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ROBOTICS

Definition: A robot is a reprogrammable, multifunctional manipulator designed tomove material, parts, tools or specialized devices through variable programmed motions

for the performance of a variety of tasks: Robot Institute of America, 1979

Laws of Robotics:

Law 1: A robot may not injure a human being or through inaction a!!ow ahuman being to come to harm

Law ": A robot must obey or#ers gi$en to it by human beings e%ce&t where

such or#ers wou!# conf!ict with a higher or#er !aw

Law ': A robot must &rotect its own e%istence as !ong as such &rotection #oes

not conf!ict with a higher or#er !aw

(now!e#gebase for Robotics

Ty&ica! )now!e#gebase for the #esign an# o&eration of robotics systems

! Dynamic system mo#e!ing an# ana!ysis! *ee#bac) contro!! Sensors an# signa! con#itioning

! Actuators an# &ower e!ectronics! +ar#ware,com&uter interfacing! Com&uter &rogramming

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(ey Com&onents

Sensors: Robot sensors: measure robot configuration,con#ition an# itsen$ironment an# sen# such information to robot contro!!er as e!ectronic

signa!s -e.g. arm &osition &resence of to%ic gas/

0ision Sensor: e.g. to &ic) bins &erform ins&ection etc.

*orce Sensor: e.g. &arts fitting an# insertion force fee#bac) in

robotic surgery

Ti!t sensors: e.g. to ba!ance a robot

Actuators: Common robotic actuators uti!ie combinations of #ifferent

e!ectro2mechanica! #e$ices

Synchronous motorSte&&er motor

AC ser$o motor

Brush!ess DC ser$o motor

Brushe# DC ser$o motor

Contro!!er:

3ro$i#e necessary inte!!igence to contro! the mani&u!ator,mobi!e

robot

"ase

#anipulator

linkage

$ontroller

%ensorsActuators

&ser interface

'o(erconversion

unit

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#odify a conventional programming language: this approach results in a general.

purpose language that is able to handle robot motion commands in addition to

general computing commands) +amples: A*, A#*)

Add a robot library to an e+isting programming language: a library of robot.

specific subroutines are added to a conventional programming language to

facilitate programming robot motions) 8or e+ample, the ebra R forcecontrol robot is euipped (ith such a library for $, so that one can (rite a $program to control the robot by calling those robot.specific subroutines)

-c/Tas)2!e$e! &rogramming !anguages: facilitates application programmers to (rite

task.oriented instructions in terms of the task or ob3ects to be handled rather than the

robot motion) 8or e+ample, ;grasp the bolt< or ;insert the peg

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A&&!ications of Robotics: S&ace e%&!oration

+ea!thcare

Domestic

6i!itary Defense

6anufacturing

Socia! 7se

Agricu!tura!