Prof. S.K. Saha

Robotics[AT]?: A RoC-BEE Concept 1

RRobotics[ATobotics[AT]?: ]?: A A RoCRoC−−BEE ConceptBEE Concept

(11(11hh in the Series)in the Series)

Prof. S.K. SahaDept. of Mech. Eng.Dept. of Mech. Eng.

IIT DelhiIIT Delhi

May 20, 2008@GVP Col. of Eng., May 20, 2008@GVP Col. of Eng., VisakhapatnamVisakhapatnam

PlanPlan

•• MechatronicsMechatronics: Today’s Buzzword : Today’s Buzzword –– May 19, 2008May 19, 2008

•• Robotics[ATRobotics[AT]?: A ]?: A RoCRoC--BEE Concept?BEE Concept?–– May 20, 2008May 20, 2008

•• MuDRAMuDRA: A New Research Direction: A New Research Direction–– May 21, 2008May 21, 2008

Introduction: PersonalIntroduction: Personal• BE (Mech)’83: REC (NIT), Durgapur

• M. Tech’85: IIT Kharagpur

Ph. D’91: McGill Univ., Canada

Res. Sc.’91-95: Toshiba R&D, Japan

Vis. Fac.’95-96 & Prof.’06-07: IIT Madras

Asst. Prof.’96 -> Prof.’06: IIT Delhi

ContentsContents

• Introduction

• Video

• Robotics [My Books]

• RIDIM Software

• Robocon

• Conclusions

Qrio (Sony): 58cm; 7kgAsimo (Honda): 120cm; 52kg

Humanoid RobotsHumanoid RobotsMore RobotsMore Robots

Move to DirectoryMove to Directory

•• Session: ‘Session: ‘sess1’ (9 min)sess1’ (9 min)

0000--03, 0603, 06--12 12 minmin

•• Session: ‘sess2’ (7 min) Session: ‘sess2’ (7 min)

0808--15 min15 min

Prof. S.K. Saha

Robotics[AT]?: A RoC-BEE Concept 2

Definition of RobotDefinition of Robot

• What is a robot?

Robit (Check word) --> Work

Robota (Slav word) --> Menial or slave labour

Got publicity from the play

Rossum’sRossum’s Universal Robots (RUR) [1921]Universal Robots (RUR) [1921]

KarelKarel CapekCapek

PUMA RobotPUMA Robot

SCORBOTSCORBOT--Israeli (by Falcon)Israeli (by Falcon) Pick/Place RobotPick/Place Robot--SystemanticsSystemantics, India, India

RTX RTX RobotRobot

Space RobotSpace Robot

Prof. S.K. Saha

Robotics[AT]?: A RoC-BEE Concept 3

Wheeled RobotsWheeled Robots

Centre-driven Vehicle (Carlisle, 1984)

With Mecanum wheel (Jonsson, 1985) or Omnidirectional wheel

(Muir and Neuman, 1987)

RoboTRACRoboTRAC

A system supported with wheels and legs

Snake-like articulated mobile robot

Parallel RobotsParallel Robots

Int. Std. Org. (ISO) DefinitionInt. Std. Org. (ISO) Definition

•• RobotRobot

An automatically controlled, re-programmable, multi-purpose manipulative machine, with or without locomotion, for use in industrial automation applications

•• Other definitions: Other definitions: Rob. Soc. of Japan, etc.

•• Common Common temrstemrs: Re-programmable, Multi-purpose

Laws of RoboticsLaws of Robotics

•• By By IssacIssac Asimov (1940s)Asimov (1940s)

1. A robot may not injure a human being or, though inaction, allow a human being to come to harm.

2. A robot must obey the orders given by human beings, except when such orders would conflict with the first law.

3. A robot must protect its own existence, as long as such protection does not conflict with the first or second law.

Prof. S.K. Saha

Robotics[AT]?: A RoC-BEE Concept 4

First RobotFirst Robot

•• First Commercial Robot (1962)First Commercial Robot (1962)

By Unimation Inc., USA, founded by Joseph F. Joseph F. EngelbergerEngelberger(Father of Robotics)

in 1950

•• Installed in General Motors plantInstalled in General Motors plant

ApplicationsApplications

Industrial Robot PopulationIndustrial Robot Population Other Robot PopulationOther Robot Population

Stoc

k an

d St

ock

and

Fore

cast

Fore

cast

In IndiaIn India

•• Makers: Makers: Systemantics (Bangalore), MTAB (Chennai), BARC (Mumbai), BEL, BEML, CMTI, HMT, BHEL (Hyderabad), Pravak Cybernatics

•• Research Organizations:Research Organizations: IISc, IITs, JU (Kolkata), CMERI (Durgapur), CAIR (Bangalore), BARC [Research started: 1970]

•• Users: Users: All auto manufacturers (Maruti, Honda, Hyundai, Tata Motors), SAMTEL, and others.

Prof. S.K. Saha

Robotics[AT]?: A RoC-BEE Concept 5

Reasons for Poor UtilizationReasons for Poor Utilization

•• Mainly due to Mainly due to

U N E M P L O Y M E N TU N E M P L O Y M E N T[Japan with 3 50 000 robots in 1992 had <

3% unemployment]

•• Other reasonsOther reasons– Lack of proper perspective

– Cheap labour

– Non-availability

– High import cost/High investment

More ReasonsMore Reasons•• R&D Supports: R&D Supports: By Govt. only (DST, DIT)

•• Companies involved: Companies involved: At least 12

•• Advanced Research Absorption: Advanced Research Absorption: Poor

•• Questions:Questions:

Should India Use Robots?

Does India Need Robots?

If yes, how?

Yes

Yes (modified way)

Let’s see

Robotics in IndiaRobotics in India

•• To Overcome `To Overcome `Robotics vs. Unemployment’

•• Do we like to Do we like to – work in front of a furnace at 500oC [Hazardous]

– weld two parts for 8H/day for several years? [Monotonous]

•• Robot = MachineRobot = Machine [Robot ≠ Human]

Where and How?Where and How?

•• Where?Where?

– In hazardous environment (Chemical, Steel, Nuclear, … plants)

– High precision applications

– Export oriented products

•• How?How?

– Indigenous design

– Develop as required (Customized design)

– Make awareness

– Think it as a machine

When to Use a Robot?When to Use a Robot?

Thumb Rules:Thumb Rules:

•• Is task Dirty, Dull, Dangerous, Difficult?Is task Dirty, Dull, Dangerous, Difficult?

•• Will a human be jobless?Will a human be jobless?

•• Is a human willing to do a job?Is a human willing to do a job?

•• Is robot usage economic?Is robot usage economic?

Robot SubsystemsRobot Subsystems

Prof. S.K. Saha

Robotics[AT]?: A RoC-BEE Concept 6

Subsystems (Contd.)Subsystems (Contd.)

•• MotionMotion: Manipulator (Arm & Wrist), End: Manipulator (Arm & Wrist), End--effectoreffector, Actuators (Set in motion), and , Actuators (Set in motion), and TransmissionTransmission

•• RecognitionRecognition: Sensors (Measure status), : Sensors (Measure status), and ADCand ADC

•• Control (Supervision)Control (Supervision): DAC, and Digital : DAC, and Digital ControllerController

ClassificationClassification

(a) Cartesian, Gantry;

(b) Cylindrical;

(c) Spherical;

(d) SCARA;

(e) Anthropomorphic

Robotics for Students: VRL (ADAMS)Robotics for Students: VRL (ADAMS)

Applications: Your Chance!Applications: Your Chance!

1.1. Industrial: Industrial: ☺☺

2.2. Domestic: Domestic:

3.3. Outer Space: ?Outer Space: ?

4.4. Undersea: ??Undersea: ??

5.5. Nuclear: ???Nuclear: ???

Topics of InterestTopics of Interest•• KinematicsKinematics (pos., vel., accn. Analyses)

–– InverseInverse

–– Direct or ForwardDirect or Forward

•• DynamicsDynamics (force vs. motion)–– InverseInverse

–– Direct or ForwardDirect or Forward

•• ControlControl: : Based on Inverse Kin. & Dyn.

•• SimulationSimulation: : Based on Direct Kin. & Dyn.

Inverse vs. Forward DynamicsInverse vs. Forward Dynamics

Inverse Dynamics

Find joint torques/forces for given end-effector motion

Forward Dynamics

Find end-effector motion for known joint torques/forces

Prof. S.K. Saha

Robotics[AT]?: A RoC-BEE Concept 7

RIDIMRIDIM: IIT Delhi’s Robot Software: IIT Delhi’s Robot Software(Freely available from: (Freely available from: http://http://web.iitd.ac.inweb.iitd.ac.in/~saha/~saha))

RoCRoC--BEE BEE ConceptConcept

•• Robotics ContestRobotics Contest--Based Based Education in Education in Engineering (Engineering (RoCRoC--BEE)BEE)

•• Demonstration through Demonstration through RoboconRobocon

ROBOCON: National TV CoverageDD-Robocon’03Bangkok, Thailand

Takraw Ball Playing Robot DD-Robocon’03

DDDD--Robocon’04: Twice SemiRobocon’04: Twice Semi--FinalistFinalistDD-Robocon’04Seoul, S. Korea

ABUABU--RoboconRobocon 2005, Beijing, 2005, Beijing, ChinaChina

•• Extra grantExtra grant

•• Two teams from IITDTwo teams from IITD

•• Only one team in QOnly one team in Q--finalfinal

Prof. S.K. Saha

Robotics[AT]?: A RoC-BEE Concept 8

DDDD--MITMIT--Robocon’06: Best Manual RobotRobocon’06: Best Manual RobotKualalumpur, Malaysia

Manual Testing Automatic Testing

DDDD--MITMIT--Robocon’07Robocon’07Final in DD-Sports Test of Automatic

Hanoi, Vietnam DDDD-- MITMIT-- Robocon’08: Best Manual RobotRobocon’08: Best Manual RobotPune, India, Oct. 31, 2008 Final for NIT vs. MIT

DDDD--RoboconRobocon Experience (IITD)Experience (IITD)

•• 2003: Semi2003: Semi--finalfinal

•• 2004: Semi2004: Semi--finalfinal

•• 2005: Quarter2005: Quarter--finalfinal

•• 2006: Semi2006: Semi--final (final (Most Popular Manual RobotMost Popular Manual Robot))

•• 2007:2007: ChampionChampion (Represented India)(Represented India)–– Lost both the games in ABULost both the games in ABU--RoboconRobocon, Hanoi, Hanoi

•• 20082008: Semi: Semi--final (final (Best Manual RobotBest Manual Robot))

RobotechRobotech Room@IITDRoom@IITD

Prof. S.K. Saha

Robotics[AT]?: A RoC-BEE Concept 9

Robocon@OthersRobocon@Others

Experience w/NITDExperience w/NITD•• First time participant in 2008First time participant in 2008

•• Beat IITBBeat IITB

•• Reached QuarterReached Quarter--finalfinal

Experience w/IITMExperience w/IITM•• First time participant in 2005First time participant in 2005

•• Scored no points in 2007Scored no points in 2007

•• Won two games in 2008Won two games in 2008

Experience w/IITGExperience w/IITG: Lost all in 2008

RoboconRobocon Activity in BriefActivity in Brief

•• Requires about 15Requires about 15--20 students20 students–– Mechanical, Electrical, …Mechanical, Electrical, …

•• 77--8 months preparations8 months preparations

•• Min. Min. RsRs. 1. 1--2 2 lakhslakhs (as a part of lab. dev.)(as a part of lab. dev.)

•• Can be integrated with course workCan be integrated with course work

•• CGPACGPA increasedincreased

ProposalProposal•• Create environment in SAC RoomCreate environment in SAC Room

–– Drill, Grinder, Table with work bench, …Drill, Grinder, Table with work bench, …

–– Soldering iron, ICs, Resistors, …Soldering iron, ICs, Resistors, …

–– Magazines, Other interesting books, etc.Magazines, Other interesting books, etc.

•• Maintain RegistrarMaintain Registrar–– To record attendanceTo record attendance

–– Complain/RequirementComplain/Requirement

•• Weekly/BiWeekly/Bi--weekly ‘weekly ‘RobomaniacsRobomaniacs’ meet’ meet–– Discuss plan, Q&A sessionsDiscuss plan, Q&A sessions

•• Summer training to 1Summer training to 1stst/2/2ndnd Year studentsYear students–– Preparation for next year’s competitions, e.g., ROBOCONPreparation for next year’s competitions, e.g., ROBOCON

Robotics@GVPRobotics@GVP+...+...

PLEASE PLEASE FILL UPFILL UP

ConclusionsConclusions

•• Robotics is explainedRobotics is explained

•• Several advanced robots are shownSeveral advanced robots are shown

•• Robot software RIDIM is introducedRobot software RIDIM is introduced

•• RoboconsRobocons are emphasizedare emphasized

Prof. S.K. Saha

Robotics[AT]?: A RoC-BEE Concept 10

saha@mech.iitd.ac.insaha@mech.iitd.ac.inhttp://http://web.iitd.ac.inweb.iitd.ac.in/~saha/~saha

Thank YouThank YouSaha’sSaha’s BooksBooks

May End’08

Available