Artificial Intelligence
Dr Abhishek Mukhopadhyay
Assistant Professor, Amity University
(Ex Manager, Ashok Leyland || PostDoc, IISc)
Copyright: Dr Abhishek Mukhopadhyay
Module V : Introduction to
Robotics
Copyright: Dr Abhishek Mukhopadhyay
Introduction
• Robotics is the interdisciplinary field focused
on the design, construction, operation, and
use of robots for performing tasks
autonomously or semi-autonomously
• Key Concepts
• Robot = Mechanical structure + Sensors +
Actuators + Control System
• Autonomous Robot: Operates with
minimal human intervention
• Industrial Robot: Repetitive and precise
work in factories
• Service Robot: Performs human-assisting
tasks (e.g., healthcare, delivery)
Copyright: Dr Abhishek Mukhopadhyay
Type of Robots
Collaborative Robots
Slime/Soft Robot
Self-driven Robot
Copyright: Dr Abhishek Mukhopadhyay
Historical Mention of Robots
• Heron of Alexandria built many remarkable practical inventions
including the Wind-powered organ
• During First BCE, middle eastern civilization excelled in in
making automated mechanical and hydraulic systems
• One of first verified humanoid automaton was designed by
Leonardo Da Vinci
Copyright: Dr Abhishek Mukhopadhyay
Human and
Robots
• Co-existence of robots and human
in terms of enhancing safety and
productivity (CoBot)
• “An apparatus and method for direct
physical interaction between a
person and a general purpose
manipulator controlled by a
computer” - J. Edward Colgate and
Michael Peshkin, professors at
Northwestern University, 1996
Copyright: Dr Abhishek Mukhopadhyay
Architecture of Robot
Component Description
Links, joints, and actuators
Mechanical Unit
(e.g., motors, gears)
Vision, proximity, force
Sensor Unit
sensors
Microcontroller, CPU,
Control Unit
decision logic
Power Unit Battery, power supply
Programming, AI models,
Software Unit
feedback control
Copyright: Dr Abhishek Mukhopadhyay
Robot Kinematics: Position Analysis
• Kinematics
• Study of motion without considering
forces
• Forward Kinematics (FK)
• Computes end-effector position from
known joint parameters
• Example: Given angles of a robotic arm’s
joints, calculate hand location
• Inverse Kinematics (IK)
• Computes joint parameters to reach a
desired position
• Often complex and may have multiple
solutions or none
Copyright: Dr Abhishek Mukhopadhyay
Robot Kinematics: Position Analysis
Parameters Forward Kinematic Model Inverse Kinematic Model
Known Link and Joint variables Position and Orientation of End
effector
Unknown Position and Orientation of End Link and Joint variable
effector
Copyright: Dr Abhishek Mukhopadhyay
Copyright: Dr Abhishek Mukhopadhyay
Forward
Kinematics (Using • Please check the link:
Homogeneous [Link]
ARx1n8EFa9CikRVrDosJH1OdIl/view?us
Transformation) p=sharing
Trajectory Planning
1 2 3 4
Task planning – Path planning – Trajectory planning – Trajectory following –
Designing a set of high- Generating a feasible Generating a time Once the entire
level goals, such as “go path from a start point schedule for how to trajectory is planned,
pick up the object in to a goal point. A path follow a path given there needs to be a
front of you” usually consists of a constraints such as control system that can
set of connected position, velocity, and execute the trajectory
waypoints acceleration, obstacles in a sufficiently
accurate manner
Copyright: Dr Abhishek Mukhopadhyay
Task Space vs. Joint Space
• Task space means the waypoints and
interpolation are on the Cartesian pose
(position and orientation) of a specific
location on the manipulator – usually the
end effector
• Joint space means the waypoints and
interpolation are directly on the joint
positions (angles or displacements,
depending on the type of joint)
Task space vs. Joint Space Trajectory
Source: MathWorks
Trajectory Planning in Robotics
• Trajectory Planning is the process of
determining the path a robot should
follow to reach a goal while
optimizing criteria such as speed,
smoothness, and obstacle avoidance
• Types
• Joint space trajectory:
Movement in terms of joint
angles
• Cartesian space trajectory:
Movement in terms of position
and orientation
Copyright: Dr Abhishek Mukhopadhyay
Copyright: Dr Abhishek Mukhopadhyay
Trajectory Planning for Robot Manipulators
Tasks
Task
planning
• Part of motion planning
• Path: A set of points that links a
start and goal (pose only) Path
vs planning
• Trajectory : Scheduled motion to
follow, including time information
(pose, speed, acceleration) Trajectory
planning
Low-level
control
Joint Space vs Task Space
Trajectories
• Task Space
• Trajectory interpolated in task space
• Inverse kinematics solved every time step
• Joint Space
• Inverse kinematics solved only at
waypoint
• Joint positions interpolated in between
Copyright: Dr Abhishek Mukhopadhyay
Methods
• Pre-programming: Blind specification in task space
• Robot can easily collide with its surroundings
• Teach points: Jog robot using pendant, save points in memory
• Robot should take same path each time
• Motion planning algorithms: Use joint space with potential fields or
sample-based methods
• Robot can avoid or approach objects in environment
Copyright: Dr Abhishek Mukhopadhyay
Procedures
1. Identify the obstacles
2. Identify end effector poses
3. Connect points smoothly
• If objects to avoid/approach are static, then poses can be hard-coded
• If objects move, then the poses must be calculated / updated using
potential fields
Copyright: Dr Abhishek Mukhopadhyay
Connect Points smoothly
• Methods
• Quintic polynomials – a polynomial of fifth degree (task or joint space)
• Roll, pitch, yaw and translation
• Rotation interpolation (task space)
• SLERP: Spherical liner interpolation (joint space)
• All can be used; just switch between task and joint space using transformations
Copyright: Dr Abhishek Mukhopadhyay
• Hands on experience on training and
evaluating on numerical and image
datasets
• Basics of NLP
• Steps in NLP
• Lexical analysis
Take Away • Hands on
• Syntactic Analysis
Points • Parts of Speech Tagging
• Phrase Structuring Rules
• Dependency Parsing
• Semantic Analysis
• Transition Networks
• Type of Transition Networks
Copyright: Dr Abhishek Mukhopadhyay