001 Tmkusuma2013 IT-012276 ROBOTIKA [Dasar-Dasar Robotika]

8/12/2019 001 Tmkusuma2013 IT-012276 ROBOTIKA [Dasar-Dasar Robotika]

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ROBOTIKAIT-012276

Dr. Tb. Maulana Kusuma, SKom., [email protected]

http://mkusuma.staff.gunadarma.ac.id

P1 | Dasar-dasar Robotika


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What is a Robot?Electro-mechanical device.

Performs Various tasks.

May be human controlled or automated.

It finds its uses in all aspects of our life .


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Robota

The term robot originates from the Czech word, robota,meaning compulsory labor (or slave) From the play R.U.R. (Rossums Universal Robots) by Czechplay writer Karel Capek in 1921.


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Three Laws of RoboticsIn 1942, Issac Asimov , An American science fictionwriter, introduced the word robotics in his shortstoryLaw 1 : A robot may not injure a human being, or,

through inaction, allow a human being to come toharmLaw 2 : A robot must obey the orders given it byhuman beings except where such orders would

conflict with the First LawLaw 3 : A robot must protect its own existence aslong as such protection does not conflict with theFirst or Second Law


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G. Walters Robot The first Robot

1948, 1953A wheeled machine with motors

PhotocellsTwo vacuum tubesMoved toward light if moderate intensity

Avoided bright light


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What defines a robot?

Sense a robot has to take in informationabout its environment

Plan a robot has to use that information tomake a decision

Act a robot needs moving partsto carry out commands


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Robot Classes

Manipulators : robotic arms. These are mostcommonly found in industrial settings.Mobile Robots : unmanned vehicles capable oflocomotion.Hybrid Robots : mobile robots withmanipulators.


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Manipulators Configuration

PolarCylinder

CartesianJoint-arm


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Mobile Robots

Wheeled Holonomic Non-holonomic

Legged Humanoid Animaloid

FlyingUnderwater


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Industrial Robots

Material HandlingManipulator

AssemblyManipulator

Spot Welding Manipulator

Material handling Material transfer Machine loading and/or unloading Spot welding Continuous arc welding Spray coating Assembly Inspection

What Robots can do?


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Basic Parts of a Robot

Mechanical systemPower supply system

ActuatorsSensory devices for feedbackSensor Data processing unit

Control system


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Mechanical System

The most basic and important part of therobot.

It comprises of chassis, motors, wheels andtheir placement.

This system decides the locomotion of therobot.


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Wheeled Locomotion Systems

Differential driveCar type drive

Skid steer driveSynchronous drivePivot drive


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Differential Drive

This is the most commonly used form oflocomotion system used in robots as its thesimplest and easiest to implement.

It has free moving wheel(s) in the frontaccompanied with a left and right wheel. The

two wheels are driven by different motors.


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Differential Drive (Contd


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Car Type Drive (Rack and Pinion)

It is characterized by a pair of driving wheelsand a separate pair of steering wheels.

The translation and rotation are interlinked,hence this system faces severe path planningproblem.


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Car Type Drive (Contd)


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Skid Steer Drive

A close relative of the differential drive system.It is mostly used in tracked machines e.g. tanks. Alsofinds application in some four / six wheeled robots

The left and right wheels are driven independently.Steering is accomplished by actuating each side at adifferent rate or in a different direction, causing thewheels or tracks to slip, or skid, on the ground.


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Skid Steer Drive (Contd)


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Synchronous Drive (Contd)


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Pivot Drive

The most unique type of Locomotion system

It is composed of a four wheeled chassis and a platform that

can be raised or lowered


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Pivot Drive (Contd)

The wheels are driven by a motor for translationmotion in a straight line

For rotation one motor is needed to lower/raise theplatform & another to rotate the chassis around theplatform

This system can guarantee perfect straight linemotion as well as accurate in place turns to adesired heading


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Power Supply System

Suitable power source is needed to run the robots.

Robots are most suitably powered by batteries.

The weight and energy capacity of the batteries maybecome the determinative factor of its performance.


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Actuators

They convert the electrical energy into meaningfulmechanical work

Mechanical output can be rotational or linear(straight line)

Motors provide rotational motion

Electromagnets provide linear motion


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Motors are of various kinds

AC Motors : Not used much in robotics

Stepper Motors : For controlled rotation

DC Motors : Finds extensive general use

Servo Motors : DC motor with in built feedback &error compensation


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Hydraulic Motor Stepper Motor

Pneumatic Motor Servo Motor

Pneumatic Cylinder

DC Motor


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Sensors

Analogous to human sensory organs Eyes, ears, nose, tongue, skin

Sensors help the robot knowing its surroundingsbetter

Improves its actions and decision making ability

Provides feedback control


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Examples

Light Dependent ResistorThermistor

Flame Sensor (ie. UVTron)IR Photo SensorProximity Sensor (ultrasonic, IR)

Vision (camera)


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Line Following Robot

A line follower is a robotcapable of tracking a linedrawn on a surface

Optical sensors capturethe line position at thefront end of the robot

The robot is steered tokeep it always over the

line


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Optical Reflectors


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TERIMA KASIHInformasi Selengkapnya:

UG Robotics Workshop (Bengkel Robot) Kampus D, Gedung 3 Lantai 1 Utara

UG-VIBORG | Vision, Robotics and Real-time System Group http://ugviborg.wordpress.com

Blog Komunitas Robotika UG: http://robotika.blog.gunadarma.ac.id/

Documents

001 Tmkusuma2013 IT-012276 ROBOTIKA [Dasar-Dasar Robotika]