INTRODUCTION TO

ROBOTICS
ROBOTICS CLUB
SCIENCE AND TECHNOLOGY COUNCIL, IIT-KANPUR

AUGUST 6 TH , 2016

Mayank Mittal, Junior, Dept. of Electrical Engineering, IIT Kanpur

OUTLINE

• What is a robot?
• Classifications of Robots
• What goes behind making a robot?
• Mechanical
• Electrical
• Software
• Role of Robotics Club
• Basics for newbies
• Future prospects

Nao
Mayank Mittal, Junior, Dept. of Electrical Engineering, IIT Kanpur
Which of these is a ‘robot’?

Mayank Mittal, Junior, Dept. of Electrical Engineering, IIT Kanpur

 What is a ‘robot’?
Freedictionary.com:
“A mechanical device that sometimes resembles a human and is capable of performing a variety
of often complex human tasks on command or by being programmed in advance.”
whatis.techtarget.com/
“A robot is a machine designed to execute one or more tasks automatically with speed and precision.
There are as many different types of robots as there are tasks for them to perform.”

 galileo.org/robotics/
To be called a robot, a machine must possess some or all of the following essential characteristics:
◦ Movement
◦ Sensing and manipulating the environment
◦ Display some kind of ‘intelligence’

Mayank Mittal, Junior, Dept. of Electrical Engineering, IIT Kanpur

 • Comprised of simple robotic arm which could be made to do precise motions
at high speed, repeatedly.
• Used widely in industries for automation of processes
• Require constant human supervision
Generation
of Robot

I Six-axis Robotic Arm

AIIMS, Maruti Suzuki Plant

Source: http://www.robotpark.com/academy/robot-generations-21118/ Mayank Mittal, Junior, Dept. of Electrical Engineering, IIT Kanpur
 • Possess basic machine intelligence
• Robots equipped with sensors and
a controller which processed data
from the sensors and take

Generation appropriate decisions

• Human intervention minimized but

of Robot required if robot malfunctions

II
Shakey, 1968, Stanford Mars Exploration Rover (MER)

Source: http://www.robotpark.com/academy/robot-generations-21118/ Mayank Mittal, Junior, Dept. of Electrical Engineering, IIT Kanpur
 • Smart Robots which are given generalized
information about the tasks needed to be
done.
• Able to take decisions on the best way to
Generation do a certain task
• Rarely requires human supervision
of Robot

III
Self- Driving Car, Tesla ROBART III

Mayank Mittal, Junior, Dept. of Electrical Engineering, IIT Kanpur

 • These robots can make real time decisions based on their environment
• Have the ability to work along side humans to form an effective work force

Generation
of Robot

IV SYMBRION, Bristol Robotics Laboratory Baxter, Rethink Robotics

Mayank Mittal, Junior, Dept. of Electrical Engineering, IIT Kanpur

 What goes behind making a robot?
1. Defining the Problem i.e. the purpose of
construction and identifying the specific
requirements Mechanical
2. Researching and Designing i.e. planning
and designing appropriate solutions
3. Creating a Prototype i.e. testing and
troubleshooting the design Electrical
4. Building the robot
5. Programming and Testing the robot
6. Evaluating the Robot i.e. outlining the Programming
strengths and weaknesses in the robot

Source: galileo.org/robotics/design.html Mayank Mittal, Junior, Dept. of Electrical Engineering, IIT Kanpur
 Role of Robotics Club

To participate in
events organized
annually by
various institutes
and organizations

Meet Gabbar and Tella, Wild Soccer Robots

Website: http://students.iitk.ac.in/roboclub/ Mayank Mittal, Junior, Dept. of Electrical Engineering, IIT Kanpur
 Role of Robotics Club
Ongoing Projects

To provide
facilities to
interested
students for
practicing
amateur research
in the field of
WASP HuRo AUV robotics

Website: http://students.iitk.ac.in/roboclub/ Mayank Mittal, Junior, Dept. of Electrical Engineering, IIT Kanpur
 Role of Robotics Club

To organize
workshops and
lectures for
people to learn
more about
robotics

Website: http://students.iitk.ac.in/roboclub/ Mayank Mittal, Junior, Dept. of Electrical Engineering, IIT Kanpur
Hardware: Lego Mindstorms NXT 1.0 Hardware: Arduino, Odroid XU4
Sensor: Lego light sensor Sensor: Camera
Motor: Lego Servo Motor Motor: DC Brushless Motor
Programming: Labview Programming: C

Vs.

Mayank Mittal, Junior, Dept. of Electrical Engineering, IIT Kanpur

 Basics for newbies
THIS SECTION OF THE LECTURE IS USEFUL FOR THE WORKSHOP TO
BE CONDUCTED IN THE FOLLOWING WEEK.

Mayank Mittal, Junior, Dept. of Electrical Engineering, IIT Kanpur

 Mechanical
Chassis
It is the base frame of any robot on to which other components are mounted.

Mayank Mittal, Junior, Dept. of Electrical Engineering, IIT Kanpur

 Mechanical
DC Motors
• Generally operated at +12V. Negative supply make shaft rotate in opposite direction
• Speed reduces as voltage supplied decreases
• Torque and speed are inter-related
A 10rpm motor has relatively higher torque than 100rpm or 300rpm motor.

6V, 180 rpm Micro DC 12V, 10-500 rpm DC 300 RPM Side Shaft DC
Geared Motor Geared Motor Gear Motor

Mayank Mittal, Junior, Dept. of Electrical Engineering, IIT Kanpur

 Mechanical
Castor
• It is type of wheel mounted at the bottom of the chassis for easy rolling movement.
• Also found in trolleys, hospital bed, desk chairs

Castor Wheel in robot

Swisvel Castor

Mayank Mittal, Junior, Dept. of Electrical Engineering, IIT Kanpur

 Mechanical
Differential Drive
‘Differential' means that robot turning speed is determined by the speed difference between drive wheels

Source: icreator.wordpress.com

Mayank Mittal, Junior, Dept. of Electrical Engineering, IIT Kanpur

 Electrical
Power Source
• Most of the mobile robots carry on- board batteries.
• The kind of battery chosen depends on the sensors and actuators present in the robot.

Switch Mode Power Supply Lithium Polymer (LiPo) Battery Lead- Acetate Battery
(SMPS)
Mayank Mittal, Junior, Dept. of Electrical Engineering, IIT Kanpur
 Electrical
Switches
Single Pole Single Throw (SPST) Double Pole Double Throw (DPDT)

• A simple on-off switch Equivalent to two SPDT switches controlled

• The two terminals are either connected by a single mechanism.
together or disconnected from each other

Mayank Mittal, Junior, Dept. of Electrical Engineering, IIT Kanpur

 Electrical
Electronics
Infra Red (IR) Sensor
• Can measure the heat of an object as well
as detects the motion
• Passive in nature that is doesn’t emit IR
rays rather just detects them

Mayank Mittal, Junior, Dept. of Electrical Engineering, IIT Kanpur

 Electrical
Electronics
Bipolar Junction Transistor (BJT) Cut- Off
Region
We would be using BJT as a switch.
Active
Region

Saturated
Region

Mayank Mittal, Junior, Dept. of Electrical Engineering, IIT Kanpur

Equipment to be Used

Drilling
Soldering Kit
Machine

Hacksaw
Breadboard

Mayank Mittal, Junior, Dept. of Electrical Engineering, IIT Kanpur

 What else you may learn here?
Mechanical Electrical Programming
• Designing Software like • Using various other sensors Application of programming skills
Solidworks, Autodesk frequently used such as on hardware and physical systems:
Inventor, Ansys ultrasonic, IMU, camera • Feature detection using image
• Learning industrial- grade • Dealing with microprocessors processing such as detection of
manufacturing methods and microcontrollers human faces
• Different types of actuation • Designing circuits using • Voice recognition
in robotics using simulation tools such as • Designing of low- level
pneumatic, and other kind Microcap and physically intelligence (i.e. controllers)
of motors testing them • Implementing Machine
Learning Techniques (MLT)

Mayank Mittal, Junior, Dept. of Electrical Engineering, IIT Kanpur

 Upcoming Events in the Semester

Dates: 12th-13th August Dates: 1st-4th September

Timings and Venue shall be emailed soon Watch out of Robotics competitions!

Mayank Mittal, Junior, Dept. of Electrical Engineering, IIT Kanpur

 THANK YOU!
In case of any queries, contact:

COORDINATORS: SECRETARIES:
Anvesh Jadon anvesh@iitk.ac.in Every hall has secretaries who
Ankit Kumar ankitkur@iitk.ac.in can be approached regarding any
Hemant Kumar hemantk@iitk.ac.in doubts on robotics.
Mayank Mittal mayankm@iitk.ac.in

For more information, visit: http://students.iitk.ac.in/roboclub/