ROBOTICS ROBOTICS An Introduction An Introduction Basilio Bona 1 - - PowerPoint PPT Presentation

ROBOTICS ROBOTICS

An Introduction An Introduction

Basilio Bona ROBOTICA 03CFIOR 1

What is a robot

According to the Robot Institute of America (1979) a robot is: A reprogrammable, multifunctional manipulator designed to p g f p g move material, parts, tools, or specialized devices through various programmed motions for the performance of a variety of tasks According to Webster Dictionary a robot is: An automatic device that performs functions normally p f f y ascribed to humans or a machine in the form of a human Robots (seen as artificial beings) appeared in books and movies long before real applications movies long before real applications

Basilio Bona 2 ROBOTICA 03CFIOR

What is a robot and what is not

If hi t b bl t t l it li b If a machine appears to be able to control its arms or limbs, and if it appears anthropomorphic or zoomorphic it would be called a robot However simply being anthropomorphic be called a robot. However, simply being anthropomorphic is not sufficient to be called a robot. A robot must do something; an inanimate object shaped like ASIMO would something; an inanimate object shaped like ASIMO would not be considered a robot. Having eyes can also make a difference in whether a machine is called a robot, since , humans instinctively connect eyes with sentience. A player piano is rarely considered as a robot. A player piano is rarely considered as a robot. A zoomorphic mechanical toy is usually characterized as a robot. robot. A factory automation arm is almost always called an industrial robot industrial robot.

Basilio Bona 3 ROBOTICA 03CFIOR

What is a robot and what is not

An autonomous wheeled or tracked device, such as a self‐ guided rover or self‐guided vehicle, is almost always characterized as a mobile robot or service robot. A mechanical humanoid, like ASIMO, is almost always characterized as a robot, usually as a service robot. A CNC milling machine is very occasionally considered as a robot. Even for a 3‐axis CNC milling machine using the same control system as a robot arm, it is the arm which is almost always called a robot, while the CNC machine is usually just a machine.

Basilio Bona 4 ROBOTICA 03CFIOR

Basilio Bona 5 ROBOTICA 03CFIOR

What is a robot

Robots are artificial beings with autonomy. Two types of artificial beings exist:

Those that include biological material or parts capable of auto‐

• rganization

Those that do not contain any biological parts

Robots discussed in this course belong to the second type; they do not contain biological parts, but they may be able to

Act or move autonomously in a (partially) known environment Interact with humans Cooperate with other robots to execute specific tasks Learn from a teacher or from their experience

Basilio Bona 6 ROBOTICA 03CFIOR

What is a robot

A h i l t t i l di A mechanical structure, including

Manipulation structures (e.g., mechanical arms, artificial h d i t ) hands, grippers, etc.) Locomotion equipment (e.g., wheels, tracks, propellers, etc.)

An actuating system, for the movement of the mechanical t t ( t f diff t t ) structure (motors of different types) A sensing systems, including

Proprioceptive sensors, to collect internal state information (e.g., position, speed, battery charge, memory usage) Exteroceptive sensors to collect data from the environment ( id l f /t ) (e.g., video cameras, laser scanners, force/torque sensors)

Basilio Bona 7 ROBOTICA 03CFIOR

What is Robotics?

The term robotics robotics was introduced by Isaac Asimov in one

• f his short stories as the science devoted to the study of
• f his short stories as the science devoted to the study of

robots, based on the three fundamental laws:

• 1. A robot may not injure a human being or, through inaction,

allow a human being to come to harm g

• 2. A robot must obey the orders given by human beings, except
• 2. A robot must obey the orders given by human beings, except

when such orders would conflict with the first law

• 3. A robot must protect its own existence, as long as such

protection does not conflict with the first or the second law

Basilio Bona 8 ROBOTICA 03CFIOR

What is Robotics?

Robotics is the science that studies robots and the technology embedded into them. Robotics started to develop during WWII, within the p g , Manhattan project, with the task of manipulating radioactive materials. Today the number of robotic applications is huge, but they y pp g , y belong to three generic areas

Industrial robotics Service robotics Space/exploration robotics Space/exploration robotics

Basilio Bona 9 ROBOTICA 03CFIOR

Industrial Robotics

Objectives: to achieve high‐quality and cost‐effective flexible manufacturing and logistics in all major industrial branches Gradually, these future robots will become the workers’ assistants serving them at the workplace. They will carry out the repetitive and strenuous parts of a y y p p f worker’s task and will increasingly safeguard workers from accidents and other relevant health care problems, thus alleviating the concerns of rising health care costs, particularly for small manufacturers.

Basilio Bona 10 ROBOTICA 03CFIOR

Examples

Basilio Bona 11 ROBOTICA 03CFIOR

Service Robotics

Objectives: service robots will probably be found in all d i f f t ld Th t t l domains of our future world. They represent not only a hope for a more convenient life, but also a massive new market for high technology industries market for high technology industries. S i b ti ff i ifi t t iti f Service robotics offers significant opportunities for European industry. It can be conveniently divided into market segments that handle very different situations market segments, that handle very different situations.

Basilio Bona 12 ROBOTICA 03CFIOR

Market segments Cleaning & Housekeeping Lawn Mowers Surveillance Edutainment Humanoids Surveillance Medical Applications Mi i A li ti Humanoids Humanitarian Demining Mining Applications Construction Rehabilitation Inspection Automatic Refilling Guides & Office Agriculture & Harvesting Industry Guides & Office Fire Fighters Pi ki & P ll ti i Industry Search & Rescue Picking & Palletising Food

Basilio Bona 13 ROBOTICA 03CFIOR

Examples

Basilio Bona 14 ROBOTICA 03CFIOR

Space Robotics

The application of robotics in space is unique in that it forces the robot to operate without direct human assistance and acts as a l f f h j i f h bili i d platform for the projection of human capabilities to remote and hostile environments. Robotic applications in space fall into two categories: assembly/repair in space and planetary exploration: categories: assembly/repair in space and planetary exploration:

• Assembly & Repair in Space

Assembly & Repair in Space

• Space‐based robotic manipulators provide the basis for on‐orbit servicing
• f satellites, through the replacement of equipment modules.
• Planetary Exploration

Planetary Exploration

• R b t

ill b th l i t t f t t Th ill

• Robots will become the personal assistants of astronauts. They will
• perate on distant planets, using high level directives, responding to and

interacting with humans. They will be our agents of planetary surface and deep space exploration, handling the repetitive and time‐consuming tasks of data collection and data reduction. Teams of robots will survey vast regions, and will classify geological features and formations and search for evidence of life.

Basilio Bona 15 ROBOTICA 03CFIOR

Examples

Basilio Bona 16 ROBOTICA 03CFIOR

Conclusions ...

Robotics is a multidisciplinary field, encompassing

mechanics (structures, etc.) electronics (sensors, actuators, control boards, etc.) electrical engineering (motors, drives, power sources, etc.) information technologies (algorithms, OS, AI, etc.) advanced control & communication

but also …

material sciences and nanotechnology material sciences and nanotechnology cognitive sciences, neurosciences human‐machine interfaces human machine interfaces ergonomy, safety biomimesis ethology biomimesis, ethology

Basilio Bona 17 ROBOTICA 03CFIOR