Introduction to Robotics

Teacher:
Dr. Syed Riaz un Nabi Jafri

(Lecture 1)
WELCOME
TO

NED UET
 NED UET – A Brief Overview

• The Oldest Engineering Institute of the

Country
• Delivering Quality Education in many
Disciplines
• Contributing Valuable Research Work through
Undergrad/Postgraduate Programs
• Successfully Sharing Advanced Engineering
Knowledge through CCEE Programs
 Introduction to Teacher

• Graduated in 2003 from IIEE-NED UET

• Served NESCOM for five years
• Received M.E in 2007 from NED UET
• Serving NED UET since 2008
• Received PhD (Robotics) in 2013 from IIT-
University of Genova, Italy
 Course Objectives

• To introduce Robotics as the most rapidly

growing field
• To provide basic knowledge about some
common Robotic Systems
• To familiarize with state of art research
resources/links/tools
 Outline
• Introduction to Robotics
• History
• A Brief Look on Existing Robotic Systems
• Robot Components
• Degree Of Freedom (DOF)
• Common Industrial Robots Structure
• Workspace
• Robot Characteristics
• Reference Frames
• Transformations
 Outline
• Forward Kinematics
• Inverse Kinematics
• Moving Robots
• Structure
• Workspace
• Sensors and Actuators
• Reference Frames
• Transformations
• Localization
• Environment Perception
• Useful links
• Simulators
 Books

• Introduction to Robotics: Analysis, Control, Applications (By

Saeed B. Niku)

• Introduction to Robotics: Mechanics and Control (By John J.

Craig)

• Probabilistic Robotics (By Thrun et al)

• Principle of Robot Motion

Introduction to Robotics
• It is derived from Greek word Robota means Slave or
Worker

• Robotics is defined as an Art with some knowledge

base to design and build useful autonomous or
semiautonomous systems which can provide
assistance to Humans

• Robot is normally referred to system which is

providing assistance with some autonomy
History
• 1946: George Devol built ENIAC computer which was used to execute simple operations
• 1952: First numerically controlled machine was built at MIT
• 1954: George Devol built first programmable Robot
• 1955: Denavit and Hartenberg developed transformations principles for Robotics
• 1962: First Industrial Robot was appeared by UNIMATION
• 1973: Popular T3 model Industrial Robots were deployed
• 1978: PUMA Robots were produced by UNIMATION
• 1986: HONDA introduced first Humanoid Robot H0
• 2000: More then 4000 Industrial Robots were sold in couple of years
• 2002: Trend of Robotics shifted towards domestic/commercial movable systems
• 2003: Flying and land movement (ROVER) Robots were developed in different institutes
• 2005: Humanoid Robots were deployed by different Organizations
• 2206: Medical Robots were introduced for minimally Invasive Surgery
• 2007: Big Dog was introduced by USA
• Current Era: Big machines with flying, underwater, rovers capabilities are in
development. Very small robots like Fly are already in use. Possible next phase will be
definitely like movies (AVATAR)
 A Brief Look on Existing Robotic Systems

Type A: Handling device with tele operation

1: Stationary or Movable
Type B: Handling device with predetermined cycle
2: Land, Underwater, Air etc.
Type C: Programmable servo controlled system
3: Humanoid, Animal, Insects etc.
Type D: Like C but additional capability of sensing
(French Association of Robotics)
A Brief Look on Existing Robotic Systems