Introduction to Robotics Farahiyah Jasni Contents • Introduction to Robotics & Robots • Advantages and Disadvantages of Robotics • Robot components • Robot degrees-of-freedom • Robot joints • Robot configuration and workspace • Robot reference and its applications What is Robotics? • The art, knowledge base, and the know-how of designing, applying and using robots in human endeavors • The design, manufacturing, control, and programming of robot • The use of robots to solve the problems • The study of the control processes, sensors, and algorithms used in humans, animals, and machines • The application of these control processes and algorithms to the design of robots Advantages & Disadvantages of Robotics Advantages of Robots • Increase productivity, safety, efficiency, Quality and consistency of products. • Can work in hazardous environments without life support, comfort and concern about safety. • No need environment comfort (e.g. lighting, air-conditioning, and etc.) • Able to work continuously • Repeatable precision at all time • Can be much more accurate than humans • Perform tasks simultanoeusly • Having a capability beyond that of humans Disadvantages of Robots • Robots replace human workers creating economic problems • Lack respond in case of emergency • Inappropriate responses • A lack of decision-making power • A loss of power • Costly • Limited capabilities in: Degrees of freedom, Dexterity, Sensors, Vision systems, Real-time response Basic structure of a robot Reference: Pastor, R.; Bobovský, Z.; Huczala, D.; Grushko, S. Genetic Optimization of a Manipulator: Comparison between Straight, Rounded, and Curved Mechanism Links. Appl. Sci. 2021, 11, 2471. https://doi.org/10.3390/app11062471 Robotics Components Manipulator/Rover End Effectors Actuators Sensors Controller Processor Software Power Source Robot Degrees of Freedom • Degrees of freedom, in a mechanics context, are specific, defined modes in which a mechanical device or system can move. • The number of degrees of freedom is equal to the total number of independent displacements or aspects of motion. • A machine may operate in two or three dimensions but have more than three degrees of freedom. Type of Robot’s Joint Translational motion Rotary motion Robot Coordinates (Industrial Robots) Rectangular /Cartesian robot (3P) Selection Compliance Assembly Robot Arm [SCARA] Jointed Spherical / Articulated robot (3R) Cylindrical robot (R2P) Robot Coordinates Spherical robot (2RP) Cartesian coordinate • Notation: LOO • Consists of 3 translational joints: 1 Linear, 2 Orthogonal • Also known as Rectilinear or XYZ robot Cylindrical coordinate • Notation: TLO • Consists of 1 rotary (Twisting joint) and 2 translational motions (Linear and Orthogonal joint) Spherical coordinate • Notation: TRL • Consists of 2 rotary (Twisting & Rotational) motions and 1 translational motion (Linear) Articulated Coordinate SCARA • Notation: VRO • Consists of 2 rotary motions (Revolving and Rotational) and 1 Orthogonal joint • SCARA = Selective Compliant Assembly Robot Arm • Area that a robot can reach, depending on configuration & size. • Shape of workspace for each robot is uniquely related to its characteristics. • Can be determined: • Mathematically • Empirically Robot workspace Robot Characteristics Payload • The weight a robot can carry and still remains within its other spec Reach • The maximum distance a robot can reach within its workspace/envelope Accuracy (validity) • How accurately a specified point can be reached Precision/Repeatability (variability) • How accurately the same position can be reached if the motion is repeated many times Robot Applications Machine loading Pick and place operations Welding Painting Inspection Sampling Assembly Operations Manufacturing Surveillance Medical Applications Hazardous environment Underwater and remote locations Social Issues Assisting disabled individuals Law of Robot (Isaac Asimov, 1940s) 1 • A robot may not injure a human being, or, through inaction, allow one to come to harm. 2 • A robot must obey the orders given to it by human beings except where such orders would conflict with the first law. 3 • A robot must protect its own existence if such protection does not conflict with the first or second laws. Roboethics / Machine Ethics • Deals with the code of conduct that robotic designer & engineers must implement in the Artificial Intelligence of a robot. • Who or what is going to be held responsible when or if an autonomous system malfunctions or harms humans? • Sets of robotics applications that is gaining ethical concerns: • Service robots : created to peacefully live and interact with humans. • Lethal robots : created to be sent to fight in the battlefield as military robots. • Medical robots: refers to medicine and health care assisted by robots • Autonomous car/vehicle "although an unmanned system will not be able to perfectly behave in battlefield, it can perform more ethically that human beings.“ (Ronald Arkin, The Ethical Landscape of Robotics) "the cognitive capabilities of robots do not match that of humans, and thus, lethal robots are unethical as they may make mistakes more easily than humans.“ (Noel Shanky, The Ethical Landscape of Robotics) • “Did you think that We had created you in play (without any purpose) and that you would not be brought back to Us?” (Quran 23:115) • “Know that the life of this world is but amusement and diversion and adornment and boasting to one another and competition in increase of wealth and children – like the example of a rain whose [resulting] plant growth pleases the tillers; then it dries and you see it turned yellow; then it becomes [scattered] debris. And in the Hereafter is severe punishment and forgiveness from Allah and approval. And what is the worldly life except the enjoyment of delusion.” (Quran 57:20) • “I have created the jinn and humankind only for My worship.” (Quran, 51:56) Reading materials • The Ethical Landscape of Robotics: http://citeseerx.ist.psu.edu/viewdoc/download? doi=10.1.1.226.4568&rep=rep1&type=pdf • Tzafestas SG. Ethics in robotics and automation: a general view. Int Rob Auto J. 2018;4(3):229234. DOI: 10.15406/iratj.2018.04.00127 • https://link.springer.com/referenceworkentry/1 0.1007/978-3-540-30301-5_65
