L1 - Introduction To Robotics V1

FAB30703
Universiti Kuala Lumpur Malaysia France Institute
Introduction to Robotics
Originally prepared by: Prof Engr Dr Ishkandar Baharin

Head of Campus & Dean
UniKL MFI
Robotics History
350 B.C
The Greek mathematician, Archytas builds a mechanical bird
named "the Pigeon" that is propelled by steam.
322 B.C.
The Greek philosopher Aristotle writes;
“If every tool, when ordered, or even of its own accord, could do
the work that befits it... then there would be no need either of
apprentices for the master workers or of slaves for the lords.”...
hinting how nice it would be to have a few robots around.
200 B.C.
The Greek inventor and physicist Ctesibus of Alexandria designs
water clocks that have movable figures on them.
Robotics History
1495
Leonardo Da Vinci designs a mechanical device that looks like
an armored knight. The mechanisms inside "Leonardo's robot"
are designed to make the knight move as if there was a real
person inside.
Robotics History
Leonardo’s Robot
Robotics History
1738
Jacques de Vaucanson begins building automata. The first one
was the flute player that could play twelve songs.
1770
Swiss clock maker and inventor of the modern wristwatch
Pierre Jaquet-Droz start making automata for European
royalty. He create three doll, one can write, another plays
music, and the third draws pictures.
1801
Joseph Jacquard builds an automated loom that is controlled
with punched cards.
Robotics History
Loom
Joseph Jacquard’s Automated
Robotics History
1898
Nikola Tesla builds and demonstrates a remote controlled robot
boat.
Robotics History
1921
Czech writer Karel Capek introduced the word "Robot" in his
play "R.U.R" (Rossuum's Universal Robots). "Robot" in Czech
comes from the word "robota", meaning "compulsory labor“.
1940
Issac Asimov produces a series of short stories about robots
starting with "A Strange Playfellow" (later renamed "Robbie") for
Super Science Stories magazine. The story is about a robot and
its affection for a child that it is bound to protect. Over the next
10 years he produces more stories about robots that are
eventually recompiled into the volume "I, Robot" in 1950. Issac
Asimov's most important contribution to the history of the robot is
the creation of his “Three Laws of Robotics”.
Robotics History
Three Laws of Robotics:

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 the 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.
Asimov later adds a "zeroth law" to the list:

Zeroth law: A robot may not injure humanity, or, through
inaction, allow humanity to come to harm.
The term “robot”
• Karel Capek’s 1921 play RUR (Rossum’s Universal Robots)

– It is (most likely) a combination of “rabota” (obligatory
work) and “robotnik” (serf)
• Most real-world robots today do perform such “obligatory
work” in highly controlled environments
– Factory automation (car assembly)
• But that is not what robotics research about; the trends and
the future look much more interesting
Robotics History
1946
George Devol patents a playback device for controlling
machines.
1961
Heinrich Ernst develops the MH-1, a computer operated
mechanical hand at MIT.
1961
Unimate, the company of Joseph Engleberger and George
Devoe, built the first industrial robot, the PUMA (Programmable
Universal Manipulator Arm).
1966
The Stanford Research Institute creates Shakey the first mobile
robot to know and react to its own actions.
Unimate PUMA
Robotics History
SRI Shakey
Robotics History
1969
Victor Scheinman creates the Stanford Arm. The arm's design
becomes a standard and is still influencing the design of robot
arms today.
Robotics History
1976
Shigeo Hirose designs the Soft Gripper at the Tokyo Institute
of Technology. It is designed to wrap around an object in
snake like fashion.
1981
Takeo Kanade builds the direct drive arm. It is the first to have
motors installed directly into the joints of the arm. This change
makes it faster and much more accurate than previous robotic
arms.
1989
A walking robot named Genghis is unveiled by the Mobile
Robots Group at MIT.
Robotics History
1993
Dante an 8-legged walking robot developed at Carnegie Mellon
University descends into Mt. Erebrus, Antarctica. Its mission is
to collect data from a harsh environment similar to what we
might find on another planet.
1994
Dante II, a more robust version of Dante I, descends into the
crater of Alaskan volcano Mt. Spurr. The mission is considered
a success.
1996
Honda debuts the P3.
Robotics History
Robotics History
1997
The Pathfinder Mission lands on Mars
1999
SONY releases the AIBO robotic pet.
Robotics History
2000
Honda debuts new humanoid robot ASIMO.
Robot Timeline
Where would these RHF robots go?
Hal 9000
with
Arthur C.
Clarke’s
Karl Capek reflection
Dalek
I, Robot
...
1921 1950 2020 2150 2421
Robot Timeline
Tortoise “Elsie”
Grey Walter http://www.epub.org.br/cm/n09/historia/documentos_i.htm
http://www.frc.ri.cmu.edu/~hpm/project.archive/robot.papers/2000/revo.slides/1950.html
...
1951
Shakey
Nils Nilsson @ Stanford Research Inst.

first “general-purpose” mobile platform
... ...
1968
...
Hans Moravec @ SAIL
“functional” task decomposition
SENSING
1976
perception
world modeling
Stanford Cart
planning
task execution
motor control
ACTING
...
...
Polly
Hybrid systems
1995
Navlab & ALVINN
...
An assortment of robots…
Anthropomorphic Robots
Animal-like Robots
Humanoid Robots
Asimo (Honda) QRIO
Robonaut (NASA) DB (ATR) Sony Dream Robot

Robots: Alternative Terms
• UAV
– unmanned aerial vehicle
• UGV (rover)
– unmanned ground vehicle
• UUV
– unmanned undersea
vehicle
Autonomous Solutions Inc.
Mobius:
Mobius is an easy to use software interface for controlling and
monitoring multiple unmanned vehicles using the JAUS protocol.
It includes a robust feature set developed over the last several

years to speed productivity and meet the needs of our customers.
JAGUAR - Multiple-Use Utility Vehicle:

JAGUAR is a rugged, autonomous platform just waiting to
take your orders. Built around the Bobcat Toolcat 5600 utility
vehicle, JAGUAR can take advantage of all the stock
attachments, plus custom additions such as robotic
manipulators, mine flails, and the Dynamic Cone
Penetrometer (DCP). Coupled with the physical capabilities is
a full electronic sensor package that enables a completely
autonomous deployment out of the box and ready to go.
U.V.I.S. - Under-Vehicle Inspection System

UVIS is a specially-designed robot built to inspect the underside of
vehicles at police and military checkpoints and in parking lots. It
provides a significantly safer method for checking vehicles for car
bombs and other contraband by allowing soldiers and other security
personnel to remain a safe distance from the vehicles in question.
Autonomous Solutions Inc.
P.G.A.P. - Proving Grounds Automation Package:

P.G.A.P. combines an easy to use software suite (Mobius) and robust hardware
and electronics with quality services and support to provide a rugged and
reliable automated test machine; one that doesn't get tired, complain, or ask for a
raise.
SCORPION
M.U.R.V. - Multi-Use Robotic Vehicle:
Scorpian is ruggedly-built for hazardous environments and can be operated
remotely, allowing it to go places no manned vehicle could safely go.
Scorpion has ample lifting capacity and with the diesel powerplant has
abundant power and runtime. The base platform can be easily serviced
through a worldwide dealer network. Scorpian can be outfitted with a variety
of off-the-shelf attachments to meet any need.
Unmanned Target Vehicles

Autonomous Solutions Inc. can create a custom unmanned target vehicle for
you. We are able to convert any off-the-shelf commercial vehicles and
implement them with autonomous or teleoperational control. This type of
vehicle is useful for weapons systems development, live battlefield-type training
and testing, and many other operations.
Applied Perception Inc.
NaviGator
The NaviGator is a medium-sized autonomy testbed that provides the core

hardware necessary for research and development of UGV technologies. This
vehicle is based on a John Deere Gator platform that has been retrofit with
“smart” Animatics SmartMotors® on the steering, throttle, and brake systems.
(Transmission actuation is optional). These motors are linked with an on-board
electro-mechanical power and safety system. In addition, the system includes an
independent 36VDC power system (including charger and shore power
operation) and can optionally include conditioned AC and DC power supplies.
When combined with one of the above software packages, the NaviGator
provides an out-of-the-box solution for advanced UGV research and
development.
Please contact us if you are interested in adapting the basic technology provided
in the NaviGator to your vehicle platform.
Schilling Sub Atlantic Robots

What is a Robot?
• In the past
– A clever mechanical device – automaton
• Robotics Industry Association, 1985
– “A re-programmable, multi-functional manipulator
designed to move material, parts, tools, or specialized
devices […] for the performance of various tasks”
• What does this definition missing?
– Notions of thought, reasoning, problem solving, emotion,
consciousness
A Robot is…
• … a machine able to extract information from its

environment and use knowledge about its world to act
safely in a meaningful and purposeful manner (Ron Arkin,
1998)
• … an autonomous system which exists in the physical

world, can sense its environment and can act on it to
achieve some goals
What is Robotics?
• Robotics is the study of robots, autonomous embodied

systems interacting with the physical world
• Robotics addresses perception, interaction and action, in

the physical world
Synthetic field
• Mechanical Eng. • CS & AI • Biology

• Electrical Eng. • Vision, HCI • Neuroscience
• Control • Software Dev. • Cognitive Science
Robotics
• Architecture • Sensing and Motion • Visual Control

• Mapping • Cooperative Robotics • Entertainment
• Planning / Modeling • Robot Learning
A Brief History of Robotics
• Early work at end of WWII for handling radioactive

materials: Teleoperation.
• Computer numerically controlled machine tools for low-
volume, high-performance AC parts
• Unimation Inc.: built first robot in a GM plant. The machine
is programmable.
• Robots were then improved with sensing: force sensing,
rudimentary vision.
Robotics Terminology
Robot: An electromechanical device with multiple degrees-

of-freedom (DOF) that is programmable to accomplish a
variety of tasks.
Industrial robot:The Robotics Industries Association

(RIA) defines robot in the following way:
“An industrial robot is a programmable, multi-

functional manipulator designed to move materials,
parts, tools, or special devices through variable
programmed motions for the performance of a
variety of tasks”
Robotics: The science of robots. Humans working in this

area are called roboticists.
A Brief History of Industrial
Robotics…
• Two famous robots:

– Puma. (Programmable Universal Machine for Assembly).
‘78.
– SCARA. (Selective Compliant Articulated Robot
Assembly). ‘79.
• In the ‘80 efforts to improve performance: feedback control +
redesign. Research dedicated to basic topics. Arms got
flexible.
• ‘90: modifiable robots for assembly. Mobile autonomous
robots. Vision controlled robots. Walking robots.
Other Industrial Robot Examples

Trends
Industrial Robot Production
Production Trends
Production Trends
DOF degrees-of-freedom: the number of independent

motions a device can make. (Also called mobility)
five degrees of freedom

Manipulator: Electromechanical device capable of
interacting with its environment.
Anthropomorphic: Like human beings.
ROBONAUT (ROBOtic astroNAUT), an anthropomorphic robot with two

arms, two hands, a head, a torso, and a stabilizing leg.
End-effector: The tool, gripper, or other device mounted
at the end of a manipulator, for accomplishing useful tasks.

Workspace: The volume in space that a robot’s end-
effector can reach, both in position and orientation.
A cylindrical robots’ half workspace

Position: The translational (straight-line) location of

something.
Orientation: The rotational (angle) location of something. A

robot’s orientation is measured by roll, pitch, and yaw
angles.
Link: A rigid piece of material connecting joints in a robot.
Joint: The device which allows relative motion between two

links in a robot.
A robot joint
Kinematics: The study of motion without regard to forces.
Dynamics: The study of motion with regard to forces.
Actuator: Provides force for robot motion.
Sensor: Reads variables in robot motion for use in control.

Speed
•The amount of distance per unit time at which the robot

can move, usually specified in inches per second or
meters per second.
•The speed is usually specified at a specific load or
assuming that the robot is carrying a fixed weight.
•Actual speed may vary depending upon the weight
carried by the robot.
Load Bearing Capacity

•The maximum weight-carrying capacity of the robot.
•Robots that carry large weights, but must still be precise
are expensive.
Accuracy
•The ability of a robot to go to the specified position

without making a mistake.
•It is impossible to position a machine exactly.
•Accuracy is therefore defined as the ability of the robot
to position itself to the desired location with the minimal
error (usually 25 µm).
Repeatability
•The ability of a robot to repeatedly position itself when
asked to perform a task multiple times.
•Accuracy is an absolute concept, repeatability is
relative.
•A robot that is repeatable may not be very accurate,
visa versa.
Robots
Components of Industrial
Power Sources for Robots
• An important element of a robot is the

drive system. The drive system supplies
the power, which enable the robot to
move.
• The dynamic performance of a robot
mainly depends on the type of power
source.
There are basically three types
of power sources for robots:
1. Hydraulic drive
• Provide fast movements
• Preferred for moving heavy parts
• Preferred to be used in explosive
environments
• Occupy large space area
• There is a danger of oil leak to the shop floor
2. Electric drive
• Slower movement compare to the hydraulic
robots
• Good for small and medium size robots
• Better positioning accuracy and repeatability
• stepper motor drive: open loop control
• DC motor drive: closed loop control
• Cleaner environment
• The most used type of drive in industry
3. Pneumatic drive
• Preferred for smaller robots
• Less expensive than electric or hydraulic robots
• Suitable for relatively less degrees of freedom
design
• Suitable for simple pick and place application
• Relatively cheaper
Robotic Sensors
• Sensors provide feedback to the control

systems and give the robots more flexibility.
• Sensors such as visual sensors are useful in
the building of more accurate and intelligent
robots.
• The sensors can be classified as follows:
1. Position sensors:
Position sensors are used to monitor the
position of joints. Information about the
position is fed back to the control systems
that are used to determine the accuracy of
positioning.
2. Range sensors:
Range sensors measure distances from a
reference point to other points of importance.
Range sensing is accomplished by means of
television cameras or sonar transmitters and
receivers.
3. Velocity Sensors:
They are used to estimate the speed with which a
manipulator is moved. The velocity is an important part
of the dynamic performance of the manipulator. The DC
tachometer is one of the most commonly used devices
for feedback of velocity information. The tachometer,
which is essentially a DC generator, provides an output
voltage proportional to the angular velocity of the
armature. This information is fed back to the controls for
proper regulation of the motion.
4. Proximity Sensors:
They are used to sense and indicate the
presence of an object within a specified distance
without any physical contact. This helps prevent
accidents and damage to the robot.
– infra red sensors
– acoustic sensors
– touch sensors
– force sensors
– tactile sensors for more accurate data on the position
The Hand of a Robot: End-Effector
The end-effector (commonly known as robot

hand) mounted on the wrist enables the robot to
perform specified tasks. Various types of end-
effectors are designed for the same robot to
make it more flexible and versatile. End-effectors
are categorized into two major types: grippers
and tools.

Grippers are generally used to grasp and hold

an object and place it at a desired location.
– mechanical grippers
– vacuum or suction cups
– magnetic grippers
– adhesive grippers
– hooks, scoops, and so forth
At times, a robot is required to manipulate a tool

to perform an operation on a workpiece. In such
applications the end-effector is a tool itself
– spot-welding tools
– arc-welding tools
– spray-painting nozzles
– rotating spindles for drilling
– rotating spindles for grinding
Robot Movement and Precision
Speed of response and stability are two

important characteristics of robot movement.
• Speed defines how quickly the robot arm
moves from one point to another.
• Stability refers to robot motion with the least
amount of oscillation. A good robot is one that
is fast enough but at the same time has good
stability.
Robot Movement and Precision
Speed and stability are often conflicting goals.

However, a good controlling system can be
designed for the robot to facilitate a good trade-
off between the two parameters.
The precision of robot movement is defined by
three basic features:
1. Spatial resolution:
The spatial resolution of a robot is the
smallest increment of movement into which
the robot can divide its work volume.
It depends on the system’s control resolution
and the robot's mechanical inaccuracies.
2. Accuracy: Accuracy can be defined as the
ability of a robot to position its wrist end at a

desired target point within its reach. In terms of
control resolution, the accuracy can be defined
as one-half of the control resolution. This
definition of accuracy applies in the worst case
when the target point is between two control
points.The reason is that displacements
smaller than one basic control resolution unit
(BCRU) can be neither programmed nor
measured and, on average, they account for
one-half BCRU.
The accuracy of a robot is affected by many

factors. For example, when the arm is fully
stretched out, the mechanical inaccuracies
tend to be larger because the loads tend to
cause deflection.
3. Repeatability: It is the ability of the robot to
position the end effector to the previously

positioned location.
A
C +
+ ++
++
+ + ++
++ + +
B +
+ + + ++
xxx x x
xxx x
xxx
xx
xx
xx xxxx
x x
The Robotic Joints
A robot joint is a mechanism that permits

relative movement between parts of a robot
arm. The joints of a robot are designed to
enable the robot to move its end-effector along
a path from one position to another as desired.
The Robotic Joints
The basic movements required for a desired motion of

most industrial robots are:
• 1. rotational movement: This enables the robot to
place its arm in any direction on a horizontal plane.
• 2. Radial movement: This enables the robot to move
its end-effector radially to reach distant points.
• 3. Vertical movement: This enables the robot to take
its end-effector to different heights.
The Robotic Joints
These degrees of freedom, independently or in

combination with others, define the complete motion of
the end-effector. These motions are accomplished by
movements of individual joints of the robot arm. The
joint movements are basically the same as relative
motion of adjoining links. Depending on the nature of
this relative motion, the joints are classified as
prismatic or revolute.
The Robotic Joints
• Prismatic joints (L) are also known as sliding

as well as linear joints.
• They are called prismatic because the cross
section of the joint is considered as a
generalized prism. They permit links to move in
a linear relationship.
The Robotic Joints
Revolute joints permit only angular motion

between links. Their variations include:
– Rotational joint (R)
– Twisting joint (T)
– Revolving joint (V)
The Robotic Joints

The Robotic Joints
In a prismatic joint, also known as a sliding or

linear joint (L), the links are generally parallel to
one
The Robotic Joints
A rotational joint (R) is identified by its

motion, rotation about an axis perpendicular to
the adjoining links. Here, the lengths of
adjoining links do not change but the relative
position of the links with respect to one another
changes as the rotation takes place.
The Robotic Joints
A twisting joint (T) is also a rotational joint,

where the rotation takes place about an axis
that is parallel to both adjoining links.
The Robotic Joints
A revolving joint (V) is another rotational

joint, where the rotation takes place about an
axis that is parallel to one of the adjoining
links. Usually, the links are aligned
perpendicular to one another at this kind of
joint. The rotation involves revolution of one
link about another.

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FAB30703

Universiti Kuala Lumpur Malaysia France Institute

Originally prepared by: Prof Engr Dr Ishkandar Baharin

Three Laws of Robotics:

Asimov later adds a "zeroth law" to the list:

• Karel Capek’s 1921 play RUR (Rossum’s Universal Robots)

Grey Walter http://www.epub.org.br/cm/n09/historia/documentos_i.htm

Nils Nilsson @ Stanford Research Inst.

Robonaut (NASA) DB (ATR) Sony Dream Robot

It includes a robust feature set developed over the last several

JAGUAR - Multiple-Use Utility Vehicle:

U.V.I.S. - Under-Vehicle Inspection System

P.G.A.P. - Proving Grounds Automation Package:

Unmanned Target Vehicles

The NaviGator is a medium-sized autonomy testbed that provides the core

Schilling Sub Atlantic Robots

• … a machine able to extract information from its

• … an autonomous system which exists in the physical

• Robotics is the study of robots, autonomous embodied

• Robotics addresses perception, interaction and action, in

• Mechanical Eng. • CS & AI • Biology

• Architecture • Sensing and Motion • Visual Control

• Early work at end of WWII for handling radioactive

Robot: An electromechanical device with multiple degrees-

Industrial robot:The Robotics Industries Association

“An industrial robot is a programmable, multi-

Robotics: The science of robots. Humans working in this

• Two famous robots:

Other Industrial Robot Examples

DOF degrees-of-freedom: the number of independent

five degrees of freedom

interacting with its environment.

Anthropomorphic: Like human beings.

ROBONAUT (ROBOtic astroNAUT), an anthropomorphic robot with two

at the end of a manipulator, for accomplishing useful tasks.

effector can reach, both in position and orientation.

A cylindrical robots’ half workspace

Position: The translational (straight-line) location of

Orientation: The rotational (angle) location of something. A

Link: A rigid piece of material connecting joints in a robot.

Joint: The device which allows relative motion between two

Kinematics: The study of motion without regard to forces.

Dynamics: The study of motion with regard to forces.

Actuator: Provides force for robot motion.

Sensor: Reads variables in robot motion for use in control.

•The amount of distance per unit time at which the robot

Load Bearing Capacity

•The ability of a robot to go to the specified position

• An important element of a robot is the

• Sensors provide feedback to the control

The end-effector (commonly known as robot

The Hand of a Robot: End-Effector

Grippers are generally used to grasp and hold

At times, a robot is required to manipulate a tool

Speed of response and stability are two

Speed and stability are often conflicting goals.

ability of a robot to position its wrist end at a

The accuracy of a robot is affected by many

position the end effector to the previously

A robot joint is a mechanism that permits

The basic movements required for a desired motion of

These degrees of freedom, independently or in