ME 4804

ROBOTICS
Lecture 1
Instructor: Husnain Inayat Hussain

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motivation / aspirations
A brief introduction
How I ended up here
Your ideas about this course

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ADMINISTRATIVE TRIVIA

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books
These presentations and board work should act as your
notes
Written notes (possibility)
Various books / authors / references
Introduction to Robotics
John J. Craig, Dorling Kindersly, 3th Ed., 2011.

Robot Modeling and Kinematics

Rachid Manseur, Da Vinci Engineering Press, 1st Ed., 2006.

Robot Modeling and Control

M. W. Spong, S. Hutchinson, M. Vidyasagar; Wiley, N.Y., 2006.

Introduction to Robotics
S. K. Saha,
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what is this course about!

Understand what Robotics is

Develop intuition about autonomous systems.
Develop concepts about making objects move.
The need to automate things.
Can tasks be automated?
If they can be, could we achieve any level of
accuracy?
Can we achieve any repeatability?
Can we mimic humans or animals?
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prerequisites
There are no prerequisites, however
ME 2303 Engineering Dynamics
Linear Algebra
Probability (Uncertainty)
Software
MATLAB
C
PASCAL, VAL, JARS, RAPID, KAREL

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course contents
Refer to the PDF.

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quizzes / exams / project

1. Assignments
2. Midterm
3. Quizzes
4. Final Exam
5. Practice Quiz
Your Grades will be assessed according to:
0.06x1 + 0.2x2 + 0.09x3 + 0.4x4 + 0x5

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robotics

A BRIEF BACKGROUND

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robot

A reprogrammable, multifunctional manipulator

designed to move material, parts, tools, or
specialized devices through various programmed
motions for the performance of a variety of tasks.
(Robot Institute of America)

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early history
Ancient Greek poet Homer described maidens of
gold, mechanical helpers built by HEPHAISTOS,
the Greek god of metal smiths.
The golems of medieval Jewish legend were
robot-like servants made of clay, brought to life by
a spoken charm.
In 1495, Leonardo da Vinci drew plans for a
mechanical man.

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modern history (1/2)

The word robot was introduced to public
by Czech writer Karel Capek(1890-1938)
in his play R.U.R (Rossums Universal
Robots), published in 1920. The play begins in a
factory that makes artificial people called robots.
Capek was reported several times a candidate for
Nobel prize for his work. The term robot derives
from the Czech word ROBOTA, meaning forced work
or compulsory service, or ROBOTNIK, meaning serf.
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modern history (2/2)

The word robotics used to describe

the field of study , was defined by the Russian born
American scientist and science fiction writer, Isaac
Asimov (1920-1992) in 1940s.

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Asimovs Laws of Robotics(1942)

1. A robot may not injure a human being, or,
through inaction, allow a human being to come
to harm
2. A robot must obey orders given it by human
beings, except where 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.
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Why use Robots?

Robots produce more accurate and high quality work
Robots rarely make mistakes and are more precise than human
workers
They can produce a greater quantity in a short amount of time
They can work at a constant speed with no breaks, days off, or
holiday time
They can work in hazardous conditions, such as poor lighting, toxic
chemicals, or tight spaces
They are capable of lifting heavy loads without injury or tiring
Robots increase worker safety by preventing accidents since
humans are not performing risky jobs

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Why not use Robots?

People doing labor work might lose their jobs
(economic problem)
Robots need some kind of power supply
Robots need maintenance !!!!
Capital cost might be high !!!!

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some famous robots

QRIO

AIBO
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multidisciplinary science

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robot hardware

Actuators
Sensors
Controllers
Electronics
Mechanics

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robot manipulators
Also known as kinematic chains, these are
composed of a sequence of links attached at
joints and each link can move with respect to the
previous link via joint motion.
Prismatic Joint
When a link slides with respect to the previous link

Revolute Joint
When a link rotates with respect to the previous link

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example of a jointed manipulator

prismatic joint

revolute joint

End effector

revolute joint

fixed base

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schematic of the example

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demo

SHOWCASE

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demo

robotics1
robotics2
robotics3
robotics4
robotics5
robotics6

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ROBOT LEARNING

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linear regression (1/2)

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linear regression (2/2)

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nerve cell
synapse

axon

nucleus

cell body
synapses
dendrite
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fully connected FF network

(2)

(2)

1 11
(1) 44

(2)

(2)

2 12

4
(3)

1
(2) 25

(2) (2)
3 13

(1)

(2)

(2)

(2)

1
=0

(3)

1 =

1
(3)

1 + 1

(3) 13

(2)

4 14
(2)

(2)

0 10

(2) = (1) (1)

1
(2)
=
(2)
1 +
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(3) = (2) (2)

1
(3)
=
(3)
1 +
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(4) = (3) (3)

1
(4)
=
(4)
1 +

= (4)

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neural nets (3/4)

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value iteration for optimal policy

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CONCEPTS

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a particle
a particle in 2D

a particle in 3D

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an object
an object in 2D

an object in 3D

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an array of objects

frame

end
effector

joint

link

base

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a manipulator

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DOF Robotic Definition

Non Holonomic Robot
A robot which has fewer controllable parameters than
the representational degrees of freedom (car,
airplane)

Holonomic Robot
A robot with as many controllable parameters as the
degrees of freedom (PUMA, SCARA)

Redundant Robot
A robot with more controllable parameters than the
degrees of freedom (human arm)
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simulation of a human arm

animation

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more definitions
Configuration Space
A space of all the joint variables (revolute or prismatic)

State Space
A space of all the joint variables and velocities such
that future positions can be obtained

Work Space
A set of all possible points in space (volume) that can
be traversed by a robot.

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problems in robotics

Configuration / Mobility / DOF

Object Localization / Frames
Rotations / Translations
Forward Kinematics
Velocity Kinematics (Jacobian)
Static Force Analysis (Jacobian)
Inverse Kinematics
Dynamics
Control
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TIME FOR QUESTIONS /

DISCUSSION
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