Introduction to Robotics
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This document provides an introduction to robotics, including definitions, components, and applications of robots. It defines a robot as a machine controlled by a computer that is built to perform tasks. The key components of a robot are its body, actuators, sensors, effectors, controller and software. Actuators are the "muscles" that apply forces, sensors provide feedback to the controller, and effectors convert commands into physical motion. Robots are used in a variety of industries for tasks that are dangerous, repetitive, or menial for humans. The future of robotics includes advancements in artificial intelligence, autonomy, humanoid design, and establishing ethics laws to ensure robots do not harm humanity.
Introduction to Robotics
- 1. Introduction to Robotics Garvit Arya , MAIT
- 2. What is a robot? "I can't define a robot, but I know one when I see one." -Joseph Engelberger A robot is a machine built for real-world functions that is computer-controlled…
- 3. Robot Components Body Actuators Sensors Effectors Controller Software
- 4. Key Components Base Manipulator linkage Controller Sensors Actuators User interface Power conversion unit
- 5. Robot::Body Typically defined as a graph of links and joints: A link is a part, a shape with physical properties. A joint is a constraint on the spatial relations of two or more links.
- 6. Robot::Actuators Actuators are the “muscles” of the robot. These can be electric motors, hydraulic systems, pneumatic systems, or any other system that can apply forces to the system.
- 7. Robots Physical sensors and effectors environment ROBOT sensors effectors
- 8. Robot::Sensors Sensors that tell the robot position/change of joints: odometers, speedometers, etc. Force sensing. Enables compliant motion--robot just maintains contact with object (video: compliant) Sonar. Send out sound waves and measure how long it takes for it to be reflected back. Good for obstacle avoidance. Vision systems
- 9. Sensor Classes Range finders: these sensors are used to determine distances from other objects, e.g. bumpers, sonar, lasers, whiskers, and GPS.
- 10. Sensor Classes Imaging sensors: these create a visual representation of the world. Here, a stereo vision system creates a depth map for a Grand Challenge competitor.
- 11. Sensor Classes Proprioceptive sensors: these provide information on the robot’s internal state, e.g. the position of its joints. Shaft decoders count revolutions, allowing for configuration data and odometry.
- 12. Robot::Effectors Converts software commands into physical motion Typically electrical motors or hydraulic/pneumatic cylinders Two main types of effectors: locomotion Manipulation Examples: Hands Torch Wheels Legs
- 13. Robot::Controller Controllers direct a robot how to move. There are two controller paradigms Open-loop controllers execute robot movement without feedback. Closed-loop controllers execute robot movement and judge progress with sensors. They can thus compensate for errors. RoboBoard Robotics Controller
- 14. Types Of Robots 1- Manipulator
- 15. 3- Wheeled Robot2- Legged Robot
- 16. 5- Unmanned Aerial Vehicle4- Autonomous Underwater Vehicle
- 17. What Can Robots Do: Decontaminating Robot Cleaning the main circulating pump housing in the nuclear power plant Jobs that are dangerous for humans
- 18. Repetitive jobs that are boring, stressful, or labor- intensive for humans Welding Robot
- 19. The SCRUBMATE Robot Menial tasks that human don’t want to do
- 20. •Agriculture •Automobile •Construction •Entertainment •Health care: hospitals, patient-care, surgery , research, etc. •Laboratories: science, engineering , etc. •Law enforcement: surveillance, patrol, etc. •Manufacturing •Military: demining, surveillance, attack, etc. •Mining, excavation, and exploration •Transportation: air, ground, rail, space, etc. •Utilities: gas, water, and electric •Warehouses Industries Using Robots
- 21. What Can Robots Do? Industrial Robots Material Handling Manipulator Assembly Manipulator Spot Welding Manipulator •Material handling •Material transfer •Machine loading and/or unloading •Spot welding •Continuous arc welding •Spray coating •Assembly •Inspection
- 22. Robots in Space NASA Space Station
- 23. Robots in Hazardous Environments TROV in Antarctica operating under water HAZBOT operating in atmospheres containing combustible gases
- 24. Medical Robots Robotic assistant for micro surgery
- 25. Robots at Home Sony AidoSony SDR-3X Entertainment Robot
- 26. Future of Robots: I Cog Kismet Artificial Intelligence
- 27. Future of Robots: II Garbage Collection CartRobot Work Crews Autonomy
- 28. Future of Robots: III HONDA Humanoid Robot Humanoids
- 29. Robot Ethics Laws 0th) A robot may not harm humanity, or, by inaction, allow humanity to come to harm. 1st) A robot may not injure a human being or, through inaction, allow a human being to come to harm. 2nd) A robot must obey orders given it by human beings except where such orders would conflict with the First Law. 3rd) A robot must protect its own existence as long as such protection does not conflict with the First or Second Law.
- 30. T H A N K Y O U