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At the Beginning
Textbook is the core
Lectures for discussions
Sequential reading
Solve the problems
Avoid Stereotyping
Ask me why and how?
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Reading only the slides
Compressive reviewing before the exam
Missing the lectures
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•
Saeed B. Niku, “ Introduction to robotics –
Analysis, Control, Applications, Second
edition, John Wiley & Sons INC, 2011
• References
• Lecture notes
• Internet
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Chapter 1
Introduction to robotics Technology
Objectives
 To know the history of robot evolution
 To understand fundamentals of robotics
 To be familiar with measurement system structure and blocks
Robotics, prepared by Prof. Dr. Mahdi Alshamasin
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Topics
Definitions & Concepts
History of robots
Robot Applications
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Definitions & Concepts
■ (Robotics & Robots)
Robotics is the art, knowledge base, and the know-how of designing,
applying, and using robots in human endeavors (‫)مساعي‬. Robotic
systems consist of not just robots, but also some other devices and
systems that are used together with the robots to perform the
necessary tasks.
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Robotics
■
The Merriam Webster Dictionary, 1998, defines robotics as “technology dealing
with the design, construction, and operation of robots".
■
One definition of robotics (robotics science): Robotics is the intelligent connection of
perception to action.
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Perception Model of Robotics
The physical transformation from an input state to an output state can be decomposed into a
sequence of processes:
■ measurement,
■ modeling,
■ perception,
■ Planning,
■ Action.
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Areas of Technology
■ Robotics comprise such diverse areas of technology as mechanical, electrical, and electronic
systems, computer hardware and computer software.
■ The study of the mechanics and control of manipulators is not a new science, but merely a collection
of topics taken from classical fields: mechanical engineering and computer science.
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Fields of technology involved in the architecture of robots
■
Theory of robots
■
Sensors and transducer technology
■
Motors technology (Steppers or DC servo motors)
■
Motor drive and control
■
Control theory
■
Power semi-conductor drive
■
Microelectronics
■
Digital systems
■
Microprocessors
■
Computer systems & Computer interfacing
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Robot
The Robot Institute of America defines
a robot as a “programmable,
multifunctional manipulator designed to
move material, parts, tools, or specialized
devices, through variable programmed
motions, for the performance of a variety
of tasks”.
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History of Robots
■ The word robot has been used since 1921 to refer to a machine that performs work to assist
people with work that humans find difficult or undesirable.
■
The term 'robotics' as a science or study of robots was first used by Isaac Asimov in his science
fiction stories about robots in 1940s.
■
The first patents were in 1954 (first programmable robot developed by George Devol).
■ 1954 to 1961, The first industrial modern robots were the Unimates ( Unimate was based on
Devol's 1954 patent specification on Programmed Article Transfer that introduced the concept of
"Universal Automation" or Unimation).
■ In1955 Denavit and Hartenberg developed homogeneous transformation matrices.
■
In 1978 a truly flexible multipurpose manipulator known as the Programmable Universal
Manipulation Arm (PUMA) was developed.
■
In the early of 80's, the robot industry grew very fast primarily due to large investments by the
automotive industry.
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Milestones of Robotics
■ In 1922 , A Czech author Karel Capek wrote a story called Rossum’s Universal
Robots and introduce the word Rabota (meaning worker)(Written in 1920, premiered
in Prague in 1921, and first performed in New York in 1922)
■
1954 First programmable robot
■
1978 First PUMA robot
■ 1983 Started teaching in Robotics.
■ 21C Walking Robots, Mobile Robots, Humanoid Robots
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