectories to follow.
Class 5: numerical control robot
– the operator provides the robot with the sequence of tasks to
follow rather than teach it.
Class 6: intelligent robot
– a robot with the means to understand its environment, and the
ability to successfully complete a task despite changes in the
surrounding conditions where it is performed.
RIA ( Robotics Institute of America )

• Type A: Handling devices with manual control
to telerobotics
• Type B: Automatic handling devices predetermined
cycles
• Type C: Programmable, servo controlled robot with
continuous point-to-point trajectories
• Type D: Same as type C, but with the capability to
acquire information from its environment
AFR (The Association Francaise de Robotique)

Base on Industrial / Non-Industrial
• Non industrial robot
use in home,school,field, for personal,education,
army,medical,hobby, showcase and promote
• Industrial robot
in manufacturing, welding, cutting, formatting,
assembling, heavy works,painting

Example of non-industrial robot :
• Helicopter
• nuvo
• asimo
• REUTERS PIC 2003
• Robot WL-16
Non-Industrial Robot

Nuvo Robot
(2005)
(2005)

REUTERS PIC 2003

• Industrial robots is more complex.
• Consist of some subsystem that operate together to
perform function that have been determined.
• Main importancy in the subsystem for the robot is
kinematic, control system and driver.
• Robots are used in a wide range of industrial
applications.
• The earliest applications were in materials handling,
spot welding, and spray painting.
• Robots were initially applied to jobs that were hot,
heavy, and hazardous such as die casting, forging,
and spot welding.
Robots in Industry

What is an Industrial Robot?
This definition contains several important
points:
– The robot is a machine.
– The robot is programmable; therefore, it can be
given new instructions to meet new requirements.
– The robot has a multifunction manipulator arm,
which means it may be used in different ways,
even within the same program.
– The robot is flexible, enabling it to perform a
variety of operations to meet special needs.

What is an Industrial Robot?
There are many different device types that
perform similar functions. For example:
– Manual manipulator. A manipulator worked by a
human operator.
– Fixed-sequence robot. A manipulator that
performs successive steps of a given operation;
its instructions cannot be easily changed.
– Variable-sequence robot. A manipulator similar
to the fixed-sequence robot, but its instructions
can be changed easily.

What is an Industrial Robot? (continued)
– Playback robot. A manipulator that can reproduce
operations originally executed under human
control.
– Numerically controlled (NC) robot. A manipulator
that can perform a sequence of movements which
is communicated by means of numerical data.
– Intelligent robot. A robot that can itself detect
changes in the work environment by means of
sensory perception and adjust its movements
accordingly.

• The robot classification based on movement
can be divided into two class :
• Static Robot (still)
• Dynamic Robot (moving)
base on Movement

Static Robot
• These robots just stand at it’s place and still
moving to do work with it’s arm.
• These robot known as automatic control.
• Doing same work reputably. For example : screw
installation.
• These robot are suitable to do task that is bored
in the industrial.
• Can be reprogrammed to do other task.

- Example of Stationary Robots :
• Forging robot.
• Assembling installation.
• Blocking rod for car park.
• Robotic Arm
Stationary Robots

• The base of robot can travel along the track or rail
either on the floor or overhead mount.
• This robot work at several place and can
move/walk by itself.
• The movement using wheel, foot or rail.
• The tasks that have been done by robot needs
to make it move from one place to another place.
• The workspace maybe danger,difficult or wide.
• Dynamic robot is divide into 3 types :
– Walking robots.
– Rolling robots.
– Sliding robots.
Dynamic Robot

Walking Robots
• This walking robot have a legs like an
insect / animal or human.
• Usually used at rocky place and difficult
to be done by wheeled/rolling robot.
• This types of robot need the balance
ability to make sure its not collapse.
• This robot have at least 2, 4, 6 or more.
• If one of the legs is broken, it still can
balance itself.
• Design of this robot was adapted from
human, insect or crawfish.

WL-16 Robot
• Build by Univercity of
waseda - named as WL-16
robot.
• Use battery power.
• First robot that bring human
that is weight about 60kg
and walk 30cm distance
(Tokyo,Japan -2004)

Legged Robots
• First humanoid robot is ASIMO.
• Have a legs, can walk and dance
liked human.
• Orino Robot is added by the ability
to run.
• This robot is build by Japan Sony
company.
• Weight about 15 pound and before
this it known as SDR.
• Can dance and run about 15” per
minute.
• Can raise both leg in one time.
• Can throw the ball and hold fan
when it dance.

• Use wheel to move.
• Move to search something
fastly and easy.
• Suitable for flat area.
• Most suitable for
observation, cautious,
saving victim.
• Dangers work at high risk to
human, poisoning and
viruses.
Wheeled / Rolling robots

• Example of usage :
– Used to explore on the Mars surface
(Mars Explorer), Robot spirit
– Search victim
– Extinct fire.
– Detect intruder.
– Move things from one place to
another place.
Wheeled / Rolling robots

Autonomous (independently) Robots
• Kind of Self-supporting or self-
contained wheeled robot.
• Depend on its own brain.
• Execute its own
programming to give right to
take an action based on its
environment.
• Can learn new behaviour,
starting with simple rutine
and then adapted it to
perform next task more
better.

• The most better rutine will be repeat untill it
become habit for the robot.
• Able to learn ways to walk and avoid the
barrier in front of it.
• Imagine that robot with 6 legs, at first time
its legs will move randomly and after a
moment it will modify the programme and
move in same tempo.
• But, limited memory and brain.
Autonomous (independently) Robots

Sliding Robot
• Move through rail that have been build.
• Or through line path.
• Most of this robot is static but it will be
operate to do different task.

Virtual Robots
1. Not exist in reality world.
2. Virtual robot is in form of programming that is
consist of software blocks in the computer.
3. Virtual robot can be similar as real robot and do
only frequent/repeat task.
- Example :WebCrawler : searching in the
internet, will the information to the search
engine.
- Chatterbot : connect the conversation between
users in the internet (ELIZA,ELVIS).

Beam (bendul)
Robots
• BEAM- summary of Biology,
Electronics, Aesthetics dan
Mechanics.
• Build to fulfill free time, easy and
simple.
• Construct based on environment.
• BEAM looks like insects.
• Easy to build into mechanical form.
• Limited habit that make it easy to
programmed in the memory.
• Limited power of processing.Faculty of Technical and

Beam Robots
• Electronics
Use basic electronics.Without electronic circuit, it
also can be use with solar power source.
• Aesthetics
BEAM Robot must tidy and attractive. BEAM Robot
have colouring circuit but it will presented in form
that is similar to the original form.
• Mechanics
Compare to the expensive and sophisticated, this
robot is more cheap and easy to build. Using used
material to build it. Use solar energy.

Automated Guided Vehicles (AGV)
• Automatic Guided Vehicle (AGV) – type of robot
that working without human and computer control.
• AGV is design to follow the line that is paint on the
floor or bury cabel.
• AGV need to be controlled and guideline from the
main computer or programming controll to tell
which path it have to going through.
• AGV also a special robot that is designed to lifting
material and cannot be programmed again to do
other task that is not related.
• Mostly Automated Storage and Retrieval Systems
(ASRS) used AGVs.
• ASRS is an automatic warehouse that is use
computer and robot to store and giving back
material part. It can store in a large amount.

W. Grey Walter’s Tortoise
• Machina Speculatrix” (1953)
– 1 photocell, 1 bump sensor, 1
motor, 3 wheels, 1 battery
• Behaviors :
– seek light
– head toward moderate light
– back from bright light
– turn and push
– recharge battery
• Uses reactive control, with
behavior prioritization

Principles of Walter’s Tortoise
• Parsimony
– Simple is better
• Exploration or speculation
– Never stay still, except when feeding (i.e., recharging)
• Attraction (positive tropism)
– Motivation to move toward some object (light source)
• Aversion (negative tropism)
– Avoidance of negative stimuli (heavy obstacles, slopes)
• Discernment
– Distinguish between productive/unproductive behavior
(adaptation)

Braitenberg Vehicles
• Valentino Braitenberg (1980)
• Thought experiments
– Use direct coupling between sensors and motors
– Simple robots (“vehicles”) produce complex behaviors that
appear very animal, life-like
• Excitatory connection
– The stronger the sensory input, the stronger the motor output
– Light sensor  wheel: photophilic robot (loves the light)
• Inhibitory connection
– The stronger the sensory input, the weaker the motor output
– Light sensor  wheel: photophobic robot (afraid of the light)

Example Vehicles
• Wide range of vehicles can be designed, by
changing the connections and their strength
• Vehicle 1:
– One motor, one sensor
• Vehicle 2:
– Two motors, two sensors
– Excitatory connections
• Vehicle 3:
– Two motors, two sensors
– Inhibitory connections
Being “ALIVE”
“FEAR” and “AGGRESSION”
“LOVE”
Vehicle 1
Vehicle 2

Base on Technology
• This classification same as computer.
• According to the level of technology used.
• The factor are number of axes, payload, cycle
time, accuracy, control and actuation.
• The tree levels of technology are :
– Low level technology
– Medium level technology
– High level technology

Low – Technology Robots
• Used in industrial for simple job like machine
loading and unload ( doing same sequence of
job in a particular time) .
• The task can’t be change during working - fixed
control.
• The axes of movement are between two to four
• Non servo controlled robots. Need mechanical
stop at the end of each axes of travel.
• The axes motion are generally up/down, reach
and rotate gripper.
• Stop after finish the job/task and repeat back

• Payload (load capacity) that manipulator can
position is at the end of effectors this weight is
measure at the center of wrist flange of the
robot.
• The maximum of weight can range from
3-13.6 Kg.
• The time taken for robot to move from one
location to other (cycle time) depend on
payload and length manipulator arm must travel.
• For low technology robot have very high cycle
time from 5 – 10 second.
• The accuracy ( how closely a robot can position
its payload to a given programmed point) related
to the repeatability for LTR is very high (0.050 –
0.024 millimetre.
Low - Technology Robots

Medium Technology
• Primarily for picking and placing and loading and
unloading
• More sophisticated than low-technology robots
(more movement)
• Have a large work cell. Its mean axis travel is
grater
• Have a three, five to six axes (Degree of freedom)
of motion (up/down, reach, rotation, band, roll, yaw
(rotational)
• Have a grate payload able to handle weight from
68 -150 kg.

Medium Technology
• The cycle time form reach axis from 25 to 65
centimeter take 1secont to execute . Rotation 150
cm/sec.
• The accuracy is not as good as LTR because of
increased number of axes
• Capable to repeating their position data to meet
the requirement of the job. For 0.2 mm to 1.3mm
• Microprocessor used to control the robot system
• Can be control by manually, all the position and
movement can be recorded and stored

High-technology Robots
• Used for multi purpose job such as material
handling, press, transpiring, painting, sealing, spot
welding and arc welding.
• Have an axes form six to nine to 16 or more almost
same as human movement
• The payload about the same ad medium-technology
robot around 68-150 kg.
• The cycle time also same as MTR in additional
every axes have their own cycle time.
• The accuracy and repeatability is the garters, by
used of feed back data from 1-0.4 mm.
• Can perform well although the object is not at the
correct position by use of sensor and
microprocessor high bit 16-31 bps)Faculty of Technical and

A comparison the payload
factor Low
technology
robot
Medium
technology
robot
High
technology
robot
payload 3-4.5 Kg 22.7-56.7
kg
3-80 kg
Drive
system
pneumatic hydraulic Electric/hyd
raulic

Artificial Intelligence
• Officially born in 1956 at Dartmouth University
– Marvin Minsky, John McCarthy, Herbert Simon
• Intelligence in machines
– Internal models of the world
– Search through possible solutions
– Plan to solve problems
– Symbolic representation of information
– Hierarchical system organization
– Sequential program execution

AI and Robotics
• AI influence to robotics :
– Knowledge and knowledge representation are central
to intelligence
• Perception and action are more central to robotics
• New solutions developed: behavior-based systems
– “Planning is just a way of avoiding figuring out what to
do next” (Rodney Brooks, 1987)
• Distributed AI (DAI)
– Society of Mind (Marvin Minsky, 1986): simple,
multiple agents can generate highly complex
intelligence
• First robots were mostly influenced by AI (deliberative)

Shakey
• At Stanford Research Institute
(late 1960s)
• A deliberative system
• Visual navigation in a very special
world
• STRIPS planner
• Vision and contact sensors

Early AI Robots: HILARE
• Late 1970s.
• At LAAS in Toulouse.
• Video, ultrasound, laser rangefinder.
• Was in use for almost 2 decades.
• One of the earliest hybrid architectures.
• Multi-level spatial representations.

Early Robots: CART/Rover
• Hans Moravec’s early robots
• Stanford Cart (1977) followed by CMU rover (1983)
• Sonar and vision

Lessons Learned
• Move faster, more robustly
• Think in such a way as to allow this action
• New types of robot control :
– Reactive, hybrid, behavior-based
• Control theory
– Continues to thrive in numerous applications
• Cybernetics
– Biologically inspired robot control
• AI
– Non-physical, “disembodied thinking”

Challenges

First Generasion Robot
– Fixed sequence program
– Take and placed task – Blind and deaf dan ( no
sense )
– Less ability to make decision.
– Bight control is open.
– Upgrade :
(Sophisticated robot ) the ability will be upgraded.
– Some action control by sense.
– Can know when something happen but cannot
rectify.
– Closed control bight have been introduced.
Classification of
Robot base on design

Second Generation
Industrial Robot
• Have a coordinate control between manipulator
and eye sensor ( under progress testing)
• New ability :
– Mobility
– Voice recognization command.
– Have touch foresee.
– Multi arm action with hand to hand
coordination arm that is flexible.
– Microprocessor intelligence
– Multi robots in crowd-swarm action.
– Can make decision.

Second Generation
Industrial Robot
• Upgrade :
– Perceptual motor function.
– Responses to the sense simulator to control
the movement compare prerecorded
movement.
i.e, it determined what to do to accomplish
desired steps by itself.

Third Generation
Industrial Robot
• Move faster, more robustly
• Have an AI (Non-physical, “disembodied thinking)
to operate on their own for example discrete part
assembly
• Make a decision to commit a deference job/task
• Only need a few information to do their job/task.
• Be able to learn a new thing without reprogram
• Cybernetics - Biologically inspired robot control
• New types of robot control: Reactive, hybrid,
behavior-based

Base on Job or Task
There is various job or task that can be done by a robot such as :
1. Bomb destroyer
2. Searching and communicate
3. Searching victim in disaster
4. Seaching for Information
- temperature
- enemy
- on planet Mars
4. Simple assembling – push, pull
5. Lifting and place
6. Entertain/ Hobby/ Friend/ to serve ( waiter) / player
7. Observe and guard (security guard)
8. Assembling line in manufacturing
There is many ways to categorize the robot .
Some are based on job or task.
Some are based on work.Faculty of Technical and

Selection of Robot
• Consider available robot (the robot you have first).
• Consider the combination of technical
characteristic.
– Number of axes ( paksi ).
– Types of control system.
– work volume
– Easy to program
– Accuracy and repeatability of movement
– Payload - Load carry capacity
• For a batter selection choose the higher
specification than needed.

• We will use a table to represent the usage of
updated robot application.
• Base on task/application with specify amendment
(refer to Table 2.1 ).
• By using this characteristic table, it help engineers
to choose less alternative for the right robot model.
Choose of robot
base on Characteristic of Application

Aplikasi Ciri Teknikal Yang Biasa Diperlukan
Moving material Axes amount : 3 to 5
Control system : point to pint or limited sequence.
Power system : pneumatic or hydraulic ( for heavy load )
Programming : manual, powered leadthrough
Machine Loading Anatomy : polar, cylindrical, revolute arm
Axes amount : 4 or 5
Control system : point to pint or powered leadthrough
Power system : electric or hydraulic ( for heavy load )
Programming : powered leadthrough
Spot welding Anatomy : polar, revolute arm.
Axes amount : 5 to 6
Control system : point to pint
Power system : electric or hydraulic
Programming : powered leadthrough
Arc welding Anatomy : polar, cartesian, revolute arm.
Control system : continous path.
Power system : electric or hydraulic
Programming : manual, powered leadthrough.
Spray coating Anatomy : revolute arm
Axes amount : 6 or more.
Control system : continous path.
Power system : hydraulic
Programming : manual leadthrough.
Assembly Anatomy : revolute arm, Cartesian, SCARA
Control system : point to pint or continous path.
Power system : electric
Programming : powered leadthrough, textual language
Accuracy and repeatability : high
Table 2.1
Application
and
Characteristic
of
Robot

Quiz
• What is the best method for classification of
robot and why it used? Explain it.
• Can you give two example of fixed and
programmable automation machine.
• What is the purpose of having a cycle time in
robot
• Explain the word payload for a robot
• What is the guide line to distingue among robots
technology level

Assignment I
• How do you specify the robot class?
• What is the factor involve in classification of
robot ?
• Discuss on the latest robots
• This robot can be teach and do their job
although is far from the owner, explain on it
• Your robot is running through a crowed just to
get a bottle of water for you, is that action
right or wrong

Chapter 12 law and class robot

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