Robotics: an introduction
Prof. Ranjit Kumar Barai
Department of Electrical Engineering
Jadavpur University
E-mail: [Link]@[Link]
Definition
• The word robot originated from the Czech word “robota”, meaning
“work”.
• Until now, hundreds of definitions for industrial robots or
manipulators have appeared in the literature.
• Robotic Institute of America (RIA) has given a very precise definition
of industrial robot or manipulator as:
“A robot is a reprogrammable multi-functional manipulator designed to
move materials, parts, tools, or specialized devices, through variable
programmed motions for the performance of a variety of tasks”.
• In International Standards ISO 8373-2021 defines a robot as:
“programmed actuated mechanism with a degree of autonomy to
perform locomotion, manipulation or positioning”.
• A very comprehensive definition of robots, covering a wide range and
class of robots, has been given in Latombe JC (1991) as:
“A robot is a versatile mechanical device – for example, a manipulator
arm, a multi-joint multi-fingered hand, a wheeled or legged vehicle, a
free-flying platform, or a combination of these – equipped with
actuators and sensors under the control of a computing system. It
operates in the workspace within the real world. This workspace is
populated by physical objects and is subject to the laws of nature. The
robot performs tasks by executing motions in the workspace”.
[Latombe JC (1991) Robot motion planning. Kluwer Academic Publishers, Massachusetts]
As per these definitions, a robot must possess:
(1) a versatile and multifunctional mechanical structure and
mechanism;
(2) automatic motion control system comprising of actuator, sensor,
computing element, and control law or algorithm;
(3) reprogrammable to change the control law as and when required;
(4) intelligence to interact with the environment, human, or other
robot, for autonomous operation.
Purpose of Robots
• Dirty tasks
• Repetitive tasks
• Dangerous tasks
• Impossible (for human) tasks
• Assisting handicapped and aged
• Getting higher precision than human workers
• Cheaper operation on a long term basis
Applications
Different Types of Robots
Various Building Blocks of Robots
• Robot Mechanism and Mechanical Structure
• Actuators and Drivers
• Sensors
• Controllers
• Computing Elements
• Signal Conditioning and Computer Interfacing Blocks
• User Interface and Programmer
Laws of Robotics:
Evolution Towards Industrial Robots:
The First Industrial Robot:
Few Old Industrial Robots:
Robotics Work Cell and Industrial Applications:
Robot End Effector, Sensors and Tools:
Robot Work Space:
Man- Machine Interface:
Programming and
Control Environment:
Safety Concerns and Standards:
ISO 10218:2011 and U.S.-adopted ANSI/RIA R15.06-2012 safety
standards have been globally harmonized and identify four types of
human-robot collaborative operations:
1. Safety-rated monitored stop
2. Hand guiding
3. Speed and separation monitoring
4. Power and force limiting
Collaborative operation must satisfy at least one of these criteria
to meet the standards.
ISO TS (Technical Specification) 15066 is in process. It is about
collaborative robots and their use. It will also provide guidance on
speed and separation monitoring, including determining the minimum
separation distance and establishing maximum safe speed.
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Role of Impedance Control in Human-Robot
Collaboration:
• Human and robot have complementary capabilities.
• Their collaboration is essential in many situations.
• The design and analysis of their interactive behavior is challenging
due to the need to consider not only stability, but also safety and
intuitiveness.
• Humans, having better situational awareness and decision-making
skills, should always lead, while robots should always yield and assist
humans in tasks requiring high precision and strength.
20
Robot Standards