Module 1: Introduction to Robotics

1. Brief History of Robotics

 Early Concepts (Ancient Times–18th Century):
o Mythical automata (e.g., Greek myths) and mechanical devices (e.g., water clocks).
o 18th-century automatons (e.g., Vaucanson’s Duck) showcased mechanical ingenuity.
 Industrial Beginnings (1920s–1950s):
o 1920: Karel Čapek’s play R.U.R. coined “robot” (Czech for forced labor).
o 1942: Isaac Asimov introduced the Three Laws of Robotics.
o 1954: George Devol patented the first programmable robotic arm (Unimate).
 Modern Robotics (1960s–Present):
o 1961: Unimate deployed in General Motors for die-casting.
o 1980s: Industrial robots proliferated (e.g., PUMA by Unimation).
o 1990s–2000s: Service robots emerged (e.g., Roomba, 2002).
o 2010s–Present: AI, cobots, and autonomous robots (e.g., Boston Dynamics’ Spot).

2. Basic Concepts of Robotics

Definition

 A robot is a programmable, automated machine with mechanical components, sensors, and

controllers, capable of performing tasks with precision, autonomy, or human guidance.
 Key Features: Programmability, adaptability, interaction with the environment.

Three Laws of Robotics (Isaac Asimov, 1942)

1. A robot may not injure a human being or, through inaction, allow a human to come to harm.
2. A robot must obey the orders given by human beings, except where such orders conflict with the
First Law.
3. A robot must protect its own existence as long as such protection does not conflict with the First or
Second Law.

 Note: These are fictional but influence ethical discussions in robotics.

Elements of Robotic Systems

 Robot Anatomy:
o Manipulator: Arm-like structure with links and joints.
o End-Effector: Tool or gripper at the arm’s end (e.g., welder, suction cup).
o Actuators: Motors or drives (electric, hydraulic, pneumatic) for motion.
o Sensors: Detect environment (e.g., cameras, force sensors).
o Controller: Processes inputs and commands actuators (e.g., PLC, microcontroller).
 Degrees of Freedom (DOF):
o Number of independent motions a robot can perform (e.g., rotation, translation).
o Example: A 6-DOF robotic arm can move in 3D space (x, y, z) and rotate (pitch, yaw, roll).
o Importance: Higher DOF increases flexibility but complexity.
 Misunderstood Devices:
o Not Robots: Fixed automation (e.g., conveyor belts), remote-controlled devices, non-
programmable machines.
o True Robots: Programmable, adaptable, with sensing and decision-making.
3. Classification of Robotic Systems
Robots are classified based on various parameters:

 Work Volume (Workspace Geometry):

o Cartesian: Rectangular workspace (x, y, z motion); e.g., gantry robots.
o Cylindrical: Cylindrical workspace (rotation + linear); e.g., material handling.
o Spherical (Polar): Spherical workspace; e.g., early industrial arms.
o Articulated: Human-like arm with rotary joints; e.g., 6-DOF arms.
o SCARA: Selective Compliance Assembly Robot Arm; planar motion with vertical reach.
 Type of Drive:
o Electric: Precise, compact (e.g., servo motors); used in most industrial robots.
o Hydraulic: High power, heavy loads; e.g., construction robots.
o Pneumatic: Lightweight, fast; e.g., grippers, pick-and-place.
 Control Method:
o Point-to-Point (PTP): Moves to discrete positions; e.g., drilling robots.
o Continuous Path (CP): Follows smooth trajectories; e.g., welding, painting.
 Application:
o Industrial: Manufacturing, assembly, welding.
o Service: Healthcare, cleaning, delivery.
o Mobile: Autonomous vehicles, drones.
 Mobility:
o Fixed: Stationary (e.g., robotic arms).
o Mobile: Wheeled, legged, or flying (e.g., AGVs, quadrupeds).

4. Associated Parameters
Parameters define a robot’s performance and capabilities:

 Resolution:
o Smallest incremental movement a robot can control.
o Depends on sensor precision and actuator granularity.
o Example: A robot with 0.01 mm resolution can position within 0.01 mm.
 Accuracy:
o How closely a robot reaches a commanded position.
o Affected by mechanical tolerances, calibration, and control errors.
o Example: A robot with ±0.1 mm accuracy may deviate by 0.1 mm.
 Repeatability:
o Ability to return to the same position repeatedly.
o More critical than accuracy in repetitive tasks (e.g., assembly).
o Example: ±0.05 mm repeatability ensures consistent positioning.
 Dexterity:
o Ability to manipulate objects with precision and flexibility.
o Depends on DOF, end-effector design, and control algorithms.
o Example: A 6-DOF arm has higher dexterity than a 3-DOF arm.
 Compliance:
o Ability to yield to external forces (intentional or unintentional).
o Useful in assembly to avoid damage (e.g., peg-in-hole tasks).
o Example: SCARA robots have selective compliance in specific axes.
 Remote Center Compliance (RCC) Device:
 o Passive device at the end-effector to allow compliance in specific directions.
o Reduces force during assembly tasks by compensating for misalignment.
o Example: Used in automotive assembly for inserting components.

5. Introduction to Principles & Strategies of Automation

Automation uses technology to perform tasks with minimal human intervention, enhancing efficiency and
consistency.

 Principles of Automation:
o Simplification: Reduce task complexity to minimize errors.
o Standardization: Use uniform components/processes for scalability.
o Integration: Combine systems for seamless operation.
o Feedback Control: Use sensors to monitor and adjust processes.
o Safety: Ensure human and equipment protection.
 Strategies of Automation:
o Fixed Automation: High-volume, repetitive tasks with dedicated equipment (e.g., assembly
lines).
o Programmable Automation: Flexible for varying tasks (e.g., CNC machines, robots).
o Flexible Automation: Adapts to different products with minimal setup (e.g., robotic cells).
o Integrated Automation: Combines multiple systems with centralized control (e.g., smart
factories).

6. Types & Levels of Automation

 Types of Automation:
o Hard Automation: Fixed, task-specific machinery; high speed, low flexibility (e.g.,
stamping presses).
o Soft Automation: Programmable systems; adaptable to new tasks (e.g., industrial robots).
o Hybrid Automation: Combines fixed and programmable elements (e.g., robotic assembly
lines).
 Levels of Automation:
o Manual Control: Human performs all tasks (no automation).
o Mechanized: Machines assist humans (e.g., power tools).
o Semi-Automated: Machines perform tasks under human supervision (e.g., teach pendant
robots).
o Fully Automated: Machines operate autonomously (e.g., AGVs in warehouses).
o Intelligent Automation: Systems adapt using AI (e.g., self-driving robots).

7. Need for Automation

 Economic Drivers:
o Reduces labor costs and human error.
o Increases production rates and quality consistency.
o Enables 24/7 operation, improving ROI.
 Operational Benefits:
o Handles repetitive, dangerous, or precise tasks (e.g., welding, hazardous material handling).
o Improves scalability for high-demand industries.
  Societal Needs:
o Addresses labor shortages (e.g., aging populations).
o Enhances safety by removing humans from risky environments.
o Supports innovation in smart manufacturing (Industry 4.0).
 Challenges: High initial costs, workforce reskilling, ethical concerns (e.g., job displacement).

8. Industrial Applications of Robots

 Manufacturing:
o Assembly: Fast, precise component joining (e.g., electronics, automotive).
o Welding: Consistent, high-quality welds (e.g., car chassis).
o Material Handling: Palletizing, sorting, packaging (e.g., logistics).
 Processing:
o Cutting: Laser, plasma, or waterjet cutting for metals, plastics.
o Painting/Spraying: Uniform coatings with minimal waste (e.g., automotive).
o Machining: Drilling, milling, grinding with high precision.
 Inspection and Quality Control:
o Vision systems detect defects (e.g., circuit boards, food products).
o Ensures compliance with standards.
 Logistics and Warehousing:
o Automated Guided Vehicles (AGVs) transport goods.
o Pick-and-place robots for order fulfillment (e.g., Amazon warehouses).
 Examples:
o ABB’s IRB series for automotive welding.
o Fanuc robots for high-speed assembly.
o Universal Robots’ cobots for SME applications.

9. Key Points for Exam/Understanding

 History: From Unimate (1961) to AI-driven robots; key milestones shape modern robotics.
 Concepts: Robots are programmable, governed by Asimov’s laws (ethical guide); DOF and anatomy
are foundational.
 Classification: Based on workspace, drive, control, or application; know examples (e.g., SCARA,
articulated).
 Parameters: Resolution, accuracy, repeatability, and dexterity define performance; RCC enhances
compliance.
 Automation Principles: Simplification, feedback, and safety drive automation strategies (fixed,
programmable, flexible).
 Automation Types/Levels: Hard/soft, manual to intelligent; align with task needs.
 Need: Automation boosts efficiency, safety, and scalability but requires investment and reskilling.
 Applications: Robots dominate manufacturing, logistics, and inspection; cobots expand SME
access.