In the name of Allah
Introduction to Robotics
Introduction to Robotics
 Leila Sharif
 l_sharif@sharif.edu
Lecture #1: The Big Picture
Introduction to Robotics
Textbook
Introduction to Robotics, Analysis,
Systems, Applications. Saeed B. Niku
Prentice Hall 2003
Introduction to Robotics
References
 Modeling and Control of Robot Manipulator,
L.Sciavicco and B. Siciliano 2000
 Fundamentals of Robotics Analysis and
Control , Robert J Schilling 1990
 Introduction to Robotics: mechanics and
control, John, J. Craig 1989
 Robotics and Control, R. K. Mittal, I.J.
Nagrath 2004
 Fundamentals of Industrial Robots and
Robotics, Rex Miller 1988
Introduction to Robotics
Introduction to robotics
 CS 40516
 3 units
TA:
 Yasamin Mokri
 mokri@ce.sharif.edu
Introduction to Robotics
Schedule
Course Structure
Class (Sat + Mon 1:30-3:00)
Khodro 7
Feedback on lectures is welcome any
time…
Introduction to Robotics
Grading
Assignments
Midterm exam
Final exam
Presentations
Project
Introduction to Robotics
20%
20%
20%
20%
20%
History
In principle humanoid are robots
In this course, we will primarily study
industrial manipulator type robot
Introduction to Robotics
Industrial Robots
 Robots are very powerful elements in today industry
 They can perform many different tasks and
operations precisely and do not require common
safety and comfort elements humans need.
 Robots have no overwhelmingly replaced workers.
They are used where they are useful.
 Robotics covers many different areas. They are used
together with other devices, peripherals and other
manufacturing machines. They are generally
integrated to a system to perform a task or do an
operation.
Introduction to Robotics
Lecture Outline
 Defining “robot”
 What makes a robot
 Sensors, sensor space
 State, state space
 Action/behavior, effectors, action space
 The spectrum of control
 Reactive systems
Introduction to Robotics
Difference of Robot & Manipulator
Manipulator (crane) is controlled by a
human
Robot manipulator is controlled by a
computer that runs a program
Introduction to Robotics
Classification of Robots (JIRA)
Class 1 Manual Handling Device
Class 2 Fixed Sequence Robot
Class 3 Variable Sequence Robot
Class 4 Playback Robot
Class 5 Numerical Control Robot
Class 6 Intelligent Robot
Introduction to Robotics
What is Robotics
Art, Knowledge base, the know-how to
design, apply and using robot in human
endeavors
Consist of not only robots but also other
devices and systems to perform the
necessary tasks
Introduction to Robotics
Robots may be used in
Manufacturing environments
Underwater and space explosion
Aiding the disabled
Fun
…
Introduction to Robotics
Robotics is an interdisciplinary
subject of
Mechanical engineering
Electrical and electronic engineering
Computer science
Biology
…
Introduction to Robotics
Why “robot”?
The term “robot” comes from Karel
Capek’s 1921 play RUR (Rossum’s
Universal Robots).
 It is most likely a combination of
“rabota” (obligatory work) and “robotnik”
(serf).
 The kind of robotics we will talk about
will move far beyond such “obligatory
work.”
Introduction to Robotics
What is a Robot?
 An intelligent robot is a machine able
to extract information from its
environment and use knowledge about
its world to move safely in a meaningful
and purposeful manner.
 A robot is a system which exists in the
physical world and autonomously
senses its environment and acts in it to
achieve some goals.
Introduction to Robotics
Other Definitions
 A robot is a re-programmable, multi-
functional, manipulator designed to
move material, parts, or specialized
devices though variable programmed
motions for the performance of a task
(Robotics Industry Association)
Robotics is the intelligent connection of
perception to action (M. Brady)
Introduction to Robotics
Animal-like Robots

Introduction to Robotics
Unmanned Vehicles
Introduction to Robotics