Introduction to Robotics_Topic 1_What is a Robot.pdf

Topics Covered in this Course What is a Robot? History of Robotics Classification of robots: in...

Topics Covered in this Course What is a Robot? History of Robotics Classification of robots: industrial, collaborative, mobile, special purpose Mechanics of Industrial Robots: drives, actuators and breaks Electronics of Industrial Robots: organization, memory, sensors and controls Introduction to Kinematics of Industrial Robots Introduction to Robot Control Part I Introduction to Robot Control Part II Gantry robots Introduction to Programming of Robots Classification of end-effectors and examples of gripping systems Application examples of industrial robots Applications of robots outside industry Overview and capabilities of robotic simulation software. Introduction to Robotics: What is the Robot? 1 Introduction to Robotics: What is the Robot? 2  There is no one simple definition of what is a robot. There are lots of different kinds of machines, some of them are called a robots, some of them not. This session will focus on a foundational question: What is a robot? This may sound simple at first, but the answer is quite intricate. Robotics spans a wide array of technologies and applications, and understanding what qualifies as a robot will help us appreciate the impact robots have on our world today. Introduction to Industrial Robotics: What is the Robot? 3 We’ll start by answering the essential question: What is a robot? But this is just the beginning. Our journey will include a deep dive into the history of robotics—from the earliest automata of ancient civilizations to the cutting-edge robots of today. Classification of robots: - industrial robots that automate production lines - collaborative robots (or cobots) designed to work safely alongside humans - mobile robots that navigate autonomously - special-purpose robots that serve niche applications like space exploration or medical surgery. Mechanics of robots, including actuators, drives, and sensors, which allow robots to move and sense their environment. The electronics of robots, particularly sensors and control systems, will help us understand how robots "think" and "respond" to their surroundings. The kinematics of robots—how they move and manipulate objects—and the control systems that allow them to perform precise actions. Robot programming Various applications of robots, both in industry and beyond Robotic simulation software, which plays a key role in the design and testing of robots. Introduction to Robotics: What is the Robot? 4 The first true industrial robot, Unimate, was introduced in 1961. It revolutionized the automotive industry by automating the process of welding car bodies. While Unimate was quite primitive by today’s standards, it paved the way for a new era of automation. Today, industrial robots are used in virtually every major manufacturing sector—automotive, electronics, aerospace, and beyond. Introduction to Robotics: What is the Robot? 5 But what exactly is a robot? Defining "robot" can be tricky, as it encompasses a broad range of machines. Joseph Engelberger, often regarded as the father of industrial robotics, once quipped: "I can't define a robot, but I know one when I see one." This sentiment highlights the diversity in robotic systems. Industrial robots like ABB’s YuMi, which can work side by side with humans, Autonomous systems like Amazon’s warehouse robots, which move items autonomously, show the wide spectrum of robotic applications. Let’s go beyond the surface and try to pin down some specific traits. Introduction to Robotics: What is the Robot? 6  A robot is typically defined by its ability to sense, plan, and act autonomously or semi- autonomously. These traits are fundamental to what we consider a robot. So, What is a Robot? As far as the exact definition of a robot is concerned, you’d be hard pressed to find one that is widely accepted. Not every machine that you come across could be called a Robot. My iPhone, albeit it’s amazing, is in no way a robot. The same could be said about the Laptops, Vacuum cleaners, Washing machines, you name it. For a machine to fall in the category of robots, and to be the answer of "What is a Robot?" question, it should have following features in its repertoire. Introduction to Robotics: What is the Robot? 7 What is a Robot? A robot is not just any machine with moving parts. To understand what qualifies as a robot, let’s break down some of its essential features: Autonomy: The ability of a robot to perform tasks without constant human supervision. This includes making decisions based on sensory input and acting on those decisions. Autonomy can range from low-level, like following predefined instructions, to high-level, such as self-learning and adapting to new environments. Programmability: Robots are reprogrammable machines. This means they can be instructed to perform different tasks by changing their programming. For example, a robotic arm can be reprogrammed to perform welding, painting, or assembly, making them highly versatile in industrial settings. Multifunctionality: Unlike specialized machines that perform a single task, robots are multifunctional. A robot designed for manufacturing can be repurposed for inspection or quality control with the right sensors and software. Introduction to Robotics: What is the Robot? 8 In simple terms, a robot is a machine capable of performing tasks that are too dangerous, repetitive, or complex for humans. Examples range from robotic arms in factories to humanoid robots like Honda’s Asimo, which can walk, run, and even recognize faces. But robots don’t always need to look humanoid. For instance, the Mars Curiosity Rover, a mobile robot designed by NASA, is undoubtedly a robot because it senses its surroundings, plans its movements, and acts accordingly, all while being millions of kilometers away from human intervention. Introduction to Robotics: What is the Robot? 9  1) SENSE Robots should be able to sense to interact with their environment, Robots use different kinds of sensors. These could be light sensors, temperature sensors, pressure sensors, proximity sensors, and distance sensors. The last thing you want for a robot is to repeatedly crash into the furniture. The sensors of a robot are the main units that avoid it crashing the furniture in that sense. Introduction to Robotics: What is the Robot? 10 Types of sensors commonly used in robots include:  Vision sensors: These are cameras, often coupled with image processing algorithms, to help robots recognize objects, navigate spaces, and even detect facial expressions. For example, vision systems in robots are critical in the field of autonomous driving, where vehicles like Tesla’s Autopilot rely on cameras, radar, and ultrasonic sensors to detect obstacles and make real-time decisions.  LIDAR (Light Detection and Ranging): LIDAR is widely used in autonomous robots to measure distances by illuminating a target with laser light and analyzing the reflection. It allows robots like Google’s Waymo self-driving cars to create detailed 3D maps of their surroundings, helping them navigate complex environments.  Touch sensors: Often used in robotic arms, touch sensors help robots detect pressure, force, and texture. In fields like healthcare, robots are being developed that can "feel" just like human surgeons, using touch sensors for delicate operations.  Proximity sensors: These are crucial in allowing robots to avoid obstacles. Robots such as vacuum cleaners like Roomba use these sensors to navigate rooms autonomously without bumping into objects. Introduction to Robotics: What is the Robot? 11  2) PLAN Robots are supposed to show some kind of intelligence, like solving complex problems, having social interactions or the ability to learn virtually anything. They accomplish all of this through Artificial Intelligence. Artificial intelligence allows a robot to assess its status and generate a plan according to this assessment to act. One of the most fascinating areas of AI in robotics is reinforcement learning, where robots learn through trial and error. Consider the field of robotic manipulation, where robots need to learn how to pick up objects of varying shapes and sizes. Using reinforcement learning, robots can practice these tasks in simulations thousands of times, learning from each attempt, before deploying in the real world. Introduction to Robotics: What is the Robot? 12 AI-driven robots like Boston Dynamics' Spot have demonstrated remarkable autonomy. Spot is capable of planning complex routes over rough terrain, avoiding obstacles, and even coordinating with other robots for team-based tasks. It uses AI to process sensory input. Another remarkable example of AI planning in robotics is AlphaZero, an AI developed by DeepMind, which taught itself to play chess and Go at a superhuman level. AlphaZero’s learn strategies and adapt to their environments Introduction to Robotics: What is the Robot? 13  3) ACT For a robot to interact with its environment, they should act besides sensing. Acting has a wide meaning when it is for robots and it can be seen in different forms. Acting is not just moving around for a robot. For a robot acting is the ability to manipulate its environment in any way. Acting is not just a robot's changing its position or manipulation of an object, it is also changing the temperature or humidity of a room. Introduction to Robotics: What is the Robot? 14 Acting takes on various forms:  Manipulation: Robots like the KUKA robotic arms used in automotive production can assemble cars, weld, and even perform quality checks. In warehouses, robots like Fetch Robotics' systems use manipulators to pick, move, and place items on shelves with precision.  Mobility: Mobile robots are becoming increasingly advanced, with robots like Spot and Asimo able to traverse rough terrain or navigate human environments. The autonomy required for this kind of mobility relies heavily on AI planning and precise mechanical design.  Environmental manipulation: Some robots act by changing environmental conditions. For example, robots in smart homes can adjust heating, lighting, and even security systems based on the preferences of the occupants. These robots act not only to move objects but to manipulate the environment in real time. Introduction to Robotics: What is the Robot? 15 A particularly fascinating example is the rise of surgical robots. Systems like the da Vinci Surgical Robot allow surgeons to perform highly precise, minimally invasive operations. In this case, the robot is acting as an extension of the human surgeon, providing greater dexterity and control than human hands alone can offer. Agrobot, an agricultural robot, can autonomously pick strawberries without damaging the delicate fruit, showcasing how robots are transforming industries beyond traditional manufacturing. Introduction to Robotics: What is the Robot? 16 Introduction to Robotics: What is the Robot? 17 Introduction to Robotics: What is the Robot? 18 Introduction to Robotics: What is the Robot? 19 Introduction to Robotics: What is the Robot? 20 Introduction to Robotics: What is the Robot? 21 Introduction to Robotics: What is the Robot? 22  What is a ROBOT, What is NOT The line between Robots and machines sometimes is not clear. If a machine can control its arms or other parts of its body, and especially if it is anthropomorphic or zoomorphic (like a Humanoid), it would be called a robot. Lets check some examples: A CNC Machine is very occasionally called as a robot, but an industrial arm, like Fanuc, is always characterized as a robot. A Zoomorphic mechanical toy (Lynxmotion T-HEX) , is usually named as a robot. An Autonomous Wheeled Dagu Rower 5 , is nearly always named as a robot. A Humanoid, like (Robotis Darwin), is nearly always named as a robot. A Computer Controller Car, like Google Car, can be named as a robot as it can sense, think and act. Introduction to Robotics: What is the Robot? 23 What is Robotics? Now that we understand what a robot is, let’s talk about Robotics. Robotics is the science and technology behind the design, construction, operation, and application of robots. It’s an interdisciplinary field, combining mechanical engineering, electrical engineering, computer science, and artificial intelligence. Robotics has a wide range of applications:  Industrial automation: Robotics has revolutionized industries like automotive and electronics manufacturing, increasing efficiency and precision while reducing human labor in dangerous tasks.  Healthcare: Robots like the da Vinci Surgical System are performing surgeries with greater accuracy than ever before, while robots like TUG autonomously deliver medications and supplies in hospitals.  Space exploration: NASA’s Curiosity Rover and the upcoming Perseverance Rover are examples of how robotics enables us to explore distant planets, collecting data and conducting experiments far beyond human reach. Introduction to Robotics: What is the Robot? 24 What is Robotics? The field of robotics is growing exponentially. According to the International Federation of Robotics, the global market for robotics is expected to reach $74 billion by 2026. Robotics is no longer confined to industrial applications; it is entering every sector of life, from retail to education, entertainment, and even personal robots for home use. The word "robotics" was first coined by science fiction writer Isaac Asimov in 1942, when he also introduced the Three Laws of Robotics, which is mentioned in a movie called "I, Robot (2004) Introduction to Robotics: What is the Robot? 25  Three Law of Robotics: In the past, people became acquainted with robots through science fiction writers such as Isaac Asimov. Robots from his writings of the 1940s and 1950s are especially memorable. From these fictional machines, Asimov developed the Three Laws of Robotics: 1.A robot must not harm a human being, nor through inaction allow one to come to harm. 2. A robot must always obey human being, unless that is in conflict with the first law 3. A robot must protect itself from harm, unless that is in conflict with the first and second laws These laws are still valid today, and no investigation of robotics would be complete without considering safety issues in their applications Introduction to Robotics: What is the Robot? 26 Introduction to Robotics: What is the Robot? 27 Conclusion: To wrap up, we’ve covered the core attributes of what defines a robot—its ability to sense, plan, and act. Robots are not just machines; they are intelligent systems capable of transforming industries, enhancing human lives, and exploring environments where humans cannot venture. As robotics continues to advance, questions around ethics, safety, and the integration of AI into robotic systems will become even more critical. The impact of robotics is already profound, and it’s set to grow even more as technology evolves. We will continue to further exploring this exciting and ever-expanding field. Introduction to Robotics: What is the Robot? 28 Introduction to Robotics: What is the Robot? 29