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8/10/2019 Robotics_assgmt_#_120814_ss_11m236

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NATIONAL INSTITUTE OF TECHNOLOGY KARNATAKA

SURATHKAL

ROBOTICS AND CONTROL |MF703

DR K.R.GURUPRASAD

DEPARTMENT OF MECHANICAL ENGINEERING

ASSIGNMENT -1|INTRODUCTION TO ROBOTICS

Sakthivel Sivaraman 11M236


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1. Key characteristics of a Robot?

A. Sensing, the very basic characteristic of robots is that it must have the ability to sense its

environment or the surroundings. It must sense it in almost similar ways as a human does. There

are different types of sensors which can be present in a robot such as light sensors which function

as eyes in human, chemical sensors to perform the functions which are done by nose, touch and

pressure sensors to act like hands, hearing and sonar sensors to act like ears and taste sensors to

act like tongue in human beings. All these sensors provide awareness to a robot about its

surroundings.

B. Movement, another of the primary robots characteristics required in machine is that it must be

able to move around its surroundings. This can be done in different ways like there can be rolling

on wheels propelling by thrusters a robot needs to be able to move, to count as a robot. If the

entire robot moves, it is like the Sojourner or if only some just parts of the robot moves, it is like

the Canada Arm.

C. Programmability, it can be programmed to accomplish a large variety of tasks. After being

programmed, it operates automatically.

D. Mechanical capability, enabling it to act on its environment rather than merely function as a data

processing or computational device

E. Energy, is one of the most important robots characteristics. It is necessary to have an adequate

source of energy so that robot is able to power itself on its own. There may be different sources

like electrically powered, battery powered or solar powered robots. The means of energy are

selected in accordance with the functions which the robot needs to perform.

F. Flexibility, it can operate using a range of programs and manipulates in a variety of ways.

G. Autonomousor Semi-autonomous, something that reacts to stimuli and makes decisions on

how to respond appropriately. The most important among all the characteristics of robots is that it

must be a kind of smarts. This is the area where programming enters into the scene. Smartness is

awarded to a robot by the programmer. A programmer is a person whose job is to provide robot its

smartness. The robot receives the program so that it knows what to do and how to do.

H. DOFs, degrees of freedom is also a determining factor in the characterization of Robots. Usually

robots have varying DOFs starting from 2 or 3 to 36 and higher in humanoid robots.

I. Learnabilityor Adaptivity, robots that will train themselves just like peeople learn how to move

as we grow up, or learn a new activity. Just as with us it is a trial and error process. A trainer must

help the robot or person learn by correcting errors.

J. Dexterity, to touch, pick up and manipulate objects in a complex fashion, flipping a coin between

your fingers for example.


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2.

Taxonomy

3. Why CNC machine is not considered as a Robot?

- A robot is a machine that uses sensors to perceive some information about its environment, then

thinks about that information, makes a decision, and performs a physical action. A mobile robot is a

robot that also can move around in its environment. So, by my definition, a CNC can be viewed asrobotic, but not a mobile robot.

- There is no agreed-upon definition of a robot, but a common definition is a machine controlled,

wholly or partially, by an onboard computer. Should be either autonomous or semi-autonomous,

and should have atleast some basic intelligence imparted but CNC fails in this aspect as well.

Robots

ArmConfiguration

RectangularCoordinates

CylindricalCoordinates

Polar

coordinates

Scara

Shape ofworkspace

OperatingMethod

Type ofcontroller

LimitedSequence

Point topoint

ContinuousPath

Type of JointsType of

TechnologyType ofMotion

LinearMotion

Extenionamotion

Rotationalmotion

Applicationbased

Generalpurpose

FactoryRobots

MilitaryRobots

MiningRobots

MedicalRobots ResearchRobots

Feauturebased

ModularRobot

IndustrialRobot

ServiceRobot

EducationalRobots

MobileRobots CollaborativeRobots


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4.

Examples of what are considered to be Robots!

Medical Robot: da Vinci Surgical System

Humanoid Robot: ASIMO


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Industrial Robot: KUKA

Military Robot: Big Dog

robotics_assgmt_#_120814_ss_11m236

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