Chap.

1 Introduction

Chapter 1 Introduction
Table of Contents
1. Introduction
2. Mathematical Preliminaries
3. Kinematics
4. Inverse Kinematics
5. Dynamics
6. Control
7. Mobile Robots
8. Intelligent Robots

1.1 Introduction
1.2 Applications of Robots
1.3 Robot Classification
1.4 Robot Structure
1.5 Research Areas

Objectives
In this chapter we introduce the field of robotics and look briefly at some applications.
This background material includes the following topics.
1) Applications of robotics, 2) Robot classification, 3) Robot structure,
4) Research areas.
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Chap. 1 Introduction

1.1 Introduction
History of the word Robot

The word Robot was first used in 1921 by the Czech

playwriter Karel Capek in his SF drama entitled R.U.R.
(Rossums Universal Robots).
It is derived from the Czech word robota.
(slave laborer, forced labor).

Karel apek(1890-1938)

Czech writer

A scene from Karel apeks 1920 play R.U.R. ),

showing three robots
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Chap. 1 Introduction

What is a robot?
Reprogrammable general-purpose entity with external sensors.
Software controllable mechanical device that uses sensors to guide
one or more end effectors through programmed motions in a
workspace in order to manipulate physical objects.

From practical point of view:

A robot is a versatile mechanical device equipped with actuators and
sensors under the control of a computing system.

TOPIO at Tokyo International Robot Exhibition (IREX) 2009.

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Chap. 1 Introduction

RT (Robot Technology)

1.1 Introduction

Fusion Technology
Electrical Eng., Mechanical Eng., Computer Sci., Linguistics,
Ethics, Psychology,
IT (Information Technology), BT (Bio Technology), NT (Nano
Technology), MEMS (Micro Electro Mechanical System), etc.
Technologies
in future or
in your mind

BT

IT

RT
Fusion Technology

NT

MEMS

Robot Technology
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Chap. 1 Introduction

Classes of robots

1.1 Introduction

According to the Japanese Industrial Robot Association(JIRA), Robots are

divided into the following classes.
Class 1
Manual handling device

Class 3
Variable sequence robot

Class 5
Numerical control robot

A device with several

degrees of freedom
actuated by the operator

The same type of handling

device as in class 2, but the
stages can be modified
easily.

The human operator

supplies the robot with a
movement program rather
than teaching it the task
manually.

Class 2
Fixed sequence robot

Class 4
Playback robot

Class 6
Intelligent robot

The human operator

performs the task
manually by leading or
controlling the robot,
which records the
trajectories.

A robot with the means to

understand its environment,
and the ability to
successfully complete a
task despite changes in the
surrounding conditions
under which it is to be
performed.

Handling device which

performs the successive
stages of a task according
to a predetermined,
unchanging method,
which is difficult to
modify

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Chap. 1 Introduction

1.1 Introduction

Roadmap of robots
In 1940s: Master- slave robot (Argonne Natl. Lab)
In 1950s : Programmable Manipulator (George C. Devol)
In 1959 : Industrial robot (The Unimate Robot)

In 1960s : MHT-Feedback System with sensors

In 1970s : Microprocessor based robot
In 1974 : T3 (The Tomorrow Tool) Industrial robot with computer control
In 1979 : SCARA robot (Japan) Assembly Robot

In 1980s : CIM (Computer Integrated Manufacturing)

In 1981 : Direct Drive Robot (Carnegie-Mellon Univ.)

In 1990s : Intelligent Robot

In 1999 : Aibo (Artificial Intelligent Robot, Sony)

In 2000s : Micro(Nano) robot, Network based robot,

In 2000 : Asimo (Honda)

In 2003 : Spirit (Opportunity) (NASA)
In 2006 : Big Dog (Boston Dynamics)
In 2006 : Stickybot (Stanford University)

In 2010s : Cloud Robot, Evolutionary Robot, ?

In 2100s : ?
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Chap. 1 Introduction

1.1 Introduction

Trends of robot technology

Intelligent

Intelligent/Agent
robot

Robot
Service
robot

2010 ~

Service
Robot
Museum
tour robot

Industrial
Robot

Human
guided
vehicle

Human
guided
robot

Auto
guided
vehicle
(AGV)

Entertainment
robot

Free ranging
mobile robot

2003

2000

1995

1990

Industrial robot

1985
1980
1962
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Chap. 1 Introduction

1.1 Introduction

U-IT based 9 Growth Engines, Korea

Broadband /
Home Network
IT SOC

Digital TV

Ministry of Information
and Communication
NG Mobile Comm.
/ Telematics

U-IT based

Next Gen. PC

9 Growth
Engines

Korea
Embedded SW

Intelligent Robot

Digital Contents

RFID / USN

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Chap. 1 Introduction

1.1 Introduction
Improvements
in sensor
technology

Vision
Force sensing

Environment recognition
Others

Technical
Off-line Programming
Safety
Multi-robots Cooperation

trends
in robots

Human-machine interface
Remote Operation
Others

Others

Improvements
in System
Technology

Source:
World robotics.org

Improvements
in
communication

The demand for robots is expected to rise rapidly due to factors such as the
increase in income, the advent of aging society and the pursuit of well-being.
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Chap. 1 Introduction

Robotics

Market

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Chap. 1 Introduction

Worldwide robotics Market shares

Applications
(unit : million $)

2009

2012

2015

1.1 Introduction
2020

Industrial Robots

16,450

20,020

25,620

41,250

Professional Service Robots

2,620

9,810

29,760

156,560

Personal Service Robots

9,810

23,260

52,040

222,410

Total

28,880

53,090

107,420

420,220

* Source: World Robotics 2007, IFR / WinterGreen Research, 2008, etc.

How

large is the current and future robotics market?

Source: http://servicerobotics.blogspot.com/

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Chap. 1 Introduction

Examples

1.1 Introduction

Example 1.1.1 What is the difference between Hard automation and Soft
automation?
Ans: Mass-production assembly lines were first introduced at the beginning of the
twentieth century(1905) by the Ford Motor Company.
- Hard automation: The machines and processes are more efficient, but
they have limited flexibility.
- Soft automation: flexible, ex) Programmable mechanical manipulators.
=> Robot

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Chap. 1 Introduction

1.1 Introduction

Review questions
Question 1.1.1 What is the difference between robot and crane?

Question 1.1.2 Explain some advantages and possible applications of masterslave robot .
Question 1.1.3 Explain why robotics is interdisciplinary.

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Chap. 1 Introduction

Question 1.1.4 Explain the operation of the centrifugal governor invented by

James Watt.

James Watts centrifugal governor

Centrifugal governor in a
Boulton & Watt engine of
1788 Department of Electrical Eng..
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Chap. 1 Introduction

1.1 Introduction

Question 1.1.5 Examine some notable specifications of Asimo in 2011.

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Chap. 1 Introduction

In 1940s: Master- slave robot (Argonne Natl. Lab)

Source: http://brl.ee.washington.edu/
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Chap. 1 Introduction

In 1979 : SCARA robot (Japan) Assembly Robot

Source: http://www.directindustry.com/
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Chap. 1 Introduction

In 1999: Aibo (Artificial Intelligent Robot, Sony)

Source: http://gizmodo.com/
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Chap. 1 Introduction

In 2000 : Asimo (Honda)

Source: http://commons.wikimedia.org/
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Chap. 1 Introduction

In 2006 : Big Dog (Boston Dynamics)

Source: http://www.slipstersblog.com/
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Chap. 1 Introduction

In 2003 : Spirit (Opportunity) (NASA)

Source: http://www.homotron.net/
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Chap. 1 Introduction

In 2006 Stickybot(Stanford Univ.)

Source: http://bdml.stanford.edu/
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