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INTRODUCTION TO ROBOTICS
Lab 25%
1. Lab Reports 5%
2. Lab Exams 10% ( 02 lab exams )
3. Projects 10% ( 02 projects )
Intro to Robotics.
What is a Robot?
robot (noun).
A robot is . An electromechanical device that is , Programmable Multifunctional Sensible for Environment
What is in the Name? How does one define Robot? Oxford American Dictionary:
A machine capable of carrying out a complex series of actions automatically, especially one programmed by a computer.
Merriam-Webster Dictionary:
1. A machine that looks and acts like a human being.
2. An efficient but insensitive person.
3. A device that automatically performs repetitive tasks.
4. Something guided by automatic controls.
Robotics - Definition
The study of Robotics concerns itself with the desire to synthesize some aspects
of human function by the use of mechanisms, sensors, actuators and computers
WIKIPEDIA
Robotics is the engineering science and technology of robots, and their design,
manufacturing, application, and structural disposition. Robotics is related to
electronics, mechanics, and software.
Robotics - Definition
Robot Institute of America
An automatic device that performs functions normally ascribed to humans or a
machine in the form of a human
Fields used in Robotics
Combining these fields we can create a system that can
Robots Today
Surgical Demining
Rescue
Educational
Humanoid
Entertainment
Industrial
Space UAV
Main Objectives Form a combined (Hybrid) control strategy
Build a model of the manipulator
Apply the control strategy on the model
Test the model
Design and Simulate a flexible manipulator
Introduction Sensors
Controller
Joints Links Links
Rigid Flexible
Power supply
Electrical Pneumatic Hydraulic
Joints
Rigid Flexible
Modeling Control
Tool/Grip Sensors
Main Classes of Design
Geometry or Kinematic structure
Method of control
Application area
Joint actuator drives
Stepper or DC Motors
Inexpensive, clean and quiet
Inexpensive -Difficult to control
Commonly used for grippers
Electrical
Pneumatic (pressured air)
Hydraulic (pressured oil)
High speed, torque & lifting loads
Expensive, noisy & leaky
Main Classes of Design
Geometry or Kinematic structure
Method of control
Application area
Joint actuator drives
Cartesian Manipulator
Spherical Manipulator
SCARA Manipulator
Cylindrical Manipulator
Revolute Manipulator
Parallel & Hyper redundant
Main Classes of Design Geometry or Kinematic structure
Cartesian Manipulator PPP
x y z
Main Classes of Design Geometry or Kinematic structure
Cylindrical Manipulator RPP
r z
Main Classes of Design Geometry or Kinematic structure
Spherical Manipulator RRP
r
Main Classes of Design Geometry or Kinematic structure
Revolute Manipulator RRR
Main Classes of Design Geometry or Kinematic structure
SCARA Manipulator RRP
z
Main Classes of Design Geometry or Kinematic structure
Parallel & Hyper redundant
Parallel manipulators hyper-redundant robots
Main Classes of Design
Geometry or Kinematic structure
Method of control
Application area
Joint actuator drives
Servo robots
Non-Servo robots
Main Classes of Design Method of control
Servo robots
Non-Servo robots
Closed loop controller
Feedback Controller
Main Classes of Design Method of control
Servo robots
Non-Servo robots
Opened loop controller
Non-Feedback Controller
Main Classes of Design
Geometry or Kinematic structure
Method of control
Application area
Joint actuator drives
Assembly robots
Non-Assembly robots
Small electrically driven
Revolute or SCARA
Special fixtures & jigs
Interaction force sensing &control
Welding - spray painting
Handling loading etc
Main Classes of Design Application area Mining
Handicapped assistance
Ship building
Deep underwater Sampling
Waste tank cleanup Inspection jobs
Medical use
Industrial applications (welding, cutting etc)
Nuclear applications
Agriculture
Space exploration
Human tasks (pushing, writing, page flipping )
Man-robot cooperative work Entertainment (Robot arm rides) Remote handling applications Home applications (e.g. toy robots)