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Introduction: History of Robotics -
past, present and future
Dr. Ashish Dutta Professor, Dept. of Mechanical Engineering
Coordinator, Centre for Mechatronics
Indian Institute of Technology Kanpur, INDIA
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
What do you come up with first when you think of
robots?
Mechanical machines ?
Companions / friends
Pets / toys
Helpers
Mechanical machines ?
Companions / friends
Pets / toys
Helpers
Dangerous machines
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Industrial Robot Arms ?
PAST
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Present - Life of an amazon robot !
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Social robots
FUTURE !
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
What will be the gender of the robot?
Male
Female
Neutral
What laws should be applicable to robots interacting
with humans ?
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Origin of Automation: replacing human muscle power 10,000 BC Stone tools used in early civilization:
tools make better tools.
Design of simple automation (150 BC) moving engine, Herons door etc. in Greece.
1780 AD saw the creation of automatic dolls which could write, draw pictures etc.
Punch cards used in power looms in France in 1801 for manufacture of textiles Joseph-Marie-Jacquard.
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Automation in ancient Greece (150 BC)
Steam engine Herons Door
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Programmed textile loom: 1801 in France
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Hard Automation in Ford Motor Company 1904
Idea of transfer lines in which a car was assembled
at different stations.
First use of hard automation – alignment devices,
transfer devices etc.
1904 Henry Ford’s mass production of vehicles in
the USA.
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
1921 Karel Kapec’s play depicting human like mechanical man (slave) - robots.
1942 Isaac Asimov first used the term Robotics.
Just for History !
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Origin of robots
1945 master slave manipulator made for
radioactive material handling for the Atom Bomb
project.
A strictly
mechanical
device
master slave
Motion transfer by
wire rope and
pulleys
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
What changed everything?
Transistor - (1949) : concept of reprogram!
1950 SHAKY : First robot-
1952 George Dovel : teach / play back devices for NC
machines/ robots.
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Clumsy robots to sophisticated humanoids
1950 2000
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Evolution of NC technology
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Flexible Manufacturing System
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Computer integrated manufacturing
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Industry 4.0
Connection
involving=
machines-humans-
AI
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
What is the definition of a Robot ?
Nobody seems to agree !
To be called a robot it should do some or all of the
following :
- move around
- sense and manipulate the environment.
- display intelligent behavior
Is a CNC machine a Robot ?
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Three generations of robotics / engineering
First generation of robots: simple pick and place devices with no external sensors.
Second generation robots: external Sensors (vision, tactile, etc) for interaction with the environment.
Third generation robots: intelligence, smart materials, bio , etc.
Future robots: bio-robots, micro , nano ,
cybogs, aneroids etc.
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
First Generation Robots : 1950 – 1970 NC technology
Simple motion
capabilities for
pick and place
applications
Robots made of revolute
joints actuated by open
loop or closed loop control.
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Second generation of robots (1970 …1990)
Electronics: smaller, faster and cheaper processors
External sensors : interaction with the environment
- vision
- advanced sensors : gyros, inclination, force, slip.
- advanced controllers : microcontroller, DSP
- speech recognition
- AI
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Third generation robots 1990 - 2000
New materials – smart materials, smart actuators.
Interest in emulating biological design
paradigms.
New areas like:
Micro, Nano-robotics, Vision, bio-robotics, etc.
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Micro – Robot Surgeon for bypass surgery!
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Micro-robot Dentist !
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Micro Robotic Hair Cut !
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Hand with no joints : Artificial muscles
Five finger hand with artificial muscles (EAP)
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Snake, bird made of artificial muscles
Emulating biology
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Robots for rehabilitation
Fig. HAL (Human assistive locomotion) Univ. of Tsukuba, Japan
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Autonomous transport
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Happy robot or sad robot ??
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Brain Computer Interfaces
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Driver tracking
Robot Joints and work volume
Dr. Ashish Dutta
Professor, Dept. of Mechanical Engineering
IIT Kanpur, INDIA
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Robot arm = links + joints + sensors +
actuators
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Prismatic joint : DOF 1
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Revolute (DOF 1) / Cylindrical joint (DOF 2)
Fig. Revolute Fig. Cylindrical
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Spherical joint : DOF 3
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Work Volume
How many DOF must a robot have – it depends on
the task .
Volume inside which the robot can position its
gripper.
The job to be performed must be inside the work
volume.
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Cartesian robot
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Cylindrical robot
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Articulated
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
SCARA
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
How to decide
Link lengths? (for humans ??)
Link velocities during control ??
Thank you
THANK YOU
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Pathfinder - Sojourner
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Autonomous helicopter
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Active Prosthetics
Fig. Prosthetics
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Cockroach
Fig. Coordination of multi leg locomotion.
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Surgical robotics
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Brain surgery
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Educational robotics
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Self learning kits
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Educational toys
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Educational toys
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Study of behavior
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Learning human skills
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Game playing skills
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Facial expression
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Social interaction
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Pets
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Moving links ?