Robotic Introduction ACRRL Applied Control & Robotics Research Laboratory of Shiraz University Department of Power and Control Engineering, Shiraz University, Fars, Iran. Mohammad Sabouri Milad Shayan https://sites.google.com/view/acrrl/ https://sites.google.com/view/acrrl/team/current-members/mohammad-sabouri

1. Robotic Introduction
Applied Control & Robotics Research Laboratory
(ACRRL)
Shiraz University, summer 2019

2. ACRRL
Applied Control & Robotics Research Laboratory of
Shiraz University
Department of Power and Control Engineering, Shiraz University, Fars, Iran.
https://sites.google.com/view/ACRRL

3. 3
Workshop outlook
• What is the Mechatronics?
• What’s Robots?
• Robot and Robotic Definition
• History of Robots
• Laws of Robotics
• Robotics Terminology
• Applications for robotic

4. 4
• Type of Robots
• Advantage and Disadvantage of Robots
• Robotic Work Field
• Important Robot Components
• Common Processor in Robotic
• Common Language for programming in Robotic
• Essential software in Robotic
Workshop outlook

5. 5
What is the Mechatronics?
• Mechatronics is a concept of Japanese origin
(1970’s) and can be defined as the application of
electronics and computer technology to control the
motions of mechanical systems.

6. 6
Photocopier machine Modern Sewing machine
Automatic Sliding Door Auto Garage Opener
Disk Driver
Vending Machine

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Mechatronics a combination of:
• Mechanical
• Electronic
• Computer
• Software
• Control
• Systems Design

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Some Mechatronic application
Automobile Medical
Robotics Manufacturing Aerospace
Material Processing

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What’s Robot?

10. 10
• Robots have become a subject of great interest nowadays.
• In our imagination, a robot is a machine that looks and acts like a
human being.
• A machine capable of carrying out a complex series of actions
automatically.
• Robots are, in fact, defined as man-made mechanical devices that can
move by themselves, whose motion must be modeled, planned,
sensed, actuated and controlled, and whose motion behaviour can be
influenced by “programming”
What’s Robot?

11. 11
What’s Robot?

12. 12
• A machine capable of carrying out a complex series
of actions automatically.
• A machine resembling a human being and able to
replicate certain human movements and functions.
• Mechanical device that performs human tasks,
either automatically or by remote control.
Robot Definition

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• Formal Definition
Robot: a machine with a physical embodiment that
produces actuation based on its sensory informationA
reprogrammable multifunctional manipulator designed
to move material, parts, tools or specialized devices
through various programmed motions for the
performance of a variety of Tasks. )Robot Institute of
America(
Robot Definition

14. 14
Different views of robot definition
• Embodiment
a robot’s embodiment is its medium to interact (sensing and actuation)
with its environment.
embodiment constrains a robot.
• Situatedness
Robots are strongly affected by the environment and deal with its
immediate demands directly.

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• Situated intelligence
observed behavior resulting from interaction between a robot and its
environment
cannot be attributed to a single source, model, or rationale.
• Autonomy
a robot is a machine with autonomy.
robots are motivated to achieve some goal.
• Uncertainty
an inherent property of the real world.
Physical sensors and actuators provide limited, noisy, and inaccurate
information and force generation.
The certainty of physical sensors and effectors cannot be well characterized.
Different views of robot definition

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• Robotics is science of designing or building an application of
robots. Simply ,Robotics may be defines as “The Study of Robots”.
The aim of robotics is to design an efficient robot.
Robot Definition

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HISTORY of robotic

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• The term "robot" was first used in 1920 in a play
called "R.U.R." Or "Rossum's universal robots" by
the Czech writer Karel Capek. Capek was
reportedly several times a candidate for the Nobel
prize for his works.
• The word “Robot” comes from the word
“Robota/Robotica”, meaning in “Czech” forced
labour drudgery.
HISTORY of robotic

19. 19
Rossum's universal robots

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• The word "robotics", used to describe this field
of study, was coined accidentally by the Russian
–born , American scientist and science fiction
writer, Isaac Asimov (1920-1992) in 1940s.
HISTORY of robotic

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Laws of Robotic

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Asimov proposed three “Laws of Robotics”
• Asimov also proposed his three "Laws of Robotics", and he later added
a “zeroth law”.
• Zeroth Law : A robot may not injure humanity, or, through inaction,
allow humanity to come to harm.
• First Law : A robot may not injure a human being, or, through inaction,
allow a human being to come to harm, unless this would violate a
higher order law.
• Second Law: A robot must obey orders given it by human beings,
except where such orders would conflict with a higher order law.
• Third Law : A robot must protect its own existence as long as such
protection does not conflict with a higher order law.

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24. Applications of robotic
24
• Industrial/assembly/inspection

25. Applications of robotic
25
• Search and rescue

26. Applications of robotic
26
• Hazardous operation

27. Applications of robotic
27
• Medical Applications

28. Applications of robotic
28
• Entertainment

29. Applications of robotic
29
• Space and underwater exploration and development

30. Applications of robotic
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• Assistive/rehabilitation

31. Applications of robotic
31
• Education

32. Applications of robotic
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• Transportation

33. Applications of robotic
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• Ecology, geosciences

34. • The most common types of Robots are…
Mobile robots.
Industrial robots.
Autonomous robots.
Remote-controlled robots.
Virtual robots.
Type of Robots
34

35. Mobile Robots
35
• Mobile robots are able to move, usually they
perform tasks such as searching.
They are of 2 types:
• Rolling robots- Rolling robots have wheels to
move around. They can quickly and easily
search. However they are only useful in flat
areas.
• Walking robots- Robots on legs are usually
brought in when the terrain is rocky. Most
robots have at least 4 legs; usually they have 6
or more.

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Stationary/Industrial Robots
• Robots are not only used to explore areas or
imitate a human being. Most robots
perform repeating tasks without ever
moving an inch. Most robots are ‘working’
in industry settings and are stationary .
• Most of these robots perform repeating
tasks without ever moving.
• Most robots are working in industries.
Especially dull and repeating tasks are
suitable for robots.

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Autonomous Robots
• Autonomous robots are self-supporting.
• They run a program that gives them the
opportunity to decide on the action to
perform depending on their surroundings.
• At times, these robots even learn new
behavior. They start out with a short routine
and adapt this routine to be more successful
at the task they perform. The most
successful routine will be repeated .

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• In case a robot needs to perform more
complicated yet undetermined tasks an
autonomous robot is not the right choice.
• Complicated tasks are still best performed
by human beings with real brainpower. A
person can guide a robot by remote
control. A person can perform difficult and
usually dangerous tasks without being at the
spot where the tasks are performed.
Remote-controlled Robots

39. 39
Virtual Robots
• Virtual robots don’t exits in real life. Virtual
robots are just programs, building blocks of
software inside a computer.
• A virtual robot can simulate a real robot or
just perform a repeating task.
• Search engines use such kind of robots.
They search the World Wide Web and send
the information to the search engines.

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• Advantage:
Going to far away planets.
Going far down into the unknown waters and mines where humans would be
crushed.
Giving us information that humans can't get
Working at places 24/7 without any salary and food. Plus they don't get
bored.
They can perform tasks faster than humans and much more consistently and
accurately
Most of them are automatic so they can go around by themselves
without any human interference.
Advantage and Disadvantage of Robots

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• Disadvantage:
People can lose jobs in factories.
It needs a supply of power.
It needs maintenance to keep it running .
It costs money to make or buy a robot.
Advantage and Disadvantage of Robots

42. Robotic
42
• Electronic
• Mechanic
• Programming

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Robotic Work Field
• Engineering robotics:
• constructing physical embodiment and physical dynamics
• mechanical engineering
• Control theory/ Signal processing
• producing appropriate control signals
• interpreting/processing the world from sensory data
• mechanical and electrical engineering

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• Autonomous control
programs for producing control signals from sensory data
computer science and electrical engineering
• Learning/Adaptation
extending the robot’s autonomy beyond what is explicitly programmed
Robotic Work Field

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• Manipulator or Rover
• End Effecter
• Actuators
• Sensors
• Controller
• Software
• Processor
Important Robot Components

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• Manipulator or Rover: Main body of robot(Links, Joints, other
structural element of the robot)
Important Robot Components

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Manipulator or Rover
• Metal
• Aluminum
• Plexiglas
• Carbon Fiber
• Plastic
• Wood

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• End Effecter: The part that is connected to the last joint
hand of manipulator.
Important Robot Components

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End Effecter
F3,m3
F2,m2
F1,m1
wrist
Roll
Pitch
Yaw

50. 50
• Actuators: Muscles of the manipulators (servomotor, stepper motor,
pneumatic and hydraulic cylinder).
Important Robot Components

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• Sensors: To collect information about the internal state of the robot
or To communicate with the outside environment.
Important Robot Components

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• Controller: Similar to cerebellum. It controls and coordinates the
motion of the actuators.
Important Robot Components

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• Processor: The brain of the robot. It calculates the motions and the
velocity of the robot’s joints, etc.
• Software: Operating system, robotic software and the collection of
routines.
Important Robot Components

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Processor
• Electronic base: Transistor, relay, …
• 8051
• AVR: Arduino
• PIC
• ARM: Raspberry Pi, Orange Pi, …
• TFT
• FPGA

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Language for programming
• C
• Objective-C
• C++
• C#
• Python

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Operating system
• Windows
• Linux
• Android
• ROS

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Essential software in robotic
Electronic:
• Proteus
• Altium Designer
• Proteus
• …

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Mechanic:
• Solid Work
• Catia
• Inventor
• …
Essential software in robotic

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Programming
• Visual studio
• Code vision
• Matlab
• LabVIEW
• …
Essential software in robotic

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Complex field in Robotic
• Image Processing
• Artificial intelligence
• Fuzzy
• Neural network
• High level Control

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Question?

62. Thank you

63. Mohammad Sabouri
You can find me at m.sabouri@shirazu.ac.ir
Milad Shayan
You can find me at Shayanmilad@yahoo.com
https://sites.google.com/view/ACRRL