Introduction to Robotics
Dr. Hesheng Wang
Associate Professor
Department of Automation
Email: wanghesheng@sjtu.edu.cn
Phone number: 34207252
Course Information –
Textbook

Textbook:

Modelling and Control of
Robot Manipulators (Second
Edition), L. Sciavicco and B.
Siciliano, Springer-Verlag,
London, 2000.

Robotics: Modelling Planning
and Control, B. Siciliano,L.
Sciavicco,L. Villani,G. Oriolo,
Springer-Verlag, London, 2008.
Course Information –
Literature

中文参考书

机器人学导论 (原书第3
版) (美) John J. Craig著,
贠超 等译, 机械工业出版
社, 2006.
Course Information –
Contents

Modeling

Control
•
Trajectory planning
Differential kinematics
•
Motion control
•
Direct / Inverse kinematics
•
Hardware/software
•
Dynamics
•
Kinematics
•
architecture
Course Information –
Software tools
• Robotics Toolbox for MATLAB by Peter I.
Corke
– http://petercorke.com/Robotics_Toolbox.html
Course Information –
Examination
Course attendance
 Quiz
 Lab experiments
 Course projects


Presentation and report
(10%)
(10%)
(30%)
(50%)
Lecture 1: Introduction

Robotics

Industrial Robot

Manipulator Structures

Modeling and Control of Robot Manipulators
Robotics

History of Robotics

General Framework of Robotics

Classification of Robot
（ Robot）
History of Robotics
Date
Significance
First
century
A.D.
and
earlier
Descriptions of more than 100 machines and
automata, including a fire engine, a wind organ, a
coin-operated machine, and a steam-powered
engine, in Pneumatica and Automata by Heron of
Alexandria
Robot Name Inventor
Ctesibius, Philo of
Byzantium, Heron of
Alexandria, and others
1206
First programmable humanoid robots
Boat with four
robotic
musicians
c. 1495
Designs for a humanoid robot
Mechanical
knight
Leonardo da Vinci
1738
Mechanical duck that was able to eat, flap its
wings, and excrete
Digesting Duck
Jacques de Vaucanson
1800s
Japanese mechanical toys that served tea, fired
arrows, and painted
Karakuri toys
Tanaka Hisashige
Al-Jazari
History of Robotics
1921
First fictional automatons called “robots” appear in
the play R.U.R.
Rossum’s
Universal Robots
Karel Čapek
1930s
Humanoid robot exhibited at the 1939 and 1940
World’s Fairs
Elektro
Westinghouse
Electric
Corporation
1948
Simple robots exhibiting biological behaviors[4]
Elsie and Elmer
William Grey
Walter
1956
First commercial robot, from the Unimation
company founded by George Devol and Joseph
Engelberger, based on Devol’s patents[5]
Unimate
George Devol
1961
First installed industrial robot
Unimate
George Devol
1963
First palletizing robot[6]
Palletizer
Fuji Yusoki Kogyo
1973
First industrial robot with six electromechanically
driven axes[7]
Famulus
KUKA Robot
Group
1975
Programmable universal manipulation arm, a
Unimation product
PUMA
Victor Scheinman
History of Robotics
The word robot was introduced to the public by
Czech writer Karel Čapek in his play R.U.R.
(Rossum’s Universal Robots), which premiered
in 1921.
The word robotics was first used in print by
Isaac Asimov, in his science fiction short story
“Liar!“, published in May 1941 in Astounding
Science Fiction. Asimov was unaware that he
was coining the term; since the science and
technology of electrical devices is electronics,
he assumed robotics already referred to the
science and technology of robots.
History of Robotics
Three Laws of Robotics:
* Law One: A robot may not injure a human being, or, through
inaction, allow a human being to come to harm.
* Law Two: A robot must obey orders given it by human beings,
except when such orders would conflict with the first law.
* Law Three: A robot must protect its own existence, as long as
such protection does not conflict with the first or second law.
History of Robotics
early robots (1940's - 50's)
Grey Walter's "Elsie the
tortoise"
"Shakey"
Stanford Research
Institute in the
1960s.
The General Electric Walking
Truck the first legged vehicle
with a computer-brain, by Ralph
Moser at General Electric Corp.
in the 1960s.
History of Robotics
The first modern industrial
robots were probably the
"Unimates", created by
George Devol and Joe
Engleberger in the 1950's
and 60's. Engleberger
started the first robotics
company, called
"Unimation", and has been
called the "father of
robotics."
History of Robotics
Isaac Asimov and Joe Engleberger
(image from Robotics Society of America web site)
History of Robotics
EXPLORATION
People are interested in places that are
sometimes full of danger, like outer
space, or the deep ocean. But when they
can not go there themselves, they make
robots that can go there. The robots are
able to carry cameras and other
instruments so that they can collect
information and send it back to their
human operators
History of Robotics
INDUSTRY
When doing a job, robots can do
many things faster than
humans. Robots do not need to
be paid, eat, drink, or go to the
bathroom like people. They can
do repetative work that is
absolutely boring to people and
they will not stop, slow down, or
fall to sleep like a human.
History of Robotics
MEDICINE
Sometimes when operating,
doctors have to use a robot
instead. A human would not be
able to make a hole exactly one
100th of a inch wide and
long. When making medicines,
robots can do the job much faster
and more accurately than a
human can. Also, a robot can be
more delicate than a human.
History of Robotics
MEDICINE
Some doctors and engineers are also developing prosthetic (bionic)
limbs that use robotic mechanisms.
History of Robotics
MILITARY and POLICE
Police need certain types of robots for
bomb-disposal and for bringing video
cameras and microphones into dangerous
areas, where a human policeman might
get hurt or killed. The military also uses
robots for (1) locating and destroying
mines on land and in water, (2) entering
enemy bases to gather information, and
(3) spying on enemy troops.
History of Robotics
TOYS
The new robot technology is making
interesting types of toys that children will
like to play with. One is the "LEGO
MINDSTORMS" robot construction
kit. These kits, which were developed by
the LEGO company with M.I.T. scientists,
let kids create and program their own
robots. Another is "Aibo" - Sony
Corporation's robotic dog.
Robot Videos
•
Bigdog
•
SONY Humanoid robot
•
HRP-4C Humanoid robot
General Framework of
Robotics
Robotics is the science studying the intelligent
connection of perception to action
• Action: mechanical system (locomotion & manipulation)
• Perception: sensory system (proprioceptive & heteroceptive)
• Connection: control system
Robotics is an interdisciplinary subject concerning mechanics,
electronics, information theory, automation theory.
Classification of Robotics

Advanced Robot
autonomous execution of missions in unstructured or scarce

Industrial Robot
Classification of Robotics
• Class 1: Manual Handling Device
• Class2: Fixed-Sequence Robot
• *Class3: Variable Sequence Robot
• Class4: Playback Robot
• Class5: Numerical Control Robot
• *Class6: Intelligent Robot
JIRA:Japanise Industrial Robot Association RIA: The Robotics Instute of
America
Classification of Robotics
• Type A: Handling Devices with manual control
• Type B: Automatic Handling Devices with predetermined
cycles
• Type C: Programmable, servo controlled robots
• Type D: Type C with interactive with the environment
AFR: The Association Francaise de Robotique
Industrial Robot

Automation & Robot

Application of Industrial Robot

Components of Industrial Robot
Types of Automated
Manufacturing Systems
Rigid ( or Fixed ) Automation
• High initial investment for custom-engineered
equipment
• High production rates
• Relatively inflexible in accommodating product
variety
Types of Automated
Manufacturing Systems
Programmable Automation
• High investment in general purpose equipment
• Lower production rates than fixed automation
• Flexibility to deal with variations and changes in
product configuration
• Most suitable for batch production
Types of Automated
Manufacturing Systems
Flexible Automation
• High investment for a custom-engineered system
• Continuous production of variable mixtures of
products
• Medium Production Rates
• Flexibility to deal with product design variations
Automation Application
Hierarchical Structure of
Automation
Definition of an Industrial
Robot
A robot is a re-programmable multifunctional
manipulator designed to move material, parts,
tools, or specialized devices through variable
programmed motions for the performance of
a variety of tasks.
Robot Institute of America
(Group within Society of Manufacturing Engineers)
Industrial Robot Manufacturers
•ABB Robotics, Swiss/Swedish company
•KUKA Robotics, German company.
•Adept Technology, SCARA robots and more.
•Motoman, a Yaskawa company (Japanese)
•Fanuc, a Japanese company
Industrial Robot Examples
Vertical articulated type
Gantry type
Parallel type
SCARA type
Double arm type
World Supply of Robots
• World total: 114,365 units, up 3% on 2006
• World total stock of operational industrial robots: 995,000 units, 5% greater than
2006
• Robot investment is still booming in China, the third largest Asian robot market, with
6,600 units supplied in 2007, an increase of 14% on the previous year.
• Total worldwide stock of operational industrial robots at the end of 2007 between a
minimum of 994,000 units and a possible maximum of 1,200,000 units
World Robotics 2008
World Supply of Robots
World Robotics 2008
World Supply of Robots
•Service robots:
•professional service
robots (things like
bomb-disposal bots,
surgical systems,
milking robots)
•personal service
robots (vacuum
cleaners, lawn mowers,
all sorts of robot
hobby kits and toys).
World Robotics 2008
Typical Applications

Material handling

Manipulation

Measurement
Packaging
Palletizing
Cutting
Arc welding
Measurement
Advantages of Robots
• Robotics and automation can, in many situation, increase
productivity, safety, efficiency, quality, and consistency of products
• Robots can work in hazardous environments
• Robots need no environmental comfort
• Robots work continuously without any humanity needs and
illnesses
• Robots have repeatable precision at all times
• Robots can be much more accurate than humans, they may have
mili or micro inch accuracy.
• Robots and their sensors can have capabilities beyond that of
humans
• Robots can process multiple stimuli or tasks simultaneously,
humans can only one.
• Robots replace human workers who can create economic problems
Current Industrial Robots





are not creative or innovative,
no capability to think independently,
cannot make complicated decisions,
do not learn from mistakes
cannot adapt quickly to changes in their
surroundings
We must depend on real people for these abilities!
Components of Industrial
Robot

Mechanical structure or manipulator

Actuator

Sensors

Control system
Manipulator Structures

Mechanical components

Mechanical configurations
Mechanical Components

Robots are serial “chain” mechanisms made
•
•

“links” (generally considered to be rigid), and
“joints” (where relative motion takes place)
Joints connect two links
•
Link 0 - Joint 1 - Link 1 - Joint 2 - Link 2-
“Degrees of Freedom”
Degrees of freedom (DoF) is the number
of independent movements the robot
is capable of
 Ideally, each joint has exactly
one degree of freedom

•
degrees of freedom = number of joints
Industrial robots typically have 6 DoF,
 but 3, 4, 5, and 7 are also common

Types of Joints
Although there are a few other types,
most current industrial robots use
one of two types of joints:

•
•
Prismatic or Translational (also called Linear), an
Revolute or Rotational
Prismatic Joints
Prismatic (Translational, Linear, Rectilinear)
joints allow motion along a straight line
between two links

Link 2
Link 1
Revolute (Rotational) joints allow motion
along a circular arc between two links

Link 1
Link 2
Relative Motion
provided by
Revolute Joint
Mechanical Configurations
Industrial robots are categorized by the
first three joint types
 Five different robot configurations:

•
•
•
•
•
Cartesian (or Rectangular),
Cylindrical,
Spherical (or Polar),
Jointed (or Revolute), and
SCARA
Cartesian Configuration

All three joints are
prismatic (PPP)
Commonly used for
positioning tools,
such as dispensers,
cutters, drivers, and
routers
Cartesian Configuration
Often highly customizable,
with options for X, Y, Z
lengths
 Payloads and speeds vary
based on axis length and
support structures
 Simple kinematic
equations

Robot Workspace
Workspace is the volume of space
reachable by the end-effector mount
 Everywhere a robot reaches must be
within this space
 Tool orientation and size also important!

Cartesian Workspace


Easiest workspace to compute and visualize
Generally a simple “box” with width (X travel),
depth (Y travel), and height (Z travel)
Gantry Robot

A gantry robot is a special type of
Cartesian robot
Y
X
Z
Gantry Robot

Vary widely in size, workspaces from
“breadloaf” size to several cubic meters
Characteristics of Cartesian
Robots
• Advantages:




easy to visualize
have better inherent
accuracy than most
other types
easy to program offline
highly configurable get the size needed
• Disadvantages:





not space efficient
external frame can be
massive
Z axis “post” frequently
in the way
Axes hard to seal
Can only reach in front
of itself
Cylindrical Configuration

First joint is revolute
(rotation) Next two
joints are prismatic
(RPP)
Cylindrical Configuration
Vertical Z axis is located
inside the base
 Compact end-of-arm
design that allows the
robot to "reach" into tight
work envelopes without
sacrificing speed or
repeatability

Cylindrical Design Robot
Cylindrical Workspace

Another “easy” workspace to compute
and visualize
Characteristics of Cylindrical
Robots
• Advantages:




large workspace for
size
easily computed
kinematics
can reach all around
itself
reach and height
axes rigid
• Disadvantages:



cannot reach above
itself
horizontal axis
frequently in the way
largely fallen “out of
favor” and not
common in new
designs
Spherical Configuration

First two joints are
revolute (rotation)
Last joint is prismatic
(RRP)
Spherical Configuration
One of the earliest
common robot designs
(original UniMate)
 Used in a variety of
industrial tasks such as
welding and material
handling

Spherical Design Robots
Spherical Workspace
Workspace
shaped like
parts of
“orange peel”
 Harder to
compute and
visualize

Spherical Workspace
Characteristics of Spherical
Robots
• Advantages:


large workspace for
size
easily computed
kinematics
• Disadvantages:



has short vertical
reach
horizontal axis
frequently in the way
also fallen “out of
favor” and not
common in new
designs
Anthropomorphic Configuration
First three joints are
revolute or
rotational (RRR)
 Easily the most
common type of
modern robot

Anthropomorphic Configuration
Suitable for a wide
variety of industrial
tasks, ranging from
welding to assembly
 Often called an
anthropomorphic arm
because it resembles a
human arm

Anthropomorphic Configuration

Anthropomorphic association extends to
names of the links & joints
Joint 3 - “Elbow”
Joint 2 - “Shoulder”
Joint 1 - “Waist”
Anthropomorphic Configuration

Anthropomorphic association extends to
names of the links & joints
Link 3 - “Forearm”
Link 2 - “Upper Arm”
Link 1 - “Trunk”
Anthropomorphic Configuration

Very hard to compute and visualize
Characteristics of
Anthropomorphic Robots
• Advantages:



excellent reach for size
can reach above or
below obstacles
characteristics similar
to human arm
large workspace for
size
• Disadvantages:




complicated kinematics
difficult to program offline
workspace difficult to
visualize & compute
small errors in first few
joints are amplified at
end-effector
KUKA KR 1000 titan


The KR 1000 titan is the strongest and
biggest 6-axis robot available on the
market.
Loads



Workspace




Payload : 1000 kg
Supplementary load: 50 kg
Max. reach: 3202 mm
Number of axes: 6
Repeatability: <±0.2 mm
Weight: 4950 kg
KUKA KR 1000 titan
Workspace (mm)
SCARA Configuration
First two links are
revolute, last link is
prismatic (RRP)
 SCARA stands for
Selective Compliance
Assembly Robot Arm

SCARA Configuration
Rigid in the vertical
direction
 Compliant in the
horizontal direction
 Used for assembly in
a vertical direction

•
circuit board
component insertion
SCARA Workspace




Workspace shaped
somewhat like a
donut
maximum outer
radius
minimum inner
radius
uniform height
Adept Cobra s350
Characteristics of SCARA
Robots
• Advantages:




• Disadvantages:
fast cycle times

excellent repeatability 
good payload capacity
large workspace

height axis is rigid

hard to program off-line
often limited to planar
surfaces
typically small with relatively
low load capacity
two ways to reach same
point
Robot Arms & Wrists

Most robot arms have 3 “degrees of freedom”
•

can position the end of the arm at “any” point in 3D space
Robot “wrists” also have 3 “degrees of
freedom”
•
•
usually all revolute / rotational joints
used to provide the final orientation to the “gripper”
or “end-effector”
Roll - Pitch - Roll Wrist
Three main degrees of freedom Can have problems when the
first “roll” axis aligns
with the last “roll” axis
Wrist
Yaw - Pitch - Roll Wrist
Knowledgebase for Robotics
•Typical knowledgebase for the design and operation of robotics
systems
–Dynamic system modeling and analysis
–Feedback control
–Sensors and signal conditioning
–Actuators and power electronics
–Hardware/computer interfacing
–Computer programming
Disciplines: mathematics, physics, biology,
mechanical engineering, electrical engineering,
computer engineering, and computer science
Key Components
Power conversion
unit
Sensors
Actuators
Controller
User interface
Manipulator
linkage
Base
Robot Base: Fixed v/s Mobile
Robotic manipulators used in
manufacturing are examples of
fixed robots. They can not
move their base away from the
work being done.
Mobile bases are typically
platforms with wheels or tracks
attached. Instead of wheels or
tracks, some robots employ
legs in order to move about.
Robot Mechanism: Mechanical Elements
Gear, rack, pinion, etc.
Inclined plane wedge
Cam and Follower
Chain and sprocket
Lever
Slider-Crank
Linkage
Sensors: I
•Human senses: sight, sound, touch, taste, and
smell provide us vital information to function and
survive
•Robot
sensors:
configuration/condition and
send such information to
electronic signals (e.g., arm
toxic gas)
measure
robot
its environment and
robot controller as
position, presence of
Accelerometer
Using Piezoelectric Effect
•Robots often need information that is beyond 5
human senses (e.g., ability to: see in the dark,
detect tiny amounts of invisible radiation, measure
movement that is too small or fast for the human
eye to see)
Flexiforce
Sensors: II
Vision Sensor: e.g., to pick
bins, perform inspection, etc.
Part-Picking: Robot can handle
work pieces that are randomly
piled by using 3-D vision sensor.
Since alignment operation, a
special parts feeder, and an
alignment pallete are not
required, an automatic system
can be constructed at low cost.
In-Sight Vision
Sensors
Sensors: III
Force Sensor: e.g.,
parts
fitting
and
insertion,
force
feedback in robotic
surgery
Parts fitting and insertion:
Robots can do precise fitting and
insertion of machine parts by
using force sensor. A robot can
insert parts that have the phases
after matching their phases in
addition to simply inserting them.
It can automate high-skill jobs.
Sensors: IV
Infrared Ranging Sensor
Example
KOALA ROBOT
•6 ultrasonic sonar transducers to explore wide, open areas
•Obstacle detection over a wide range from 15cm to 3m
•16 built-in infrared proximity sensors (range 5-20cm)
•Infrared sensors act as a “virtual bumper” and allow for
negotiating tight spaces
Actuators: I
• Common robotic actuators utilize combinations of
different electro-mechanical devices
–
–
–
–
–
Synchronous motor
Stepper motor
AC servo motor
Brushless DC servo motor
Brushed DC servo motor
http://www.ab.com/motion/servo/fseries.html
Actuators: II
Hydraulic Motor
Pneumatic
Motor
Pneumatic
Cylinder
DC Motor
Stepper Motor
Servo Motor
Controller

Provide necessary intelligence to control the
manipulator/mobile robot
 Process the sensory information and compute
the control commands for the actuators to
carry out specified tasks
Controller Hardware: I
Storage devices: e.g., memory to store the
control program and the state of the robot
system obtained from the sensors
Controller Hardware: II
Computational engine that computes the
control commands
RoboBoard Robotics Controller
BASIC Stamp 2
Module
Controller Hardware: III
Interface units:
Hardware to interface digital
controller with the external world (sensors and
actuators)
Operational Amplifiers
Analog to Digital
Converter
LM358
LM358
LM1458 dual operational amplifier
Industries Using Robots
•Agriculture
•Automobile
•Construction
•Entertainment
•Health care: hospitals, patient-care, surgery ,
research, etc.
•Laboratories: science, engineering , etc.
•Law enforcement: surveillance, patrol, etc.
•Manufacturing
•Military: demining, surveillance, attack, etc.
•Mining, excavation, and exploration
•Transportation: air, ground, rail, space, etc.
•Utilities: gas, water, and electric
•Warehouses
What Can Robots Do?
Industrial Robots
•Material handling
•Material transfer
•Machine loading and/or
unloading
•Spot welding
•Continuous arc welding
•Spray coating
•Assembly
•Inspection
Material Handling
Manipulator
Assembly
Manipulator
Spot Welding
Robots in Space
NASA Space Station
Robots in Hazardous Environments
TROV in Antarctica
operating
under
water
HAZBOT operating in
atmospheres containing
combustible gases
Medical Robots
Robotic assistant for
micro surgery
Robots at Home
Sony SDR-3X Entertainment Robot
Sony Aido
Future of Robots: I
Artificial Intelligence
Cog
Kismet
Future of Robots: II
Autonomy
Robot Work Crews
Garbage Collection
Cart
Future of Robots: III
Humanoids
HONDA Humanoid Robot
Four Legged Hexapod
Audio Enabled Hexapod
Metal Mine Surveyor
RoboVac
Assignment
Use the web to research the different
manufacturers and types of industrial
robots available.
Review linear algebra and mechanics