chapter 12 law and class robot

Robotic & Automation

By

Abd Samad Hanif

Chapter 12

• Laws of Robotic

• Classification of Robotic and

Automation

• Types of Robotic and Automation

• Selection of robot

By : Abd Samad Hanif , Faculty of Technical and Vocational Education

• Laws of Robotic

• Robot and Automation

Classification

• Robot and Automation

Component / Element

• Task in Each Component

• Technology Level

Learning Outcomes

Faculty of Technical and

Vocational Education

• Robot (a Slavic word for worker) was first introduced

in 1921 in a play by the Czech playwright, Karel

Čapek.

• The use of the word Robot was introduced into his play

R.U.R. (Rossum's Universal Robots) which opened in

Prague in January 1921.

• The word 'robotics' was first used in Runaround, a

short story published in 1942, by Isaac Asimov (born

Jan. 2, 1920, died Apr. 6, 1992). I, Robot, a collection

of several of these stories, was published in 1950.



Three Laws of Robotics:

• This law was Introduce by Isaac Asimov

• He is a professor of biochemistry

interested in academics writing and best

known for his works of science fiction

and for his popular science books.

• Having written or edited more than 500

books and an estimated 9,000 letters and

postcards • Examples , Liar (1941) I Robot (1950), and Robot

Visions (1990). Run around (1950), The Foundation

Trilogy (1951-52), and Foundation's Edge (1982)

witch won the award Hugo and Nebula. The

Complete Robot series (1982),

•Asimov suggested 3 “rules of Robot" witch known as “Zeroth law" in

Science fiction short story magazine known as Run around (1950)

Isaac Asimov



http://en.wikipedia.org/wiki/Biochemistry

http://en.wikipedia.org/wiki/Science_fiction

http://en.wikipedia.org/wiki/Popular_science

http://en.wikipedia.org/wiki/Postcard

http://en.wikipedia.org/wiki/Robot_Visions

http://en.wikipedia.org/wiki/Robot_Visions

http://en.wikipedia.org/wiki/The_Complete_Robot

http://en.wikipedia.org/wiki/The_Complete_Robot

The Law of Robot (1942) Law One : A robot may not injure a human being, or,

(zeroth law) through inaction, allow a human being to come to harm,unless this would violate (break) a higher order law.(Liar 1941)

Law Two : A robot must obey orders given by human beings,except where such orders would conflict with a higher order law.(First Law)

Law Three : A robot must protect its own existence as long as such protection does not conflict with a higher order law.(First or Second Law. ) (Robot series )



http://en.wikipedia.org/wiki/Isaac_Asimov%27s_Robot_Series



Additional laws

The Fourth Law of Robotics : A robot must establish its identity as a robot in all cases.”

• The 1974 Lyuben Dilov novel "Icarus's Way" introduced a Fourth Law of robotics:

The Fifth Law : A robot must know it is a robot.

• It was introduced by Nikola Kesarovski in his short story "The Fifth Law of Robotics". The plot revolves around a murder. The forensic investigation found out that the victim was killed by a humaniform robot using a simple hug. The robot directly violated the First and the Fourth Laws by not establishing for itself that it was a robot



http://en.wikipedia.org/wiki/Lyuben_Dilov

http://en.wikipedia.org/w/index.php?title=Icarus%27s_Way&action=edit&redlink=1

http://en.wikipedia.org/wiki/Nikola_Kesarovski

Base on hardware and software. Three main

classification are :

1. Fixed (hard) automation – involve hardware only

2. Programmable automation – involve software only

3. Flexible automation – involve hardware and

software

Classification of Automation



• Is a machine refer to totally hardware that can operate

automatically without human interference.

• Examples – door with spring load – watch , gravity

machine, water-wheel, animal/wind – wheel.

• Used in low and medium production manufacturing.

• Special machine for production process efficiency at

higher number/rate of product.

• An Automatic machine and numerical control machine is

an example of fixed automation because the inner

construction and function can’t be change.

1) Fixed / Hard Automation



2) Programmable Automation • Combination of hardware (machine) and

software (programmable).

• Example – Production line assemble, Air

condition, screen saver, traffic light,

radiator

• Used when rate of production are small

and there is a variation at the product.

• An equipments can be easily change their

setup according to the product

configuration needs after the first

production is finish.

• More different/variety and unique product

can be produce economically in small

amount.

• One set of program to control the whole

operation of product.



3) Flexible Automation • Also known as “Flexible Manufacturing System(FMS)” and

“Computer Integrated Manufacturing(CIM)”.

• Combination of hardware and software ( same as programmable) but can easily changed during the operation without waiting the whole operation completed.

• It can be programmed for different configuration product either at the beginning, middle or end of the production according to the production changes.

• But usually configuration product are limited compare to the programming automation.

• Allows combination of certain system.

• In flexible automation, different product can be made in the same time at the same manufacture system.

• Flexible Automation System mostly consist of series of workstation that is connected to the material operation and storage system, assembly line and control of operation of work by using a program for a different work station.

Example – Automobile assemble line.

Faculty of Technical and Vocational Education

Function and control manufacturing



• One of the main character in the programming automation is the programming product will be made in batch.

• When the batch is completed, then the equipment will be programmed again to process another batch.

• In flexible automation, different product can be made in the same time at the same manufacture system.

• This character enable versatility level that is not available in the programming automation.

Programmable vs Flexible Automation



Classification of Automation

Automation

or Robot

Automasi tetap

(fixed automation)

Number of

material

Automasi berubah

(Flexible

Automation)

Productivity

3 9 30 100 1000

15000

500

15

Automasi

pengaturcaraan

(Programmable

Automation)

Production

Per year



Classification of robot

Introduction

• Majority of us think that robot like

a human

• Actually robot look like human is

very ray and hard to buildup

• until now we can only produced

an ASIMO

• in science fiction, robot made to

ensemble a human being

• Since that human become one of

the factor for the robot

classification.

Classification of robot Possible classification schemes are base on :

1. Anatomy (Body)

2. Control of movement

3. Kinematics /geometry structure

4. Energy source

5. Authority body

6. Industry/non industry

7. Technology level

8. Based on design

9. Application/job

10. By number of degree of freedom (gripper configuration)



1. Based On Anatomy (Body)

Arm

Two arm

Arm and leg

Arm, leg and face

Finger - 2 fingers

- 3 fingers

- 5 fingers



2. Based On Control of movement

a) Limited sequence Robot

b) From point to point Robot

c) Continues Robot



a) Limited Sequence Robot

• The movement of robot is limited in linear direction. • Use of mechanical stop and limit switch to control the

movement of manipulator.

• Difficult to fixed the stop point.

• The stop point on the path cannot be changed easily (only one stop point on a single path between the 2 point)

• Mechanical stop give a fixed position stop (repetition +/- 0.5mm).

Advantages :

• the cost is cheap 25% to 50%. Compare to others. • This type of robot are used for casting, pressing and fixed

movement.

• The robot not sophisticated.

Disadvantages :

1) Control and movement are limited.

2) used longer time for setting machine. Faculty of Technical and


b) From Point to Point Robot

• The movement of robot is in linear direction.

• Can stop the axes at any point through the path.

• At the end of the tool will be programmed at sequence discrete points in the work space.

• No control for movement speed.

• Move at different speed and distance.

• Axes can reach the destination and stop before another axes.

• Usually used in industry environment where amount of work is zero and consistency between the movement of the outside object like ”conveyer” not needed.



c) Continues Control Robot

• The movement of robot is in any direction

continuously.

• For complex workstation environment.

• Position and end tool must be controlled and follow

3 dimension (3-D) space.

• Speed of movement action is different.

• Example : paint spray, welding works and

application.



Work space can be defined as space that robot

manipulate (MOVE)

a) Cartesian Coordinate /Movement (x,y,z)

b) Cylindrical Movement(Ø, r, z)

c) Spherical Movement(Ø, R, Ø)

d) SCARA Movement(Ø, Ø, Z)

e) Revolute Movement(Ø, Ø, Ø)

3. Based On Kinematics coordinate

(MOVEMENT)



• There is 5 types of robot Coordinat ( INSTALLATION)

• Shape of work space are determine by robot configuration.

• Comparison between different robot configuration :

1. Cartesian (x,y,z)

2. Cylindrical (Ø, r, z)

3. Spherical (Ø, R, Ø)

4. SCARA (Ø, Ø, Z)

5. Revolute (Ø, Ø, Ø)

Robot Kinematics coordinate



Robot Coordinates



1) Cartesian Coordinate (x,y,z) • Cartesian coordinate (x,y,z) – movement base, access,

height.

• Advantages :

– Consist of 3 linear axes.

– Easy to describe.

– Hard and roburst structure.

– Can be programmed in off-line situation.

– Linear axes can make mechanical movement layoff

more easier.

• Disadvantages :

– Access is limited only at the front part.

– Need wide area workspace.

– Axes are quite difficult to change.



By : Abd Samad Hanif , Faculty of Information Technology and Communication



2) Cylindrical coordinate (Ø, r, z)

• Cylindrical coordinate (Ø, r, z) – revolute base, access radius, height

• Advantages :

– 2 linear movement and 1 rotation axes.

– well suited to round workspaces.

– Access axes and height are stiff.

– Easy to change rotation axes.

• Disadvantages :

– Cannot achieve/move upside from the body.

– Rotation site are less strenght/roburst then linear axes.

– Linear axes quite difficult to change.

– Cannot move at the barrier.




• Spherical coordinate (Ø, R, Ø) – revolute site, access, height radius

• Horizontal movement that rotate.

• Advantages :

– 1 linear movement and 2 rotation axes.

– Horizontal access ( long horizontal ).

• Disadvantages :

– Access is denied along the barrier.

– Usually, access in short vertical.

3) Spherical coordinate (Ø, R, Ø)



• SCARA coordinate (Ø, Ø, Z) – revolute site, access radius, height

• SCARA is a summary from Selective Compliance Assembly Robot Arm.

• Same workspace as cylinder robot,but access axes is a rotation joint in flat surface and parallel on the floor.

• Advantages :

- 1 linear movement axes, 2 rotation movement axes.

- Height axes is hard and roburst.

- Can do a lot of things/works in small workspace.

- Can access along the barrier.

- There is 2 paths/ways to reach 1 point.

• Disadvantages :

- Hard to programmed in off-line situation.

- Consist of complex arm structure.

4) SCARA coordinate (Ø, Ø, Z)



• Revolute coordinate (Ø, Ø, Ø) – rotation site, height

radius, access radius

• Advantages :

– It have 3 rotation movement axes.

– Can move/achieve above and bottom of the

barrier.

– Many/huge load for a small workspace.

– 2 or 4 paths/ways to reach 1 point.

• Disadvantages :

– Hard to programmed in off-line situation.

5) Revolute coordinate (Ø, Ø, Ø)



Type of configuration

(Geometry Structure Configuration)

• Cartesian configuration (PPP)

• Cylindrical configuration (RPP)

• Spherical configuration (RRP)

• SCARA configuration (RRP/PRR)

• Revolute configuration (RRR)



• Also known as Rectilinear/Gantry configuration.

• Positioning is done in the workspace with prismatic joints.

• Manipulator with 3 prismatic joints that is known as Cartesian manipulator.

• Joint variable is a Cartesian coordinate for end tool with the ground.

• Kinematics explanation for manipulator is the most simple one.

• This configuration is well used when a large workspace must be covered,or when consistent accuracy is expected from the robot.

• Used for desk assembling application.

• As robot gantry to remove thing and cargo.

1) Cartesian Configuration (PPP)

Faculty of Technical and Vocational Education

Symbol for Prismatic joint z

i2

d i1

Z = motion axis,

d = sliding distance or joint variable)

i = a links

base



• First joint is revolute that produce revolute motion at

the base.

• Second and third joint is prismatic joint (a prismatic

joint for height and a prismatic joint for radius).

• Joint variable is a cylindrical coordinate for end tool

with the ground.

• This robot is well suited to round workspaces.

2) Cylindrical Configuration (RPP)



z

i2

i1

Symbol for Rotary joint

Z = motion axis,

i = a links

= angle of rotating joint

base



3) Spherical Configuration (RRP)

• Also known as polar ( magnet pole).

• First and second joints is revolute.

• Third joint is prismatic joint .

• Joint variable is a spherical coordinate for

end tool with the ground.

• allow the robot to point in Many directions,

and then reach out some radial distance.



• SCARA – summary for “Selective Compliant Articulated Robot for Assembly”.

• There is 2 type of configuration, either :

1) First and second joints is revolute and third joints is prismatic or

2) First joints is revolute with second and third joints is prismatic.

• Although it is a RRP type but it quite different from the polar in both arise and usage limit.

• SCARA robot used in installation operation.

• This robot conforms to cylindrical coordinates, but the radius and rotation is obtained by a two planar links with revolute joints.

4) SCARA Configuration (RRP/PRR)



5) Revolute Configuration (RRR) • Also known as Articulated Manipulator atau Anthromorpic Manipulator.

• Another word for Revolute Configuration is Articulated/Jointed Spherical

configuration.

• The robot uses 3 revolute joints to position the robot.

• Generally the work volume is spherical.

• Robot design is similar human hand/arm. This robot most resembles the

human arm, with a waist, shoulder, elbow, wrist.

• There is 2 types of robot design :

– elbow types like PUMA.

– Square connection like Cincinnati Milacron T3 735.

• Elbow types prepare large Degree of Freedom (DOF) and compact

space.

• Parallel square connection usually less efficient but it have some

advantage that can make the design more interesting and popular.



Classification of Robot Based on Energy

• is refer to energy source TO MOVE THE actuator OR

robot joint.

• Normally there is four categories :

1) Electrical Robot

2) Hydraulic Robot

3) Pneumatic Robot

4) Mechanical Robot



Used electrical energy to move the motor.

• DC stepper motor, DC servomotor or AC servomotor,solenoid or plunger at the segment joint.

• Advantages :

- Very popular,

- low price,

- clean,

- silent and

- easy to assemble.

• Avoided backlash ( slow response )

• Easy to control or brake the circuit/operation

1) Electrical Robot



• Small and medium size of robot.

• Usually used electric power through gear power that used servomotor and stepper motor.

• Usually used DC motor, unless for bigger robot it will be equipped by AC motor.

• Advantages :

– More accurate.

– Good Repeatability.

– Need only small space.

– Suitable for accurate work like assembling application.

Electric Power



• Disadvantages :

– Less powerful and fast compare to hydraulic power.

– Expensive price for the huge robot and powerful.

– High risk to destructive burning.

• Nowadays, there is new design style that used fully electric power.

• New design based on direct power ( without gear ).



• Develop in 1981 at Universiti Carnegie-Mellon, USA.

• The motor replace the joint for the manipulator.

• Or pulling the segment/link/lever by used of pulley and motor.

• It will be equipped with power motor closely to robot joint.

• Advantages :

– Can vanish backlash and scarcity in mechanical.

– Abolish the necessary of sending power ( more efficient).

– backdrivable joint.

Direct Drive Robot

Example of Electrical Energy



2) Hydraulic Robot

• Used hydraulic energy to move the actuator.

• Advantages :More powerful and response more faster then electrical robot.

• Used to manipulate high speed in range of huge payload.

• Disadvantages : Less clean and cleanliness is a important feature in assembling application.



• Big size robot usually used hydraulic power.

• Hydraulic power system always produce :

- rotate movement ( energy / pressure to rotate )

- linear movement ( hydraulic piston )

• Advantages :

- more strength ratio on weight.

- Can move in high speed.

• Disadvantages :

- Need large workspace.

- Oil leaking.

Hydraulic Power



3) Pneumatic Robot

• Both electrical and hydraulic robot usually use end tool from pneumatic power.

• Limited for robot network.

• In general, this robot is more cheaper and simple.

• But it quite hard to control and perform less dynamic then other robot.

Notes : • Usually robot movement can be classified based on

arm geometry or kinematics structure.

• Majority robot movement can be classified to 5

configuration :

Cartesian (PPP), Cylinder (RPP), Sphere (RRP),

SCARA (RRP) dan Revolute (RRR). Faculty of Technical and


Pneumatic Power

• Suitable for small robot.

• Degree of freedom (DOF) are more smaller such as 2 to 4 degree joint movement freedom.

• Limited to take and place task with a fast cycle.

• Pneumatic power also can be used in producing energy from piston to enable linear movement while rotation movement can be achieve through rotation.



• Power system for robot can be determine by :

– Capacity to move body.

– Operation speed.

– Strength of dynamic performance.

– Application type for robot.

– In commercial, industrial robot are consist of variety movement power such as :

1) Electric power

2) Hydraulic power

3) Pneumatic power

Notes : Usually Electric and Pneumatic Power used for more sophisticated robot.

Comparison in Power System Robot :



• Japan Industrial Robot Association (JIRA)

– divide into 6 class.

• Robotics Institute of America (RIA)

– divide into 4 class (only consider class 3-6 as robots )

• Association Francaise de Robotique (AFR)

– divide into 4 class ( A to D )

Classification of Robot

Base on Authority Body



JIRA (Japan Industrial Robot Association ) Class 1: manual handling device

– a device with several DOF’s actuated by the operator.

Class 2: fixed sequence robot

– similar to fixed automation.

Class 3: variable sequence robot

– similar to programmable automation.

Class 4: playback robot

– the human performs tasks manually to teach the robot what

trajectories to follow.

Class 5: numerical control robot

– the operator provides the robot with the sequence of tasks to

follow rather than teach it.

Class 6: intelligent robot

– a robot with the means to understand its environment, and the

ability to successfully complete a task despite changes in the

surrounding conditions where it is performed. Faculty of Technical and


Class 3: variable sequence robot

– similar to programmable automation.

Class 4: playback robot

– the human performs tasks manually to teach the robot what

trajectories to follow.

Class 5: numerical control robot

– the operator provides the robot with the sequence of tasks to

follow rather than teach it.

Class 6: intelligent robot

– a robot with the means to understand its environment, and the

ability to successfully complete a task despite changes in the

surrounding conditions where it is performed.

RIA ( Robotics Institute of America )



• Type A: Handling devices with manual control

to telerobotics

• Type B: Automatic handling devices predetermined

cycles

• Type C: Programmable, servo controlled robot with

continuous point-to-point trajectories

• Type D: Same as type C, but with the capability to

acquire information from its environment

AFR (The Association Francaise de Robotique)




Base on Industrial / Non-Industrial

• Non industrial robot

use in home,school,field, for personal,education,

army,medical,hobby, showcase and promote

• Industrial robot

in manufacturing, welding, cutting, formatting,

assembling, heavy works,painting



Example of non-industrial robot :

• Helicopter

• nuvo

• asimo

• REUTERS PIC 2003

• Robot WL-16

Non-Industrial Robot



Nuvo Robot

(2005) (2005)



REUTERS PIC 2003



• Industrial robots is more complex.

• Consist of some subsystem that operate together to

perform function that have been determined.

• Main importancy in the subsystem for the robot is

kinematic, control system and driver.

• Robots are used in a wide range of industrial

applications.

• The earliest applications were in materials handling,

spot welding, and spray painting.

• Robots were initially applied to jobs that were hot,

heavy, and hazardous such as die casting, forging,

and spot welding.

Robots in Industry



What is an Industrial Robot?

This definition contains several important

points:

– The robot is a machine.

– The robot is programmable; therefore, it can be

given new instructions to meet new requirements.

– The robot has a multifunction manipulator arm,

which means it may be used in different ways,

even within the same program.

– The robot is flexible, enabling it to perform a

variety of operations to meet special needs.



What is an Industrial Robot?

There are many different device types that

perform similar functions. For example:

– Manual manipulator. A manipulator worked by a

human operator.

– Fixed-sequence robot. A manipulator that

performs successive steps of a given operation;

its instructions cannot be easily changed.

– Variable-sequence robot. A manipulator similar

to the fixed-sequence robot, but its instructions

can be changed easily.



What is an Industrial Robot? (continued)

– Playback robot. A manipulator that can reproduce

operations originally executed under human

control.

– Numerically controlled (NC) robot. A manipulator

that can perform a sequence of movements which

is communicated by means of numerical data.

– Intelligent robot. A robot that can itself detect

changes in the work environment by means of

sensory perception and adjust its movements

accordingly.



• The robot classification based on movement can be divided into two class :

• Static Robot (still)

• Dynamic Robot (moving)


base on Movement



Static Robot

• These robots just stand at it’s place and still

moving to do work with it’s arm.

• These robot known as automatic control.

• Doing same work reputably. For example : screw

installation.

• These robot are suitable to do task that is bored

in the industrial.

• Can be reprogrammed to do other task.



- Example of Stationary Robots :

• Forging robot.

• Assembling installation.

• Blocking rod for car park.

• Robotic Arm

Stationary Robots



• The base of robot can travel along the track or rail either on the floor or overhead mount.

• This robot work at several place and can move/walk by itself.

• The movement using wheel, foot or rail.

• The tasks that have been done by robot needs to make it move from one place to another place.

• The workspace maybe danger,difficult or wide.

• Dynamic robot is divide into 3 types :

– Walking robots.

– Rolling robots.

– Sliding robots.

Dynamic Robot



Walking Robots • This walking robot have a legs like an

insect / animal or human.

• Usually used at rocky place and difficult

to be done by wheeled/rolling robot.

• This types of robot need the balance

ability to make sure its not collapse.

• This robot have at least 2, 4, 6 or more.

• If one of the legs is broken, it still can

balance itself.

• Design of this robot was adapted from

human, insect or crawfish.



WL-16 Robot

• Build by Univercity of

waseda - named as WL-16

robot.

• Use battery power.

• First robot that bring human

that is weight about 60kg

and walk 30cm distance

(Tokyo,Japan -2004)



Legged Robots • First humanoid robot is ASIMO.

• Have a legs, can walk and dance liked human.

• Orino Robot is added by the ability to run.

• This robot is build by Japan Sony company.

• Weight about 15 pound and before this it known as SDR.

• Can dance and run about 15” per minute.

• Can raise both leg in one time.

• Can throw the ball and hold fan when it dance.



• Use wheel to move.

• Move to search something

fastly and easy.

• Suitable for flat area.

• Most suitable for

observation, cautious,

saving victim.

• Dangers work at high risk to

human, poisoning and

viruses.

Wheeled / Rolling robots



• Example of usage :

– Used to explore on the Mars surface

(Mars Explorer), Robot spirit

– Search victim

– Extinct fire.

– Detect intruder.

– Move things from one place to

another place.

Wheeled / Rolling robots



Autonomous (independently) Robots

• Kind of Self-supporting or self-

contained wheeled robot. • Depend on its own brain. • Execute its own

programming to give right to take an action based on its environment.

• Can learn new behaviour, starting with simple rutine and then adapted it to perform next task more better.




• The most better rutine will be repeat untill it

become habit for the robot.

• Able to learn ways to walk and avoid the

barrier in front of it.

• Imagine that robot with 6 legs, at first time

its legs will move randomly and after a

moment it will modify the programme and

move in same tempo.

• But, limited memory and brain.

Autonomous (independently) Robots



Sliding Robot

• Move through rail that have been build.

• Or through line path.

• Most of this robot is static but it will be

operate to do different task.



Virtual Robots

1. Not exist in reality world.

2. Virtual robot is in form of programming that is

consist of software blocks in the computer.

3. Virtual robot can be similar as real robot and do

only frequent/repeat task.

- Example :WebCrawler : searching in the

internet, will the information to the search

engine.

- Chatterbot : connect the conversation between

users in the internet (ELIZA,ELVIS).



Beam (bendul)

Robots

• BEAM- summary of Biology,

Electronics, Aesthetics dan

Mechanics.

• Build to fulfill free time, easy and

simple.

• Construct based on environment.

• BEAM looks like insects.

• Easy to build into mechanical form.

• Limited habit that make it easy to

programmed in the memory.

• Limited power of processing. Faculty of Technical and


Beam Robots • Electronics

Use basic electronics.Without electronic circuit, it also can be use with solar power source.

• Aesthetics BEAM Robot must tidy and attractive. BEAM Robot have colouring circuit but it will presented in form that is similar to the original form.

• Mechanics

Compare to the expensive and sophisticated, this robot is more cheap and easy to build. Using used material to build it. Use solar energy.



Automated Guided Vehicles (AGV) • Automatic Guided Vehicle (AGV) – type of robot

that working without human and computer control.

• AGV is design to follow the line that is paint on the floor or bury cabel.

• AGV need to be controlled and guideline from the main computer or programming controll to tell which path it have to going through.

• AGV also a special robot that is designed to lifting material and cannot be programmed again to do other task that is not related.

• Mostly Automated Storage and Retrieval Systems (ASRS) used AGVs.

• ASRS is an automatic warehouse that is use computer and robot to store and giving back material part. It can store in a large amount.



W. Grey Walter’s Tortoise

• Machina Speculatrix” (1953)

– 1 photocell, 1 bump sensor, 1

motor, 3 wheels, 1 battery

• Behaviors :

– seek light

– head toward moderate light

– back from bright light

– turn and push

– recharge battery

• Uses reactive control, with

behavior prioritization Faculty of Technical and


Principles of Walter’s Tortoise

• Parsimony

– Simple is better

• Exploration or speculation

– Never stay still, except when feeding (i.e., recharging)

• Attraction (positive tropism)

– Motivation to move toward some object (light source)

• Aversion (negative tropism)

– Avoidance of negative stimuli (heavy obstacles, slopes)

• Discernment

– Distinguish between productive/unproductive behavior

(adaptation) Faculty of Technical and


Braitenberg Vehicles

• Valentino Braitenberg (1980)

• Thought experiments

– Use direct coupling between sensors and motors

– Simple robots (“vehicles”) produce complex behaviors that

appear very animal, life-like

• Excitatory connection

– The stronger the sensory input, the stronger the motor output

– Light sensor wheel: photophilic robot (loves the light)

• Inhibitory connection

– The stronger the sensory input, the weaker the motor output

– Light sensor wheel: photophobic robot (afraid of the light)



Example Vehicles • Wide range of vehicles can be designed, by

changing the connections and their strength

• Vehicle 1:

– One motor, one sensor

• Vehicle 2:

– Two motors, two sensors

– Excitatory connections

• Vehicle 3:

– Two motors, two sensors

– Inhibitory connections

Being “ALIVE”

“FEAR” and “AGGRESSION”

“LOVE”

Vehicle 1

Vehicle 2




Base on Technology

• This classification same as computer.

• According to the level of technology used.

• The factor are number of axes, payload, cycle time, accuracy, control and actuation.

• The tree levels of technology are :

– Low level technology

– Medium level technology

– High level technology



Low – Technology Robots

• Used in industrial for simple job like machine loading and unload ( doing same sequence of job in a particular time) .

• The task can’t be change during working - fixed control.

• The axes of movement are between two to four

• Non servo controlled robots. Need mechanical stop at the end of each axes of travel.

• The axes motion are generally up/down, reach and rotate gripper.

• Stop after finish the job/task and repeat back



• Payload (load capacity) that manipulator can position is at the end of effectors this weight is measure at the center of wrist flange of the robot.

• The maximum of weight can range from

3-13.6 Kg.

• The time taken for robot to move from one location to other (cycle time) depend on payload and length manipulator arm must travel.

• For low technology robot have very high cycle time from 5 – 10 second.

• The accuracy ( how closely a robot can position its payload to a given programmed point) related to the repeatability for LTR is very high (0.050 – 0.024 millimetre.

Low - Technology Robots



Medium Technology

• Primarily for picking and placing and loading and unloading

• More sophisticated than low-technology robots (more movement)

• Have a large work cell. Its mean axis travel is grater

• Have a three, five to six axes (Degree of freedom) of motion (up/down, reach, rotation, band, roll, yaw (rotational)

• Have a grate payload able to handle weight from 68 -150 kg.



Medium Technology

• The cycle time form reach axis from 25 to 65 centimeter take 1secont to execute . Rotation 150 cm/sec.

• The accuracy is not as good as LTR because of increased number of axes

• Capable to repeating their position data to meet the requirement of the job. For 0.2 mm to 1.3mm

• Microprocessor used to control the robot system

• Can be control by manually, all the position and movement can be recorded and stored



High-technology Robots

• Used for multi purpose job such as material handling, press, transpiring, painting, sealing, spot welding and arc welding.

• Have an axes form six to nine to 16 or more almost same as human movement

• The payload about the same ad medium-technology robot around 68-150 kg.

• The cycle time also same as MTR in additional every axes have their own cycle time.

• The accuracy and repeatability is the garters, by used of feed back data from 1-0.4 mm.

• Can perform well although the object is not at the correct position by use of sensor and microprocessor high bit 16-31 bps)



A comparison the payload

factor Low

technology

robot

Medium

technology

robot

High

technology

robot

payload 3-4.5 Kg 22.7-56.7

kg

3-80 kg

Drive

system

pneumatic hydraulic Electric/hyd

raulic



Artificial Intelligence

• Officially born in 1956 at Dartmouth University

– Marvin Minsky, John McCarthy, Herbert Simon

• Intelligence in machines

– Internal models of the world

– Search through possible solutions

– Plan to solve problems

– Symbolic representation of information

– Hierarchical system organization

– Sequential program execution




AI and Robotics • AI influence to robotics :

– Knowledge and knowledge representation are central

to intelligence

• Perception and action are more central to robotics

• New solutions developed: behavior-based systems

– “Planning is just a way of avoiding figuring out what to

do next” (Rodney Brooks, 1987)

• Distributed AI (DAI)

– Society of Mind (Marvin Minsky, 1986): simple,

multiple agents can generate highly complex

intelligence

• First robots were mostly influenced by AI (deliberative) Faculty of Technical and


Shakey

• At Stanford Research Institute

(late 1960s)

• A deliberative system

• Visual navigation in a very special

world

• STRIPS planner

• Vision and contact sensors



Early AI Robots: HILARE

• Late 1970s.

• At LAAS in Toulouse.

• Video, ultrasound, laser rangefinder.

• Was in use for almost 2 decades.

• One of the earliest hybrid architectures.

• Multi-level spatial representations.



Early Robots: CART/Rover

• Hans Moravec’s early robots

• Stanford Cart (1977) followed by CMU rover (1983)

• Sonar and vision




Lessons Learned

• Move faster, more robustly

• Think in such a way as to allow this action

• New types of robot control :

– Reactive, hybrid, behavior-based

• Control theory

– Continues to thrive in numerous applications

• Cybernetics

– Biologically inspired robot control

• AI

– Non-physical, “disembodied thinking”



Challenges




First Generasion Robot

– Fixed sequence program

– Take and placed task – Blind and deaf dan ( no sense )

– Less ability to make decision.

– Bight control is open.

– Upgrade :

(Sophisticated robot ) the ability will be upgraded.

– Some action control by sense.

– Can know when something happen but cannot rectify.

– Closed control bight have been introduced.

Classification of

Robot base on design



Second Generation

Industrial Robot • Have a coordinate control between manipulator

and eye sensor ( under progress testing)

• New ability :

– Mobility

– Voice recognization command.

– Have touch foresee.

– Multi arm action with hand to hand coordination arm that is flexible.

– Microprocessor intelligence

– Multi robots in crowd-swarm action.

– Can make decision.



Second Generation

Industrial Robot

• Upgrade :

– Perceptual motor function.

– Responses to the sense simulator to control the movement compare prerecorded movement.

i.e, it determined what to do to accomplish desired steps by itself.



Third Generation

Industrial Robot

• Move faster, more robustly

• Have an AI (Non-physical, “disembodied thinking)

to operate on their own for example discrete part

assembly

• Make a decision to commit a deference job/task

• Only need a few information to do their job/task.

• Be able to learn a new thing without reprogram

• Cybernetics - Biologically inspired robot control

• New types of robot control: Reactive, hybrid,

behavior-based




Base on Job or Task There is various job or task that can be done by a robot such as :

1. Bomb destroyer

2. Searching and communicate

3. Searching victim in disaster

4. Seaching for Information

- temperature

- enemy

- on planet Mars

4. Simple assembling – push, pull

5. Lifting and place

6. Entertain/ Hobby/ Friend/ to serve ( waiter) / player

7. Observe and guard (security guard)

8. Assembling line in manufacturing

There is many ways to categorize the robot .

Some are based on job or task.

Some are based on work. Faculty of Technical and


Selection of Robot

• Consider available robot (the robot you have first).

• Consider the combination of technical characteristic.

– Number of axes ( paksi ).

– Types of control system.

– work volume

– Easy to program

– Accuracy and repeatability of movement

– Payload - Load carry capacity

• For a batter selection choose the higher specification than needed.




• We will use a table to represent the usage of

updated robot application.

• Base on task/application with specify amendment

(refer to Table 2.1 ).

• By using this characteristic table, it help engineers

to choose less alternative for the right robot model.

Choose of robot

base on Characteristic of Application



Aplikasi Ciri Teknikal Yang Biasa Diperlukan

Moving material Axes amount : 3 to 5

Control system : point to pint or limited sequence.

Power system : pneumatic or hydraulic ( for heavy load )

Programming : manual, powered leadthrough

Machine Loading Anatomy : polar, cylindrical, revolute arm

Axes amount : 4 or 5

Control system : point to pint or powered leadthrough

Power system : electric or hydraulic ( for heavy load )

Programming : powered leadthrough

Spot welding

Anatomy : polar, revolute arm.

Axes amount : 5 to 6

Control system : point to pint

Power system : electric or hydraulic

Programming : powered leadthrough

Arc welding Anatomy : polar, cartesian, revolute arm.


Control system : continous path.

Power system : electric or hydraulic

Programming : manual, powered leadthrough.

Spray coating Anatomy : revolute arm

Axes amount : 6 or more.

Control system : continous path.

Power system : hydraulic

Programming : manual leadthrough.

Assembly Anatomy : revolute arm, Cartesian, SCARA


Control system : point to pint or continous path.

Power system : electric

Programming : powered leadthrough, textual language

Accuracy and repeatability : high

Table 2.1

Application

and

Characteristic

of

Robot



Quiz

• What is the best method for classification of robot and why it used? Explain it.

• Can you give two example of fixed and programmable automation machine.

• What is the purpose of having a cycle time in robot

• Explain the word payload for a robot

• What is the guide line to distingue among robots technology level



Assignment I

• How do you specify the robot class?

• What is the factor involve in classification of

robot ?

• Discuss on the latest robots

• This robot can be teach and do their job

although is far from the owner, explain on it

• Your robot is running through a crowed just to

get a bottle of water for you, is that action

right or wrong



chapter 12 law and class robot

Documents

law law

robot faculty of technical

automation selection

humaniform robot

robot visions

laws of robotic robot

robotic automation

law of robotics