Download - Palash Vajpai, Robotics and Its Application
-
8/7/2019 Palash Vajpai, Robotics and Its Application
1/39
COLLEGE OF TECHNOLOGY AND ENGINEERING
Maharana Pratap University of Agriculture and Technology,Udaipur
A
Seminar report on
Robotic and its Applications
( Final Year 2011 )
Submitted in the partial fulfillment of the requirements
For awarding the degree of
Bachelor of Electrical Engineering
SUBMITTED BY:PALASH VAJPAIB.E. final year (EE)
-
8/7/2019 Palash Vajpai, Robotics and Its Application
2/39
COLLEGE OF TECHNOLOGY AND ENGINEERING
Maharana Pratap University of Agriculture and Technology,
Udaipur
Certificate TO WHOM SO EVER IT MAY CONCERN
This is to certify that PALASH VAJPAI student of 4thYear
ELECTRICAL ENGINEERING has completed his seminar in
College ofTechnology and Engineering, Udaipur on ..
as prescribed by the Maharana Pratap University of Agriculture
and Technology, Udaipur(Rajasthan). We wish his success in
future endeavors.
Dr. R.R. Joshi
Head of Department
(Electrical Engineering)
-
8/7/2019 Palash Vajpai, Robotics and Its Application
3/39
Robotics and its Applications Seminar Report 03
Acknowledgement
I extend my sincere gratitude towards Dr. R.R. Joshi,
Head of Department Electrical Engineering for giving us his
invaluableknowledge and wonderful
Technical guidance
I also thank all the other faculty members
of department and my friends for their help and support.
PALASH VAJPAI
B.E. IV Yr. (EE)
-
8/7/2019 Palash Vajpai, Robotics and Its Application
4/39
Robotics and its Applications Seminar Report 03
CONTENTS
1. Introduction 1
2. History of Robotics 3
3. Classification of Robots 6
4. Anatomy of a Robot 7
5. Artificial Intelligence 14
6. Advantages of Robots 17
7. Disadvantages of Robots 18
8. Applications of Robots 19
9. Robotic Tele surgery 24
10. Robonauts 29
11. Robots Realized in MATLAB 33
12. Future of Robotics 35
13. Conclusion 36
14. Reference 37
-
8/7/2019 Palash Vajpai, Robotics and Its Application
5/39
Robotics and its Applications Seminar Report 03
ABSTRACT
With growing developments in the field of mechatronics, mathematical
modeling robotics has come long way from an iron piece that moves a few inches to
machines capable of jumping from high buildings, detecting mines, performing various
operations and trouble shooting.
Robotics means the study and application of robot technology. The goal of
robotics is to mimic natural world as closely as possible. The main elements in the robot
are the moving elements and the sensors. The basic structure of a robot is the robotic
arm.
This paper deals with the evolution of robots, the elements of robotics, the
limitation of robots and the various applications of robots. In the application part this
paper expects to cover in detail robosurgery and robonauts (the robots used in space).It
also deals with the importance of artificial intelligence in Robotic technology.
-
8/7/2019 Palash Vajpai, Robotics and Its Application
6/39
Robotics and its Applications Seminar Report 03
INTRODUCTION
Robots have always had a fascination in our mind. With their various
applications in various fields, they have become a common part in our daily life. They
are meant to ease our work and increase our comfort of living.
The term robot got prominence way back in the 1950s when Karl Capek in his
play Rossums Universal Robots denoted the birth of a superior race that had
intelligence similar to that of humans.
As Robots come in various forms and have application in various fields defining
a Robot becomes that much difficult. There are various definitions for the term Robot.
Some of them are:
Force through intelligence.
An automatic device that performs functions normally ascribed to humans or a
machine in the form of a human.
The most accepted definition of a Robot provided by the Robotics Institute of
America in 1979 is that:
A robot is a reprogrammable multifunctional manipulator designed to move material,
Parts, tools or specialized devices through variable programmed motions for the
Performance of a variety of tasks.
-
8/7/2019 Palash Vajpai, Robotics and Its Application
7/39
Robotics and its Applications Seminar Report 03
Robotics is that branch which involves with the study and applications of
Robots. The goal of Robotics is to mimic natural world as closely as possible. Robotics
is a relatively new field of engineering (about approximately 50 years old) and is
finding many applications in different areas.
With growing developments in the field of mechatronics and mathematic
modeling, Robotics has come a long way. From an iron piece that could move only a
few inches, there are now machines capable of jumping from high rise buildings,
detecting landmines, performing complicated operations, and troubleshooting.
-
8/7/2019 Palash Vajpai, Robotics and Its Application
8/39
Robotics and its Applications Seminar Report 03
HISTORY OF ROBOTICS
Robotics compared to other branches is a relatively new field of engineering. It
is a multi disciplinary field. The various branches involved in the development of
Robotics are:
Mechanical Engineering: Deals with the mechanisms of Robots and their
structure.
Electrical Engineering: Deals with the sensing and controlling of Robots.
Computer Engineering: Deals with the motion planning and perception of
Robots.
Though the branch of Robotics is new the development of Robots started in the
year 1250 when the first Robot was developed. In the period from 1250 to 1950 the
Robots were developed for fun rather than for applications.
Brief developments of Robots from the year 1250:
In the year 1250 a Robot was developed that could serve the guests with food. In
the year 1738 a Robotic duck was developed which had 4000 parts. It could, quack,
bathe, drink water, eat grain, digest it and void it.
Fig 1: Robotic Duck
-
8/7/2019 Palash Vajpai, Robotics and Its Application
9/39
Robotics and its Applications Seminar Report 03
In the year 1738 a Robotic duck was developed which had 4000 parts. It could,
quack, bathe, drink water, eat grain, digest it and void it.
From the year 1950, due to the development of computers and semiconductor
technology Robots found their applications in Industries. This was called the golden era
of Robots.
In 1960s electrical Robots were developed that could walk. This was done by
the General Motors.
After 1970 there were some trends that were observed in Robotics. During those
periods the robots which were produced where classified into:
Model Based Robots: These are Robots that use exact models for the work they
are entitled to do. They are not provided with any sensors. Hence they are not required
to act on external stimuli.
E.g.: A Robot which used for lifting heavy loads are model based as there will
always be a maximum load specified and the robot need not sense the load also
there is no other course of action.
Sensor Based Robots: These are Robots that are provided with sensors that have
to change the course of action based on the stimuli it receives. These Robots are
generally used for lower level works.
E.g.: A Robot which is used for maintenance of a furnace depending upon its
temperature. In the above case there are various courses of action for the Robot
and the Robot has to choose a course of action depending upon the input stimuli
received.
-
8/7/2019 Palash Vajpai, Robotics and Its Application
10/39
Robotics and its Applications Seminar Report 03
The trends in Robotics are:
Fig 2 Trends in Robotics
The present scenario of Robotics is unimaginable from just some stipulated
motions to performing various complex operations and space visits, Robots have found
their application in all fields.
-
8/7/2019 Palash Vajpai, Robotics and Its Application
11/39
Robotics and its Applications Seminar Report 03
CLASSIFICATIONS OF ROBOTS
Robots are classified depending upon the circuitry of the Robots and the ranges
of application. The classifications of Robots are into three types:
a. Simple level Robots
b. Middle level Robots
c. Complex level Robots
Simple Level Robots:
They are automatic machines that extend human potential. They cannot be
programmed and does not contain a complex circuitry.
E.g.: The best example of a simple level Robot is a semi automatic washing machine.
Middle Level Robots:
They are those Robots which can be programmed but cannot be reprogrammed.
They are multi purpose devices. They have sensor based circuitry and can do work
which humans do.
E.g.: The best example of a middle level Robot is the fully automatic washing machine.
Complex Level Robots:
They are those Robots which can be programmed and also reprogrammed. They
are reprogrammable, multifunctional, manipulators. They contain a model based
circuitry and are very complex.
E.g.: The best example of a complex level Robot is the personal computer.
-
8/7/2019 Palash Vajpai, Robotics and Its Application
12/39
Robotics and its Applications Seminar Report 03
ANATOMY OF A ROBOT
The basic components of a robot system are:
1. The mechanical linkage
2. Actuators and transmissions
3. Sensors
4. Controllers
5. User interface
6. Power conversion unit
The mechanical linkage
The manipulator consists of a set of rigid links connected by joints. The joints
are typically rotary orsliding. The last link or the most distal link is called the end
effectors because it is this link to which a gripper or a tool is attached. Sometimes one
distinguishes between this last link and the end effectors that are mounted to this link at
the tool mounting plate or the tool flange.
Fig Manipulator linkage
-
8/7/2019 Palash Vajpai, Robotics and Its Application
13/39
Robotics and its Applications Seminar Report 03
The manipulator can generally be divided into a regional structure and an
orientation structure. The regional structure generally consists of the joints (and the
links between them) whose main function is the positioning of the manipulator end
effectors. These are generally the proximal joints. The remaining distal joints are mainly
responsible for orienting the end effectors.
The different ways a manipulator linkage can move is called its degrees of
freedom.
Actuators and Transmissions:
An Actuator is a device that makes freedom possible. The basic form of actuator
is an electric motor. The various electric motors used are:
1. Stepper Motors: They are used to control the arms of robots.
2. Servo Motors: They are used to control the wheels of Robots. They use PWM
technique for speed control.
The actuators are typically linear or rotary actuators. Also they may be electric,
pneumatic or hydraulic. Typically, electric actuators or motors are better suited to high
speed, low load applications while hydraulic actuators do better at low speed and high
load applications. Pneumatic actuators are like hydraulic actuators except that they are
generally not used for high payload.
Transmissions
Transmissions are elements between the actuators and the joints of the
mechanical linkage.
-
8/7/2019 Palash Vajpai, Robotics and Its Application
14/39
Robotics and its Applications Seminar Report 03
They are generally used for three reasons:
1. Often the actuator output is not directly suitable for driving the robot linkage.
The high speed DC motor (running at say 3000 rpm) may not be suitable for
running a robot at lower speeds. However, with appropriate gearing or
transmission, the speed may be reduced to 30 rpm (1/2 rotation per second)
which is reasonably fast. In addition, the rated torque at 3000 rpm is amplified
by a factor of 100 (assuming a highly efficient gearbox).
Two types of gear boxes are generally used in Robotics:
High Speed Gear Box High Power Gear box
2. The output of the actuator may be kinematically different from the joint motion.
For example, the linear actuator is kinematically different from the elbow joint it
drives. Thus the linkage consisting of the three passive joints and the linear
actuator may be viewed as a transmission that converts the linear motion of the
actuator to the rotary motion of the elbow joint.
3. The actuators are usually big and heavy and often it is not practical to locate the
actuator at the joint. First, big actuators have large inertias and they are harder to
move around in space than the links that comprise the mechanical linkage. So it
is desirable to locate them at a fixed base. Second, because of their size, they can
-
8/7/2019 Palash Vajpai, Robotics and Its Application
15/39
Robotics and its Applications Seminar Report 03
impede the motion of one or more links of the robot. Thus, it is not uncommon
to find linkages or gear trains that transmit the power from the actuator over a
large distance to the joint.
Sensors
The control of a manipulator or industrial robot is based on the correct
interpretation of sensory information. This information can be obtained either internally
to the robot (for example, joint positions and motor torque) or externally using a wide
range of sensors.
The different types of sensors used are:
1. Tactile Sensors
2. Time flight sensors
3. Compasses
4. Miscellaneous
Tactile sensors
They tell us if the Robot has hit an object. It deals with collision detection. The
switch closes if a hit has occurred and current flows by which we can detect a collision
Various types of Tactile Sensors are: Tactile Sensors
Magnetic
Optical
Microwave
Ultrasonic
-
8/7/2019 Palash Vajpai, Robotics and Its Application
16/39
Robotics and its Applications Seminar Report 03
Time of Flight Sensors
They tell us how much a Robot is away from an object. The procedure adopted
is quite simple
1. Send a signal and start at timer (t1=0 sec)
2. Wait for echo signal, and stop timer (t2 = 12 sec)
3. Calculate difference (t1 t2 =12 sec)
4. Use time difference to calculate distance (distance = speed *time)
Compasses:
They tell us where the Robot is heading i.e., either
North, South, West, East or by 0*
Compasses
Miscellaneous:
Gyroscope: Gyroscopes are used in robots that need to
maintain balance or are not inherently stable. Gyroscopes are
often coupled with powerful robot controllers that have the
processing power necessary calculate thousands of physical Gyroscope
Simulations per second. There are also many other sensors used for temperature
sensing, pressure sensing, motion detection, smoke detection.
-
8/7/2019 Palash Vajpai, Robotics and Its Application
17/39
Robotics and its Applications Seminar Report 03
Controllers:
The controller provides the intelligence that is necessary to
control the manipulator system. It looks at the sensory
information and computes the control commands that must
be sent to the actuators to carry out the specified task.
Controller
It generally includes
Memory to store the control program and the state of the robot system obtained from
the sensors
A computational unit (CPU) that computes the control commands
The appropriate hardware to interface with the external world (sensors and actuators)
The hardware for a user interface.
The user interface
This interface allows use a human operator to monitor or control the operation of
the robot. It must have a display that shows the status of the system. It must also have an
input device that allows the human to enter commands to the robot. The user interface
may be a personal computer with the appropriate software or a teach pendant.
The power conversion unit
The power conversion unit takes the commands issued by the controller which
may be low power and even digital signals and converts them into high power analog
signals that can be used to drive the actuators. For example, for an electric actuator, this
power conversion unit may consist of a digital to analog converter and an amplifier with
-
8/7/2019 Palash Vajpai, Robotics and Its Application
18/39
Robotics and its Applications Seminar Report 03
a power supply. For a pneumatic actuator, this may consist of a compressor, the
appropriate servo valves for regulating the flow of air, an amplifier and a digital to
analog converter. For a hydraulic robot, you will have a pump and a cooler instead of a
compressor.
Basic Robot With all Components
-
8/7/2019 Palash Vajpai, Robotics and Its Application
19/39
Robotics and its Applications Seminar Report 03
ARTIFICIAL INTELLIGENCE
Artificial intelligence (AI) is arguably the most exciting field in robotics. It's certainly
the most controversial: Everybody agrees that a robot can work in an assembly line, but
there's no consensus on whether a robot can ever be intelligent.
Like the term "robot" itself, artificial intelligence is hard to define. Ultimate AI
would be a recreation of the human thought process -- a man-made machine with our
intellectual abilities. This would include the ability to learn just about anything, the
ability to reason, the ability to use language and the ability to formulate original ideas.
Robot cists are nowhere near achieving this level of artificial intelligence, but they have
had made a lot of progress with more limited AI. Today's AI machines can replicate
some specific elements of intellectual ability.
Computers can already solve problems in limited realms. The basic idea of AI
problem-solving is very simple, though its execution is complicated. First, the AI robot
or computer gathers facts about a situation through sensors or human input. The
computer compares this information to stored data and decides what the information
signifies. The computer runs through various possible actions and predicts which action
will be most successful based on the collected information. Of course, the computer can
only solve problems it's programmed to solve -- it doesn't have any generalized
analytical ability.
Some modern robots also have the ability to learn in a limited capacity.
Learning robots recognize if a certain action achieved a desired result. The robot stores
-
8/7/2019 Palash Vajpai, Robotics and Its Application
20/39
Robotics and its Applications Seminar Report 03
this information and attempts the successful action the next time it encounters the same
situation. Again, modern computers can only do this in very limited situations. They
can't absorb any sort of information like a human can. Some robots can learn by
mimicking human actions. In Japan, robot cists have taught a robot to dance by
demonstrating the moves themselves.
Some robots can interact socially. Kismet, a robot at M.I.T's Artificial
Intelligence Lab, recognizes human body language and voice inflection and responds
appropriately. Kismet's creators are interested in how humans and babies interact, based
only on tone of speech and visual cue. This low-level interaction could be the
foundation of a human-like learning system.
Kismet and other humanoid robots at the M.I.T. AI Lab operate using an
unconventional control structure. Instead of directing every action using a central
computer, the robots control lower-level actions with lower-level computers. We do
most things automatically; we don't decide to do them at the highest level of
consciousness.
The real challenge of AI is to understand how natural intelligence works.
Developing AI isn't like building an artificial heart -- scientists don't have a simple,
concrete model to work from. We do know that the brain contains billions and billions
of neurons, and that we think and learn by establishing electrical connections between
different neurons. But we don't know exactly how all of these connections add up to
higher reasoning, or even low-level operations. The complex circuitry seems
incomprehensible.
http://electronics.howstuffworks.com/framed.htm?parent=robot.htm&url=http://www.ai.mit.edu/http://electronics.howstuffworks.com/framed.htm?parent=robot.htm&url=http://www.ai.mit.edu/http://electronics.howstuffworks.com/brain.htmhttp://electronics.howstuffworks.com/framed.htm?parent=robot.htm&url=http://www.ai.mit.edu/http://electronics.howstuffworks.com/framed.htm?parent=robot.htm&url=http://www.ai.mit.edu/http://electronics.howstuffworks.com/brain.htm -
8/7/2019 Palash Vajpai, Robotics and Its Application
21/39
Robotics and its Applications Seminar Report 03
Because of this, AI research is largely theoretical. Scientists hypothesize on how and
why we learn and think, and they experiment with their ideas using robots. It also makes
it easier for people to interact with the robots, which potentially makes it easier for the
robot to learn.
Just as physical robotic design is a handy tool for understanding animal and
human anatomy, AI research is useful for understanding how natural intelligence works.
For some robot cists, this insight is the ultimate goal of designing robots. Others
envision a world where we live side by side with intelligent machines and use a variety
of lesser robots for manual labor, health care and communication. A number of robotics
experts predict that robotic evolution will ultimately turn us into cyborgs -- humans
integrated with machines. Conceivably, people in the future could load their minds into
a sturdy robot and live for thousands of years!
-
8/7/2019 Palash Vajpai, Robotics and Its Application
22/39
Robotics and its Applications Seminar Report 03
ADVANTAGES OF ROBOTS
Robotics and automation can, in many situation, increase productivity, safety,
efficiency, quality, and consistency of products
Robots can work in hazardous environments
Robots need no environmental comfort
Robots work continuously without any humanity needs and illnesses
Robots have repeatable precision at all times
Robots can be much more accurate than humans; they may have mili or micro
inch accuracy.
Robots and their sensors can have capabilities beyond that of humans
Robots can process multiple stimuli or tasks simultaneously, humans can only one.
Robots replace human workers who can create economic problems
-
8/7/2019 Palash Vajpai, Robotics and Its Application
23/39
Robotics and its Applications Seminar Report 03
DISADVANTAGES OF ROBOTS
Robots lack capability to respond in emergencies, this can cause:
Inappropriate and wrong responses
A lack of decision-making power
A loss of power
Damage to the robot and other devices
Human injuries
Robots may have limited capabilities in
Degrees of Freedom
Dexterity
Sensors
Vision systems
Real-time Response
Robots are costly, due to
Initial cost of equipment
Installation Costs
Need for peripherals
Need for training
Need for Programming
-
8/7/2019 Palash Vajpai, Robotics and Its Application
24/39
Robotics and its Applications Seminar Report 03
APPLICATIONS OF ROBOTS
Automotive industry
Assembly
Medical laboratories
Medicine
Nuclear energy
Agriculture
Spatial exploration s
Underwater inspection
Customer service
Arts and entertainment
-
8/7/2019 Palash Vajpai, Robotics and Its Application
25/39
Robotics and its Applications Seminar Report 03
Automotive Industry
Automotive industry is one of the most important partners in the development of
robotic technologies. In automotive industry the Robots are used for:
1. Welding of various parts
2. Robustness and precision of the assembly of
pieces
3. Manipulate very heavy loads
4. Found in painting rooms for spray painting. Robot in Automotive
Industry
5. Used for places that is hard to reach.
Assembly
Another strong partners is the assembly of manufactured products
1. Execute repetitive sequence of movement, boring,
demotivating and dangerous tasks at constant
performance.
2. Many tools are attached at the extremity of a
manipulator
3. Use the optimal sequence of operations.
4. Can monitor the quality assembly line with adapted enhance sensor technologies
-
8/7/2019 Palash Vajpai, Robotics and Its Application
26/39
Robotics and its Applications Seminar Report 03
Medical
Medical laboratories are another place where repetitive tasks must be made.
1. Handling a large quantity of samples
2. Execution of analyses
3. Automatic systems with measurement apparatus.
4. Small mobile units can also take charge of moving the samples between
different parts of the room or services, thus eliminating the need for the
technician to continuously have to walk.
Nuclear energy
Nuclear generator installations are places where we can find a large number of robotic
applications.
Used for maintenance of nuclear reactors.
Used for the replacement of radioactive fuel tubes.
Seal off radioactive leakages in contaminated zones.
Cleaning and decontaminating radioactive areas without compromising the health of
workers was also necessary.
Agriculture
Robots have also found some applications in agriculture.
1. In Australia a robotic system has been developed for
sheep shearing
2. Robots for field sowing
3. Raisin and apple gathering
-
8/7/2019 Palash Vajpai, Robotics and Its Application
27/39
Robotics and its Applications Seminar Report 03
Spatial exploration
Spatial probes sent for many years to explore and discover our universe
1. Like the Viking I and II probes sent to explore Mars
in 1976,
2. Telemanipulator used to collect samples of soil
3. The famous Canadian spatial manipulator Canada
arm mounted on American spaceships and the new space station remote
manipulator system (SSRMS) that is used to assemble the international space
station.
4. Mars Rover in 1998 explored the neighbor planet while being teleguided from
the Earth.
5. Provided an incredible amount of new information about this unknown
environment.
Underwater inspection:
Robots are used for under water inspection where human bodies cannot survive
1. Submersible robots have been used for many
years to explore sea beds.
2. Rescuing ship-wrecked persons
3. Retrieving black boxes of crashed planes.
4. Exploring deep sea and old wrecks in order to find their secrets.
5. Inspection of the flooded side of dams to detect the cracks
6. Inspect and maintain oil digging platforms
-
8/7/2019 Palash Vajpai, Robotics and Its Application
28/39
Robotics and its Applications Seminar Report 03
Customer Service
Various machines have been developing to serve customers in a semiautomatic or fully
automatic way.
Automatic banking
Automatic Refueling station.
Arts and Entertainment
It is playing with sophisticated toys dedicated for funny applications.
1. Robots that are supposed to do house cleaning
2. AIBO, built by Sony, that have all the nice characteristics of a real dog but
Without its obvious disadvantages.
3. Remotely controlled robots used to do fun painting
4. Considered as a very positive and innovative way of evolution in robotics.
5. HONDAS ASIMO is a dancing robot which can interact with humans.
-
8/7/2019 Palash Vajpai, Robotics and Its Application
29/39
Robotics and its Applications Seminar Report 03
ROBOTIC TELE SURGERY
Medical robotics is an active area of research on the application of computers
and robotic technology to surgery, in planning and execution of surgical operations and
in training of surgeons.
Robotic Telesurgery is a promising application of robotics to medicine, aiming
to enhance the dexterity and sensation of regular and minimally invasive surgery
through using millimeter-scale robotic manipulators under control of the surgeon. The
first generation of surgical robots is already being installed in a number of operating
rooms around the world. These aren't true autonomous robots that can perform surgical
tasks on their own, but they are lending a mechanical helping hand to surgeons.
Robotics is being introduced to medicine because they allow for unprecedented control
and precision of surgical instruments in minimally invasive procedures. These machines
still require a human surgeon to operate them and input instructions. Remote control and
voice activation are the methods by which these surgical robots are controlled.
Minimally invasive surgery (MIS) is a revolutionary surgical
technique. It is minimally invasive in the sense that the surgery is
performed with instruments and viewing equipment inserted through
small incisions rather than by making a large incision to expose and
provide access to the operation site. The main advantage of this
technique is the reduced trauma to healthy tissue, which is a leading
cause for patients' postoperative pain and long hospital stay. The
hospital stay and rest periods, and therefore the procedure costs, can
be significantly reduced with MIS, but MIS procedures are more
-
8/7/2019 Palash Vajpai, Robotics and Its Application
30/39
Robotics and its Applications Seminar Report 03
demanding on the surgeon, requiring more difficult surgical
techniques.
Telesurgical tasks require high dexterity and fidelity during manipulation since
most of the manipulation is delicate. Therefore, the design requirements for the
teleoperation controllers are significantly different from classical teleoperation
applications. An important component of the teleoperator design is the quantization of
the human operator sensitivity and performance. This is necessary for providing the
specifications of the controller as well as measures to evaluate designs. It is also
important to have a control design methodology which systematically includes these
control design.
Here are three surgical robots that have been recently developed:
da Vinci Surgical System
ZEUS Robotic Surgical System
AESOP Robotic System
da Vinci system consists of two primary components:
A viewing and control console
A surgical arm unit
In using da Vinci for gallbladder surgery, three incisions -- no larger than the
diameter of a pencil -- are made in the patient's abdomen, which allows for three
stainless-steel rods to be inserted. The rods are held in place by three robotic arms. One
of the rods is equipped with a camera, while the other two are fitted with surgical
-
8/7/2019 Palash Vajpai, Robotics and Its Application
31/39
Robotics and its Applications Seminar Report 03
instruments that are able to dissect and suture the tissue of the gallbladder. Unlike in
conventional surgery, these instruments are not directly touched by the doctor's hands.
Surgeon's view when using the da Vinci Surgical System
Sitting at the control console, a few feet from the operating table, the surgeon
looks into a viewfinder to examine the 3-D images being sent by the camera inside the
patient. The images show the surgical site and the two surgical instruments mounted on
the tips of two of the rods. Joystick-like controls, located just underneath the screen, are
used by the surgeon to manipulate the surgical instruments. Each time one of the
joysticks is moved, a computer sends an electronic signal to one of the instruments,
which moves in sync with the movements of the surgeon's hands.
It is important to mention at this point that there are other successful medical
applications of robotics. These include the ROBODOC system for orthopedic surgery,
which is an autonomous robotic system to perform total hip replacement surgery; the
image guided robotic system for micro-surgery and stereo tactic neurosurgery.
Advantages of Robotic Surgery
In today's operating rooms, you'll find two or three surgeons, an anesthesiologist
and several nurses, all needed for even the simplest of surgeries. Most surgeries require
http://science.howstuffworks.com/becoming-a-doctor.htmhttp://science.howstuffworks.com/becoming-a-doctor.htm -
8/7/2019 Palash Vajpai, Robotics and Its Application
32/39
Robotics and its Applications Seminar Report 03
nearly a dozen people in the room. As with all automation, surgical robots will
eventually eliminate the need for some of those personnel. Taking a glimpse into the
future, surgery may require only one surgeon, an anesthesiologist and one or two nurses.
In this nearly empty operating room, the doctor will sit at a computer console, either in
or outside the operating room, using the surgical robot to accomplish what it once took a
crowd of people to perform.
The use of a computer console to perform operations from a distance opens up
the idea of tele-surgery, which would involve a doctor performing delicate surgery
miles away from the patient. If the doctor doesn't have to stand over the patient to
perform the surgery, and can remotely control the robotic arms at a computer station a
few feet from the patient, the next step would be performing surgery from locations that
are even farther away. If it were possible to use the computer console to move the
robotic arms in real-time, then it would be possible for a doctor in California to operate
on a patient in New York. A major obstacle in tele-surgery has been the time delay
between the doctors moving his or her hands to the robotic arms responding to those
-
8/7/2019 Palash Vajpai, Robotics and Its Application
33/39
Robotics and its Applications Seminar Report 03
movements. Currently, the doctor must be in the room with the patient for robotic
systems to react instantly to the doctor's hand movements.
Having fewer personnel in the operating room and allowing doctors the ability to
operate on a patient long-distance could lower the cost of health care. In addition to cost
efficiency, robotic surgery has several other advantages over conventional surgery,
including enhanced precision and reduced trauma to the patient. For instance, heart
bypass surgery now requires that the patient's chest be "cracked" open by way of a 1-
foot (30.48-cm) long incision. However, with the da Vinci or ZEUS systems, it is
possible to operate on the heart by making three small incisions in the chest, each only
about 1 centimeter in diameter. Because the surgeon would make these smaller incisions
instead of one long one down the length of the chest, the patient would experience less
pain and less bleeding, which means a faster recovery.
Robotics also decreases the fatigue that doctors experience during surgeries that
can last several hours. Surgeons can become exhausted during those long surgeries, and
can experience hand tremors as a result. Even the steadiest of human hands cannot
match those of a surgical robot. The da Vinci system has been programmed to
compensate for tremors, so if the doctor's hand shakes the computer ignores it and keeps
the mechanical arm steady.
While surgical robots offer some advantages over the human hand, we are still a
long way from the day when autonomous robots will operate on people without human
interaction. But, with advances in computer power and artificial intelligence, it could be
that in this century a robot will be designed that can locate abnormalities in the human
body, analyze them and operate to correct those abnormalities without any human
guidance.
http://science.howstuffworks.com/question120.htmhttp://science.howstuffworks.com/question120.htmhttp://science.howstuffworks.com/heart.htmhttp://science.howstuffworks.com/question120.htmhttp://science.howstuffworks.com/question120.htmhttp://science.howstuffworks.com/heart.htm -
8/7/2019 Palash Vajpai, Robotics and Its Application
34/39
Robotics and its Applications Seminar Report 03
ROBONAUTS
One of the most interesting things about space travel is the drama. Human
beings place themselves into amazing vehicles and travel into a completely hostile
environment that is almost beyond imagination, and then describe their experiences for
us in words and pictures. Landing on the moon would not have been quite the same
without the astronauts providing us with words to go along with grainy black and white
pictures of the lunar landscape.
However, the problem with human space exploration is that the human body is
too fragile for the harsh conditions of space. We have learned that space travel can take
its toll on astronauts. Temperatures in space can swing from 248 degrees Fahrenheit
(120 degrees Celsius) to -148 F (-100 C). There also isn't the Earth's atmosphere to
shield us from the sun's radiation. In order to survive, astronauts must wear bulky space
suits that cost about $12 million each. Space suits are not practical for an emergency
situation.
NASA has recognized the frailty of our bodies and is preparing a new breed of
astronauts to perform some of the more difficult tasks in space. These new space
explorers won't need space suits or oxygen to survive outside of spacecraft. These
Astronauts are called Robonauts which will assist humans in future space applications.
-
8/7/2019 Palash Vajpai, Robotics and Its Application
35/39
Robotics and its Applications Seminar Report 03
Robonauts Body
The individual parts of a Robonaut are:
1. Head
2. Torso
3. Legs
4. Arms
5. Hands
Head -- Two small color video cameras are mounted in the headpiece that delivers
stereo vision to the astronaut operating the Robonaut. Stereo lithography was used to
make an epoxy-resin helmet to cover and protect the headpiece. The neck is jointed to
allow the head to turn side to side and up and down.
Robonaut's head
-
8/7/2019 Palash Vajpai, Robotics and Its Application
36/39
Robotics and its Applications Seminar Report 03
Torso -- The torso provides a central unit for connecting the peripheral arm, head and
leg attachments. It also houses the control system, which is described in the next
section.
Leg -- The one part of the Robonauts design that deviates from the humanoid look is
that it has only one leg. The leg's only function is to provide support when the hands
are unable to.
Arms -- Just like its human counterparts, the Robonaut will have two arms that can
move in many directions and have a greater range than our own arms. The arms will
be equipped with more than 150 sensors each and will be densely packed with joints.
Space-rated motors, harmonic drives and fail-safe brakes will be integrated into each
arm.
Hands -- Perhaps the most impressive parts of the Robonaut are its hands. Its hands
are the closest to the size and ability of human hands inside a space suit. The jointed
hand may even exceed the movements of a suited human hand. Fourteen brushless
motors to power each hand are inside the eight-inch-long forearm. The hand has four
fingers and an opposable thumb. The hand was designed with five digits so that it
would be compatible with tools designed for humans.
Exploded diagram of a Robotic arm
-
8/7/2019 Palash Vajpai, Robotics and Its Application
37/39
Robotics and its Applications Seminar Report 03
The primary purpose of Robonaut is to do what humans can't -- make a quick
escape from a spacecraft to an environment with no oxygen. It can depart the spacecraft
in the fraction of the time that a human astronaut can. In an emergency situation, when
timing is crucial to survival, the Robonaut could save lives of future space voyagers.
Robonaut won't be limited to use in space. It could also be used to go into hazardous
locations on Earth in place of humans, like volcanoes and nuclear plants.
Robonaut will be powered by PowerPC processors, which has been used in
other space applications. The processors will run the VxWorks real-time operating
system. NASA says that this combination offers flexible computing and could support
varied development activities. The system's software is written in C and C++.
ControlShell software is used to aid the development process and provides a graphical
development environment, which enhances researchers understanding of the system and
code.
-
8/7/2019 Palash Vajpai, Robotics and Its Application
38/39
Robotics and its Applications Seminar Report 03
CONCLUSION
Robots are going to play a very significant part in our daily life. Like computers
in the 20 th century Robots are going to be common house hold items in future. With
the development of computers, semiconductor technology Robotics will grow in leaps
and bounds. They will find applications in almost all areas and become universal. There
are expected times when Robots will over power mankind in future. The ethnicity of
providing intelligence to robots is questioned but future is the answer to this question. It
is for us to wait and see whether the creators or the creation will rule the world.
-
8/7/2019 Palash Vajpai, Robotics and Its Application
39/39
Robotics and its Applications Seminar Report 03
REFERENCE
http://electronics.howstuffworks.com/robot.htm
www.seas.upenn.edu/~meam100/handouts/robotics.pdf
http://engineering-ed.org/Robotics/documents
www.site.uottawa.ca/~rabielmo/miniCourse