Robotics Sharif In the name of Allah. Robotics Sharif Introduction to Robotics o Leila Sharif o [email protected][email protected] o Lecture #1: The.

Robotics Sharif

In the name of AllahIn the name of Allah

Robotics Sharif

Introduction to RoboticsIntroduction to Robotics

Leila Sharif [email protected]

Lecture #1: The Big Picture

Robotics Sharif

TextbookTextbook

Introduction to Robotics, Analysis, Systems, Applications. Saeed B. Niku Prentice Hall 2003

Robotics Sharif

ReferencesReferences

Modeling and Control of Robot Manipulator, L.Sciavicco and B. Siciliano 2000

Fundamentals of Robotics Analysis and Control , Robert J Schilling 1990

Introduction to Robotics: mechanics and control, John, J. Craig 1989

Robotics and Control, R. K. Mittal, I.J. Nagrath 2004

Fundamentals of Industrial Robots and Robotics, Rex Miller 1988

Robotics Sharif

ScheduleSchedule

Course Structure Class (Sun + Tue 15:00-16:30) 205

Feedback on lectures is welcome any time…

Robotics Sharif

GradingGrading

AssignmentsMidterm examFinal examPresentations Project

Robotics Sharif

What we have?What we have?

LEGO MindStorm setsSome Industrial small Arms in

automation Lab.Walking Humanoid RobotIndustrial Arm in KhordroSimulations

Robotics Sharif

HistoryHistory

In principle humanoid are robots

In this course, we will primarily study industrial manipulator type robot

Robotics Sharif

Industrial RobotsIndustrial RobotsRobots are very powerful elements in today

industryThey can perform many different tasks and

operations precisely and do not require common safety and comfort elements humans need.

Robots have no overwhelmingly replaced workers. They are used where they are useful.

Robotics covers many different areas. They are used together with other devices, peripherals and other manufacturing machines. They are generally integrated to a system to perform a task or do an operation.

Robotics Sharif

Difference of Robot & ManipulatorDifference of Robot & Manipulator

Manipulator (crane) is controlled by a human

Robot manipulator is controlled by a computer that runs a program

Robotics Sharif

Classification of Robots (JIRA)Classification of Robots (JIRA)

Class 1 Manual Handling DeviceClass 2 Fixed Sequence RobotClass 3 Variable Sequence RobotClass 4 Playback RobotClass 5 Numerical Control RobotClass 6 Intelligent Robot

Robotics Sharif

What is RoboticsWhat is Robotics

Art, Knowledge base, the know-how to design, apply and using robot in human endeavors

Consist of not only robots but also other devices and systems to perform the necessary tasks

Robotics Sharif

Robots may be used inRobots may be used in

Manufacturing environmentsUnderwater and space explosionAiding the disabledFun…

Robotics Sharif

Robotics is an interdisciplinary subject of

Robotics is an interdisciplinary subject of

Mechanical engineeringElectrical and electronic engineeringComputer scienceBiology…

Robotics Sharif

Why “robot”? Why “robot”?

The term “robot” comes from Karel Capek’s 1921 play RUR (Rossum’s Universal Robots).

It is most likely a combination of “rabota” (obligatory work) and “robotnik” (serf).

The kind of robotics we will talk about will move far beyond such “obligatory work.”

Robotics Sharif

What is a Robot? What is a Robot?

An intelligent robot is a machine able to extract information from its environment and use knowledge about its world to move safely in a meaningful and purposeful manner.

A robot is a system which exists in the physical world and autonomously senses its environment and acts in it to achieve some goals.

Robotics Sharif

Other Definitions Other Definitions

A robot is a re-programmable, multi-functional, manipulator designed to move material, parts, or specialized devices though variable programmed motions for the performance of a task (Robotics Industry Association)

Robotics is the intelligent connection of perception to action (M. Brady)

Robotics Sharif

Animal-like Robots Animal-like Robots

Robotics Sharif

Unmanned Vehicles Unmanned Vehicles

Robotics Sharif

Advantages of Robots IAdvantages of Robots I

Increase productivity, safety, efficiency, quality and consistency of products

Without the need for life support, comfort or safety

No need lighting, air conditioning and noise protection

Work continuously without fatigue or boredom. Do not get mad, need no medical insurance and vacation

Robotics Sharif

Advantages of Robots IIAdvantages of Robots II

More accurate than humanRobots and their accessories and

sensors are beyond that of humanRobots can process multiple task

simultaneously

Robotics Sharif

Disadvantages of RobotsDisadvantages of Robots

Robots replace human worker create economic problem

Lack capability in response in emergencies, unless the situation is predicted and the response is included in the system

Have limited capabilities in (DOF, Dexterity, Sensors, Vision System, Real time response and ..)

Are costly (Initial cost of equipment, Installation cost, Peripherals, Training, Programming)

Robotics Sharif

Food for Thought Food for Thought

Are exo-skeletons robots? Is HAL a robot? Some intelligent Web agents are

called “softbots”. Are they robots? Most, if not all, of the robots you

build in this class will use reactive control. What more is there?