robotics sharif in the name of allah. robotics sharif introduction to robotics o leila sharif o...
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Robotics Sharif
In the name of AllahIn the name of Allah
Robotics Sharif
Introduction to RoboticsIntroduction to Robotics
Leila Sharif [email protected]
Lecture #1: The Big Picture
Robotics Sharif
TextbookTextbook
Introduction to Robotics, Analysis, Systems, Applications. Saeed B. Niku Prentice Hall 2003
Robotics Sharif
ReferencesReferences
Modeling and Control of Robot Manipulator, L.Sciavicco and B. Siciliano 2000
Fundamentals of Robotics Analysis and Control , Robert J Schilling 1990
Introduction to Robotics: mechanics and control, John, J. Craig 1989
Robotics and Control, R. K. Mittal, I.J. Nagrath 2004
Fundamentals of Industrial Robots and Robotics, Rex Miller 1988
Robotics Sharif
ScheduleSchedule
Course Structure Class (Sun + Tue 15:00-16:30) 205
Feedback on lectures is welcome any time…
Robotics Sharif
GradingGrading
AssignmentsMidterm examFinal examPresentations Project
Robotics Sharif
What we have?What we have?
LEGO MindStorm setsSome Industrial small Arms in
automation Lab.Walking Humanoid RobotIndustrial Arm in KhordroSimulations
Robotics Sharif
HistoryHistory
In principle humanoid are robots
In this course, we will primarily study industrial manipulator type robot
Robotics Sharif
Industrial RobotsIndustrial RobotsRobots are very powerful elements in today
industryThey can perform many different tasks and
operations precisely and do not require common safety and comfort elements humans need.
Robots have no overwhelmingly replaced workers. They are used where they are useful.
Robotics covers many different areas. They are used together with other devices, peripherals and other manufacturing machines. They are generally integrated to a system to perform a task or do an operation.
Robotics Sharif
Difference of Robot & ManipulatorDifference of Robot & Manipulator
Manipulator (crane) is controlled by a human
Robot manipulator is controlled by a computer that runs a program
Robotics Sharif
Classification of Robots (JIRA)Classification of Robots (JIRA)
Class 1 Manual Handling DeviceClass 2 Fixed Sequence RobotClass 3 Variable Sequence RobotClass 4 Playback RobotClass 5 Numerical Control RobotClass 6 Intelligent Robot
Robotics Sharif
What is RoboticsWhat is Robotics
Art, Knowledge base, the know-how to design, apply and using robot in human endeavors
Consist of not only robots but also other devices and systems to perform the necessary tasks
Robotics Sharif
Robots may be used inRobots may be used in
Manufacturing environmentsUnderwater and space explosionAiding the disabledFun…
Robotics Sharif
Robotics is an interdisciplinary subject of
Robotics is an interdisciplinary subject of
Mechanical engineeringElectrical and electronic engineeringComputer scienceBiology…
Robotics Sharif
Why “robot”? Why “robot”?
The term “robot” comes from Karel Capek’s 1921 play RUR (Rossum’s Universal Robots).
It is most likely a combination of “rabota” (obligatory work) and “robotnik” (serf).
The kind of robotics we will talk about will move far beyond such “obligatory work.”
Robotics Sharif
What is a Robot? What is a Robot?
An intelligent robot is a machine able to extract information from its environment and use knowledge about its world to move safely in a meaningful and purposeful manner.
A robot is a system which exists in the physical world and autonomously senses its environment and acts in it to achieve some goals.
Robotics Sharif
Other Definitions Other Definitions
A robot is a re-programmable, multi-functional, manipulator designed to move material, parts, or specialized devices though variable programmed motions for the performance of a task (Robotics Industry Association)
Robotics is the intelligent connection of perception to action (M. Brady)
Robotics Sharif
Animal-like Robots Animal-like Robots
Robotics Sharif
Unmanned Vehicles Unmanned Vehicles
Robotics Sharif
Advantages of Robots IAdvantages of Robots I
Increase productivity, safety, efficiency, quality and consistency of products
Without the need for life support, comfort or safety
No need lighting, air conditioning and noise protection
Work continuously without fatigue or boredom. Do not get mad, need no medical insurance and vacation
Robotics Sharif
Advantages of Robots IIAdvantages of Robots II
More accurate than humanRobots and their accessories and
sensors are beyond that of humanRobots can process multiple task
simultaneously
Robotics Sharif
Disadvantages of RobotsDisadvantages of Robots
Robots replace human worker create economic problem
Lack capability in response in emergencies, unless the situation is predicted and the response is included in the system
Have limited capabilities in (DOF, Dexterity, Sensors, Vision System, Real time response and ..)
Are costly (Initial cost of equipment, Installation cost, Peripherals, Training, Programming)
Robotics Sharif
Food for Thought Food for Thought
Are exo-skeletons robots? Is HAL a robot? Some intelligent Web agents are
called “softbots”. Are they robots? Most, if not all, of the robots you
build in this class will use reactive control. What more is there?