Standard vs Custom Battery Packs - Decoding the Power Play
01 Introduction to Robotics.pptx
1. Introduction to
Robotics
Dynamics, Control and Design of
Robotics (EE4314)
Randeera Liyanage
BSc (Hons) in Engineering in Electronics and
Telecommunication Engineering/ in Mechanical
Engineering
Extracted Presentation From: Dr. Buddhika Jayasekara (University of Moratuwa)
2. Syllabus of UoM – (Reference Only)
2
1. Introduction
History of Robotics and Mechatronics, Different disciplines ofRobotics,
What to be expected in the future.
2. Kinematics and Kinetics of Machines
Practical movements in 2D/3D, Rigid motions and homogeneous
transformation, Forward and Inverse Kinematics, Velocity Kinematics
Jacobian
3. Path and Trajectory Planning
4. Dynamics
5. Control and Sensing aspects in robotics and mechatronics
Sensors and Actuators for robotics, Introduction to Artificial Intelligence,
Microprocessor based Controllers, Vision based controllers.
4. Webster Dictionary
An automatic device that performs functions normally ascribed to
humans or machine in the form of a human
The International Organization for Standardization -ISO
An automatically controlled, re-programmable, multipurpose,
manipulator programmable in three or more axes, which may be either
fixed in place or mobile for use in industrial automation applications
The Robotic Institute of America
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A re-programmable multi-functional manipulator designed to move
materials, parts, tools, or specialized devices, through variable
programmed motions for the performance of a variety of tasks.
WHAT ARE ROBOTS?
5. A robot may not injure a human being nor
through inaction allow a human being to come
to harm
A robot must obey the order given it by human
beings except where such orders would conflict
with the first law
A robot must protect its own existence as long
as such protection does not conflict with the first
and second law
ISAAC ASIMOV’S THREE LAWS OF ROBOTICS
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6. Early
Mytholog
y
• Putting machines to work for
us to perform routine tasks on
command
• Aristotle (384-322 BC).
13th –
15th
Century
• Automatons that mimicked
human movements -clock
controlled ornaments with self-
moving parts.
HISTORY OF ROBOTICS
7
Tea-serving Japanese automaton
Aristotle
8. 18th
Centur
y
• “Automatic Scribe”-in 1774 inventors Pierre
and Henri-Louis Jacquet-Droz
• lifelike figure of a boy could draw and write
any message up to 40 characters long.
• A robot woman playing a piano was another
one of their great inventions.
HISTORY OF ROBOTICS
8
9. 19t
h
Centur
y
• [Unlike the toy automatons of 18th
century, robots of the 19th century
were designed to meet the industry]
• [E.g. Textile Machine-programmable
loom was capable of mass production]
• [In 1890 Thomas Edison -the design
of the famous talking doll. ]
HISTORY OF ROBOTICS
9
10. 20th
Centur
y
•1921: the first reference to the word robot
is made in a play by Czech writer Karel
Capek . The word “robot” comes from the
Czech “robota” - labour.
•In a play, the Czech robot is defined as "a
worker of forced labour". After this play,
electromechanical automatons were referred
to as robots.
HISTORY OF ROBOTICS
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11. HISTORY OF ROBOTICS
20th
Centur
y
• [1940: Westinghouse Electric Corp. creates
two of the first robots that use the electric
motor for entire body motion.
• Elektra could dance, count to ten and
smoke, while his dog companion Sparko,
could walk, stand on its back legs and bark].
• [1941: Isaac Asimov first uses the term
'robotics' to describe the technology of
robots. He predicted the rise of the robot
industry.]
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12. HISTORY OF ROBOTICS
20th
Centur
y
• [The first mobile robot capable of reasoning
about its surroundings, Shakey was built in
1968 by the Stanford Research Institute
(now SRI International)]
• [1969: Stanford University develop the first
electrically powered computer controlled
robotic arm. This becomes standard for
research projects.]
• 1974: Market a version of the arm (Silver
Arm) controlled by microcomputer for
industrial applications.
• 1968: General Electric Walkingtruck
First Mobile Robot with
vision capability-Shakey
Walki nIg Truck -1968 12
13. HISTORY OF ROBOTICS -Shakey
Shakey was developed at the Artificial Intelligence laboratory ofStanford
Research Institute (now called SRI International) in 1966 through 1972
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15. [Robotics Today]
Industrial Robot Manipuator-Components
[INDUSTRI
AL
ROBOTS]
Robot
Manipulator
Controller and
teaching device
Ref: http://www.abb.lk/product/us/9AAC100735.aspx
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16. Industrial Robot Manipuator- DOF and
Workspace
17
[INDUSTRI
AL
ROBOTS]
E.g. PA-10 Robot Manipulator
Wrist rotate
(W2)
Wrist bend
(W1)
Lower arm
rotate (E2)
Lower arm
bend (E1) Upper arm
rotate (S3)
Shoulder bend
(S2)
Shoulder Rotate
(S1)
7 DOF
