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Index

Contents:

1. Introduction - 22. Definition of Robotics - 43. Technologies that make up a Robot - 54. Origin of Robots - 65. Laws of Robotics by Asimov - 76. Components of Robots - 87. Types of Robots - 158. Advantages - 219. Applications - 2210.Future Scope - 2411.Conclusion - 2512.References - 26

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1.INTRODUCTION:

Robotics is the branch oftechnology that deals with the design, construction, operation,

structural disposition, manufacture and application ofrobots and computer systems for their

control, sensory feedback, and information processing.

The concept and creation of machines that could operate autonomously dates back

to classical times, but research into the functionality and potential uses of robots did not grow

substantially until the 20th century. Today, robotics is a rapidly growing field, as we continue to

research, design, and build new robots that serve various practical purposes,

whether domestically, commercially, or militarily. Many robots do jobs that are hazardous to

people such as defusing bombs, exploring shipwrecks, and mines.

The word robotics was derived from the word robot, which was introduced to the public

by Czech writerKarel apekin his play R.U.R. (Rossum's Universal Robots), which premiered

in 1921.

Robotics is the study of the design, construction and use of robots. Artificial intelligence

is the branch of computer science that deals with writing computer programs that can solve

problems creatively; "workers in AI hope to imitate or duplicate intelligence in computers androbots"

1.1 WHO INTRODUCED THE WORD ROBOT?

o The terms robot and robotics are only recently used. The term robot was first introducedby a Czech dramatist, Karel Capek in his 1921 play "Rossum's Universal Robots". He

was referring to a perfect and tireless worker performing manual labour jobs for human

beings.

o Isaac Asimov, coined the word robotics as the science of the study of robots, in hisscience fiction stories about robots in 1940s.

http://en.wikipedia.org/wiki/Technologyhttp://en.wikipedia.org/wiki/Robothttp://en.wikipedia.org/wiki/Classical_timeshttp://en.wikipedia.org/wiki/Domestic_robothttp://en.wikipedia.org/wiki/Industrial_robothttp://en.wikipedia.org/wiki/Military_robothttp://en.wikipedia.org/wiki/Czechoslovakiahttp://en.wikipedia.org/wiki/Karel_%C4%8Capekhttp://en.wikipedia.org/wiki/Karel_%C4%8Capekhttp://en.wikipedia.org/wiki/Karel_%C4%8Capekhttp://en.wikipedia.org/wiki/R.U.R._(Rossum%27s_Universal_Robots)http://en.wikipedia.org/wiki/R.U.R._(Rossum%27s_Universal_Robots)http://en.wikipedia.org/wiki/Karel_%C4%8Capekhttp://en.wikipedia.org/wiki/Czechoslovakiahttp://en.wikipedia.org/wiki/Military_robothttp://en.wikipedia.org/wiki/Industrial_robothttp://en.wikipedia.org/wiki/Domestic_robothttp://en.wikipedia.org/wiki/Classical_timeshttp://en.wikipedia.org/wiki/Robothttp://en.wikipedia.org/wiki/Technology

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o Webster's New World Dictionary, 1988, defines robotics as 'the science or technology ofrobots, their design, manufacture, application, use etc'

o In Europe robotics is defined as 'the science of robotology' and robotology is defined as'the means by which robot machines are put together and made to work'.

o Many people think of robotics as a single area of technology, but in fact roboticsencompasses such diverse areas of technology as mechanical, electrical, electronics,systems, computer hardware and software and a host of other advanced technology.

1.2 WHAT CAN ROBOTS DO?

o In the past industrial robots were best suited for repetitive, unskilled or semiskilled,monotonous and burdensome tasks.

o There is however, a new move to apply intelligence to robots that will allow them to"think smart" and make decisions. These are what can be termed as autonomous andintelligent robots.

o Today the human analogy of an industrial robot is very limited. Robots do not look likehumans, and they do not behave like humans. Instead, they are one-armed machines

which almost always operate from a fixed location on the factory floor.

Future robots are likely to have a greater number of attributes similar to humans, such as

having greater sensor capabilities, more intelligence, a higherlevel of manual dexterity, and a

limited degree of mobility. There is no denying that the technology of robotics is moving in adirection to provide these machines with more and more capabilities like those of humans.

It is an electric machine which has some ability to interact with physical objects and to begiven electronic programming to do a specific task or to do a whole range of tasks or actions. It

may also have some ability to perceive and absorb data on physical objects, or on its local

physical environment, or to process data, or to respond to various stimuli. This is in contrast to asimple mechanical device such as a gear or a hydraulic press or any other item which has no

processing ability and which does tasks through purely mechanical processes and motion.

http://en.wikipedia.org/wiki/Gearhttp://en.wikipedia.org/wiki/Hydraulic_presshttp://en.wikipedia.org/wiki/Mechanicshttp://en.wikipedia.org/wiki/Mechanicshttp://en.wikipedia.org/wiki/Hydraulic_presshttp://en.wikipedia.org/wiki/Gear

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2.DEFINITION:

According to the Robot Institute of America (1979) a robot can be defined as: "Areprogrammable, multifunctional manipulator designed to move material, parts, tools, orspecialized devices through various programmed motions for the performance of a variety of

tasks".

A more inspiring definition can be found in Webster. According to Webster a robot is:"An automatic device that performs functions normally ascribed to humans or a machine in the

form of a human."

They can also be defined as an automatic device that performs functions normallyascribed to humans or a machine in the form of a human.

The vast majority of industrial robots are mechanical arms attached to a fixed base, with

some form of programmable control for automatic execution of motion. This is simply because a

market exists for such products and current technology is able to provide a product with

acceptable performance at an affordable price.

Robots are used in an increasingly wide variety of tasks such as vacuuming floors,

mowing lawns, cleaning drains, building cars, in warfare, and in tasks that are too expensive or

too dangerous to be performed by humans such as exploring outer space or at the bottom of the

sea.

Robots range from humanoids such as ASIMO and TOPIO to Nano robots, Swarm

robots, Industrial robots, military robots, mobile and servicing robots. The branch of technology

that deals with robots is robotics.

The concept and creation of machines that could operate autonomously dates back

to classical times, but research into the functionality and potential uses of robots did not grow

substantially until the 20th century. Today, robotics is a rapidly growing field, as we continue to

research, design, and build new robots that serve various practical purposes,

whether domestically, commercially, or militarily. Many robots do jobs that are hazardous topeople such as defusing bombs, exploring shipwrecks, and mines.

http://en.wikipedia.org/wiki/ASIMOhttp://en.wikipedia.org/wiki/TOPIOhttp://en.wikipedia.org/wiki/Nanoroboticshttp://en.wikipedia.org/wiki/Swarm_Roboticshttp://en.wikipedia.org/wiki/Swarm_Roboticshttp://en.wikipedia.org/wiki/Industrial_robothttp://en.wikipedia.org/wiki/Military_robothttp://en.wikipedia.org/wiki/Mobile_robothttp://en.wikipedia.org/wiki/Domestic_robothttp://en.wikipedia.org/wiki/Roboticshttp://en.wikipedia.org/wiki/Classical_timeshttp://en.wikipedia.org/wiki/Domestic_robothttp://en.wikipedia.org/wiki/Industrial_robothttp://en.wikipedia.org/wiki/Military_robothttp://en.wikipedia.org/wiki/Military_robothttp://en.wikipedia.org/wiki/Industrial_robothttp://en.wikipedia.org/wiki/Domestic_robothttp://en.wikipedia.org/wiki/Classical_timeshttp://en.wikipedia.org/wiki/Roboticshttp://en.wikipedia.org/wiki/Domestic_robothttp://en.wikipedia.org/wiki/Mobile_robothttp://en.wikipedia.org/wiki/Military_robothttp://en.wikipedia.org/wiki/Industrial_robothttp://en.wikipedia.org/wiki/Swarm_Roboticshttp://en.wikipedia.org/wiki/Swarm_Roboticshttp://en.wikipedia.org/wiki/Nanoroboticshttp://en.wikipedia.org/wiki/TOPIOhttp://en.wikipedia.org/wiki/ASIMO

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4.ORIGIN OF ROBOTS:

The word 'robotics' was first used in Runaround, a short story published in 1942, by Isaac

Asimov (born Jan. 2, 1920, died Apr. 6, 1992). I, Robot, a collection of several of these stories,

was published in 1950. One of the first robots Asimov wrote about was a robotherapist. A

modern counterpart to Asimovs fictional character is Eliza. Eliza was born in 1966 by aMassachusetts Institute of Technology Professor Joseph Weizenbaum who wrote Eliza acomputer program for the study of natural language communication between man and machine.

She was initially programmed with 240 lines of code to simulate a psychotherapist by answering

questions with questions.

The First Industrial robot Ultimate:

After the technology explosion during World War II, in 1956, a historic meeting occurs

between George C. Devol, a successful inventor and entrepreneur, and engineer Joseph F.

Engelberger, over cocktails the two discuss the writings of Isaac Asimov.

Together they made a serious and commercially successful effort to develop a real,

working robot. They persuaded Norman Schafler of Condec Corporation in Danbury that they

had the basis of a commercial success.

Engelberger started a manufacturing company 'Unimation' which stood for universalautomation and so the first commercial company to make robots was formed. Devol wrote the

necessary patents. Their first robot nicknamed the 'Unimate'. As a result, Engelberger has been

called the 'father of robotics.'

The first Unimate was installed at a General Motors plant to work with heated die-casting

machines. In fact most Unimates were sold to extract die castings from die casting machines and

to perform spot welding on auto bodies, both tasks being particularly hateful jobs for people.

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6. COMPONENTS OF ROBOTS:

6.1Power Source:

At present, mostly (lead-acid) batteries are used, but potential power sources could be:

Pneumatic (compressed gases) Hydraulics (liquids) Flywheel energy storage Organic garbage (through anaerobic digestion)

Faeces (human, animal); may be interesting in a military context as faeces of small combatgroups may be reused for the energy requirements of the robot assistant (see DEKA's project

Slingshot Stirling engine on how the system would operate)

Still unproven energy sources: for example Nuclear fusion, as yet not used in nuclearreactors whereas Nuclear fission is proven (although there are not many robots using it as a

power source apart from the Chinese rover tests.[18]

).

Radioactive source (such as with the proposed Ford car of the '50s); to those proposed inmovies such as Red Planet.

Some of the Power Sources used in Robotics are follows :

1. Photo Voltaic Cells

2. Batteries

3. Fuel Cells

4. Mechanical

5. Air Pressure

6. Chemical Fuel

http://en.wikipedia.org/wiki/Battery_(electricity)http://en.wikipedia.org/wiki/Pneumaticshttp://en.wikipedia.org/wiki/Hydraulichttp://en.wikipedia.org/wiki/Flywheel_energy_storagehttp://en.wikipedia.org/wiki/Anaerobic_digestionhttp://en.wikipedia.org/wiki/Nuclear_fusionhttp://en.wikipedia.org/wiki/Nuclear_reactor_technologyhttp://en.wikipedia.org/wiki/Robotics#cite_note-FNChinaNukeRobot-17http://en.wikipedia.org/wiki/Robotics#cite_note-FNChinaNukeRobot-17http://en.wikipedia.org/wiki/Robotics#cite_note-FNChinaNukeRobot-17http://en.wikipedia.org/wiki/Red_Planet_(film)http://en.wikibooks.org/wiki/Robotics/Components/Power_Sources#Photo_Voltaic_Cellshttp://en.wikibooks.org/wiki/Robotics/Components/Power_Sources#Batterieshttp://en.wikibooks.org/wiki/Robotics/Components/Power_Sources#Fuel_Cellshttp://en.wikibooks.org/wiki/Robotics/Components/Power_Sources#Mechanicalhttp://en.wikibooks.org/wiki/Robotics/Components/Power_Sources#Air_Pressurehttp://en.wikibooks.org/wiki/Robotics/Components/Power_Sources#Chemical_Fuelhttp://en.wikibooks.org/wiki/Robotics/Components/Power_Sources#Chemical_Fuelhttp://en.wikibooks.org/wiki/Robotics/Components/Power_Sources#Air_Pressurehttp://en.wikibooks.org/wiki/Robotics/Components/Power_Sources#Mechanicalhttp://en.wikibooks.org/wiki/Robotics/Components/Power_Sources#Fuel_Cellshttp://en.wikibooks.org/wiki/Robotics/Components/Power_Sources#Batterieshttp://en.wikibooks.org/wiki/Robotics/Components/Power_Sources#Photo_Voltaic_Cellshttp://en.wikipedia.org/wiki/Red_Planet_(film)http://en.wikipedia.org/wiki/Robotics#cite_note-FNChinaNukeRobot-17http://en.wikipedia.org/wiki/Nuclear_reactor_technologyhttp://en.wikipedia.org/wiki/Nuclear_fusionhttp://en.wikipedia.org/wiki/Anaerobic_digestionhttp://en.wikipedia.org/wiki/Flywheel_energy_storagehttp://en.wikipedia.org/wiki/Hydraulichttp://en.wikipedia.org/wiki/Pneumaticshttp://en.wikipedia.org/wiki/Battery_(electricity)

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6.2Actuators:

Actuators are like the "muscles" of a robot, the parts which convert stored energy into

movement. By far the most popular actuators are electric motors that spin a wheel or gear, andlinear actuators that control industrial robots in factories. But there are some recent advances in

alternative types of actuators, powered by electricity, chemicals, or compressed air.

6.2.1 Electric motors:

The vast majority of robots use electric motors, often brushed and brushless DC motors

in portable robots or AC motors in industrial robots and CNC machines.

6.2.2 Linear actuators:

Various types of linear actuators move in and out instead of by spinning, particularly

when very large forces are needed such as with industrial robotics. They are typically powered

by compressed air (pneumatic actuator) or an oil (hydraulic actuator).

6.2.3 Series elastic actuators:

A spring can be designed as part of the motor actuator, to allow improved force control. It

has been used in various robots, particularly walking humanoidrobots.

6.2.4 Air muscles:

Pneumatic artificial muscles, also known as air muscles, are special tubes that contract

(typically up to 40%) when air is forced inside them. They have been used for some robot

applications.

6.2.5 Muscle wire:Muscle wire, also known as Shape Memory Alloy, Nitinol or Flexinol Wire, is a material

that contracts slightly (typically under 5%) when electricity runs through it. They have been used

for some small robot applications.

6.2.6 Electroactive polymers:

EAPs or EPAMs are a new plastic material that can contract substantially (up to 380%

activation strain) from electricity, and have been used in facial muscles and arms of humanoid

robots, and to allow new robots to float, fly, swim or walk.

6.2.7 Piezo motors:

Recent alternatives to DC motors are piezo motors or ultrasonic motors. These work on a

fundamentally different principle, whereby tiny piezoceramic elements, vibrating many

thousands of times per second, cause linear or rotary motion. There are different mechanisms of

operation; one type uses the vibration of the piezo elements to walk the motor in a circle or a

straight lineThe advantages of these motors are nanometer resolution, speed, and available force

for their size. These motors are already available commercially, and being used on some robots.

http://en.wikipedia.org/wiki/Musclehttp://en.wikipedia.org/wiki/Potential_energyhttp://en.wikipedia.org/wiki/Numerical_controlhttp://en.wikipedia.org/wiki/Pneumatic_actuatorhttp://en.wikipedia.org/wiki/Hydraulic_drive_systemhttp://en.wikipedia.org/wiki/Spring_(device)http://en.wikipedia.org/wiki/Humanoidhttp://en.wikipedia.org/wiki/Piezoelectric_motorhttp://en.wikipedia.org/wiki/Ultrasonic_motorhttp://en.wikipedia.org/wiki/Piezoelectricityhttp://en.wikipedia.org/wiki/Nanometrehttp://en.wikipedia.org/wiki/Nanometrehttp://en.wikipedia.org/wiki/Piezoelectricityhttp://en.wikipedia.org/wiki/Ultrasonic_motorhttp://en.wikipedia.org/wiki/Piezoelectric_motorhttp://en.wikipedia.org/wiki/Humanoidhttp://en.wikipedia.org/wiki/Spring_(device)http://en.wikipedia.org/wiki/Hydraulic_drive_systemhttp://en.wikipedia.org/wiki/Pneumatic_actuatorhttp://en.wikipedia.org/wiki/Numerical_controlhttp://en.wikipedia.org/wiki/Potential_energyhttp://en.wikipedia.org/wiki/Muscle

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6.2.8 Elastic nanotubes:

Elastic nanotubes are a promising artificial muscle technology in early-stage

experimental development. The absence of defects in carbon nanotubes enables these filaments

to deform elastically by several percent, with energy storage levels of perhaps 10 J/cm3

for metal

nanotubes. Human biceps could be replaced with an 8 mm diameter wire of this material. Such

compact "muscle" might allow future robots to outrun and outjump humans.

Fig.2 Actuators - Muscle of a Robot

.

http://en.wikipedia.org/wiki/Carbon_nanotubehttp://en.wikipedia.org/wiki/Joulehttp://en.wikipedia.org/wiki/Joulehttp://en.wikipedia.org/wiki/Carbon_nanotube

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6.3Sensing:

Most robots of today are nearly deaf and blind. Sensors can provide some limitedfeedback to the robot so it can do its job. Compared to the senses and abilities of even the

simplest living things, robots have a very long way to go.

The sensor sends information, in the form of electronic signals back to the controller.

Sensors also give the robot controller information about its surroundings and lets it know theexact position of the arm, or the state of the world around it.Sight, sound, touch, taste, and

smell are the kinds of information we get from our world. Robots can be designed and

programmed to get specific information that is beyond what our 5 senses can tell us. For

instance, a robot sensor might "see" in the dark, detect tiny amounts of invisible radiation ormeasure movement that is too small or fast for the human eye to see.

6.3.1 Touch:

Current robotic and prosthetic hands receive far less tactile information than the humanhand. Recent research has developed a tactile sensor array that mimics the mechanical properties

and touch receptors of human fingertips. The sensor array is constructed as a rigid core

surrounded by conductive fluid contained by an elastomeric skin. Electrodes are mounted on the

surface of the rigid core and are connected to an impedance-measuring device within the core.

When the artificial skin touches an object the fluid path around the electrodes is deformed,

producing impedance changes that map the forces received from the object. The researchers

expect that an important function of such artificial fingertips will be adjusting robotic grip on

held objects.

6.3.2 Vision:

Computer vision is the science and technology of machines that see. As a scientific

discipline, computer vision is concerned with the theory behind artificial systems that extract

information from images. The image data can take many forms, such as video sequences and

views from cameras.

In most practical computer vision applications, the computers are pre-programmed to

solve a particular task, but methods based on learning are now becoming increasingly common.

Computer vision systems rely on image sensors which detect electromagnetic radiation which is

typically in the form of either visible light or infra-red light. The sensors are designedusing solid-state physics. The process by which light propagates and reflects off surfaces is

explained using optics..

6.3.3 Other:

Other common forms of sensing in robotics use LIDAR, RADAR and SONAR

http://en.wikipedia.org/wiki/Robotic_armhttp://en.wikipedia.org/wiki/Prosthetic_handhttp://en.wikipedia.org/wiki/Tactilehttp://en.wikipedia.org/wiki/Computer_visionhttp://en.wikipedia.org/wiki/Visible_spectrumhttp://en.wikipedia.org/wiki/Infra-red_lighthttp://en.wikipedia.org/wiki/Solid-state_physicshttp://en.wikipedia.org/wiki/Opticshttp://en.wikipedia.org/wiki/LIDARhttp://en.wikipedia.org/wiki/RADARhttp://en.wikipedia.org/wiki/SONARhttp://en.wikipedia.org/wiki/SONARhttp://en.wikipedia.org/wiki/RADARhttp://en.wikipedia.org/wiki/LIDARhttp://en.wikipedia.org/wiki/Opticshttp://en.wikipedia.org/wiki/Solid-state_physicshttp://en.wikipedia.org/wiki/Infra-red_lighthttp://en.wikipedia.org/wiki/Visible_spectrumhttp://en.wikipedia.org/wiki/Computer_visionhttp://en.wikipedia.org/wiki/Tactilehttp://en.wikipedia.org/wiki/Prosthetic_handhttp://en.wikipedia.org/wiki/Robotic_arm

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6.4Manipulation:

Robots need to manipulate objects; pick up, modify, destroy, or otherwise have an effect.

Thus the "hands" of a robot are often referred to as end effectors, while the "arm" is referred to

as manipulator. Most robot arms have replaceable effectors, each allowing them to perform some

small range of tasks. Some have a fixed manipulator which cannot be replaced, while a few have

one very general purpose manipulator, for example a humanoid hand.

For the definitive guide to all forms of robot end-effectors, their design, and usage

consult the book "Robot Grippers"

6.4.1 Mechanical grippers:

One of the most common effectors is the gripper. In its simplest manifestation it consists

of just two fingers which can open and close to pick up and let go of a range of small objects.

Fingers can for example be made of a chain with a metal wire run through it. Hands that

resemble and work more like a human hand include the Shadow Hand, the Robonaut hand.

Hands that are of a mid-level complexity include i.e the Delft hand,

6.4.2 Vacuum grippers:

Vacuum grippers are very simple astrictivedevices, but can hold very large loads

provided the prehension surface is smooth enough to ensure suction. Pick and place robots for

electronic components and for large objects like car windscreens, often use very simple vacuum

grippers.

6.4.3 General purpose effectors:

Some advanced robots are beginning to use fully humanoid hands, like the Shadow Hand,

MANUS, and the Schunkhand. These highly dexterous manipulators, with as many as

20 degrees of freedom and hundreds of tactile sensors.

http://en.wikipedia.org/wiki/SONARhttp://en.wikipedia.org/wiki/SONARhttp://en.wikipedia.org/wiki/SONARhttp://en.wikipedia.org/wiki/SONARhttp://en.wikipedia.org/wiki/SONARhttp://en.wikipedia.org/wiki/SONARhttp://en.wikipedia.org/wiki/SONARhttp://en.wikipedia.org/wiki/Robot_end_effectorhttp://en.wikipedia.org/wiki/Shadow_Handhttp://en.wikipedia.org/wiki/Robonauthttp://en.wikipedia.org/wiki/Prehensilityhttp://en.wikipedia.org/wiki/Schunkhttp://en.wikipedia.org/wiki/Degrees_of_freedom_(mechanics)http://en.wikipedia.org/wiki/Degrees_of_freedom_(mechanics)http://en.wikipedia.org/wiki/Schunkhttp://en.wikipedia.org/wiki/Prehensilityhttp://en.wikipedia.org/wiki/Robonauthttp://en.wikipedia.org/wiki/Shadow_Handhttp://en.wikipedia.org/wiki/Robot_end_effector

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6.5Controllers:

The robot connects to a computer, which keeps the pieces of the arm working together.

This computer is the controller. The controller functions as the "brain" of the robot. The

controller can also network to other systems, so that the robot may work together with other

machines, processes, or robots.

As applications become more challenging, some jobs require continuous path control of

an End Effector. For this action all articulations must be programmed in speeds appropriate to

the particular task. This requires programming for the control of the robot. Robots today have

controllers run by programs -- sets of instructions written in code. The program sets limits on

what the robot can do. These requirements call into play sophisticated computer-based

controllers and so-called robot languages. These languages permit a kind of robot control known

as hierarchical control, in which decision making by the robot takes place on several levels.

6.5.1 Feedback (Closed Loop) Control:

Feedback control is a means of getting a system (in our case a robot) to achieve and

maintain a desired state by continuously comparing its current and desired state. The desired

state is also called the goal state of the system. Note that it can be an external or internal state:

for example, a thermostat monitors and controls external state (the temperature of the house),

while a robot can control its internal state (e.g., battery power, by recharging at proper times) or

external state (e.g., distance from a wall). If the current and desired state are the same, the

control system does not need to do anything.

Fig. 3 Feedback control

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6.5.2 Open Loop Control:

The alternative to closed loop control is open loop control. This type of control does not

require the use of sensors, since state is not fed back into the system. Such systems can operate

(perform repetitive, state-independent tasks) only if they are extremely well calibrated and their

environment does not change in a way that affects their performance.In such a system, thecontroller determines set points and sub-goals for itself ahead of time, without looking at actual

state data.

Fig.4 AVR Robot Controller

6.5.3 Reactive Control:

Reactive control is based on a tight loop connecting the robot's sensors with its effectors.

Purely reactive systems do not use any internal representations of the environment, and do not

look ahead: they react to the current sensory information. Thus, reactive systems use a direct

mapping between sensors and effectors, and minimal, if any, state information. They consist ofcollections of rules that map specific situationsto specific actions.

If a reactive system divides its perceptual world into mutually exclusive or unique

situations, then only one of those situations can be triggered by any sensory input at any one

time, and only one action will be activated as a result.

6.5.4 Behavior Based Control:

Behavior-based systems (BBS) use behaviors as the underlying module of the system,i.e., they use a behavioral decomposition. Behavior-based systems are not limited in the ways

that reactive systems are. As a result, behavior-based systems have the following keyproperties:

1.The ability to react in real-time2.The ability to use representations to generate efficient (not only reactive) behavior3.The ability to use a uniform structure and representation throughout the system (so no

intermediate layer).

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7. TYPES OF ROBOTS BY LOCOMOTION AND KINEMATICS:

The robot's application alone does not provide enough information when talking about a specificrobot.

1. Stationary robots (including robotic arms with a global axis of movement)2. Mobile robots3. Autonomous Robots4. Remote-control Robots5. Virtual Robots6. BEAM Robots

7.1Stationary Robots:

These are robots that are fixed in position. The diagram below shows a large-scale

stationary robot arm. It has mobile joints called 'the wrist', 'the elbow', 'the waist' and 'the

shoulder'.

Stationary Robots can be described in terms of joints and the directions they move. This

is very similar to human anatomy and the direction the arm can move.

Waist: Moves from Side to Side at the Waist Shoulder: Moves Up and Down from the Shoulder Elbow: Move Up and Down at the Elbow Wrist: Move from Side to Side and Rotates around the wrist.

They 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.

Especially dull and repeating tasks are suitable for robots.

A robot never grows tired, it will perform its duty day and night without ever

complaining. In case the tasks at hand are done, the robots will be reprogrammed to performother tasks.

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Fig.5 Stationary Robot of fixed base

7.1.1 Robot End Effectors (tools fitted on the end of a robot arm):

A whole range of tools can be fitted to the end of a robot arm, for example a spray gun, a

welding gun, a gripper, etc. Thinking back to the Linn Systems factory,

the robot arms were relatively small, were fitted to the production line and had a tool fitted to enable them to place parts on the

circuit boards.

This tool could be changed to enable the arm to place a range of different electronic partson the circuit board.

The Stationary robots include the following types :

1.1 Cartesian/Gantry robots

1.2 Cylindrical robots

1.3 Spherical robots

1.4 SCARA robots

1.5 Articulated robots (robotic arms).

http://www.allonrobots.com/cartesian-robots.htmlhttp://www.allonrobots.com/cylindrical-robot.htmlhttp://www.allonrobots.com/spherical-robots.htmlhttp://www.allonrobots.com/spherical-robots.htmlhttp://www.allonrobots.com/cylindrical-robot.htmlhttp://www.allonrobots.com/cartesian-robots.html

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7.2 Mobile Robots :

Mobile robots are able to move, usually they perform task such as search areas. A prime

example is the Mars Explorer, specifically designed to roam the mars surface. Mobile robotsare a great help to such collapsed building for survivors Mobile robots are used for task where

people cannot go. Either because it is too dangerous of because people cannot reach the areathat needs to be searched.

Mobile robots can be divided in two categories:

7.2.1 Rolling Robots:

Rolling robots have wheels to move around. These are the type of robots that canquickly and easily search move around. However they are only useful in flat areas,rockyterrains give them a hard time. Flat terrains are their territory.

Fig.6 Mars Explorer images and other fig.7 Wheel Robot

space robot images courtesy of NASA.

7.2.2 Walking Robots:

Robots on legs are usually brought in when the terrain is rocky and difficult to enterwith wheels. Robots have a hard time shifting balance and keep them from tumbling.

Thats why most robots with have at least 4 of them, usually they have 6 legs or more.Even when they lift one or more legs they still keep their balance. Development of legged

robots is often modeled after insects or crawfish..

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Fig.8 6-leggedWalking Robot

7.3Autonomous Robots:

Autonomous robots are self supporting or in other words self contained. In a way they

rely on their own brains.Autonomous robots run a program that give them the opportunity to decide on theaction to perform depending on their surroundings. At times these robots even learn newbehavior. 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 as such their behavior is shaped.Autonomous robots can learn to walk or avoid obstacles they find in their way. Think about a

six legged robot, at first the legs move ad random, after a little while the robot adjust itsprogram and performs a pattern which enables it to move in a direction.

Fig.9 Autonomous Robot

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7.4Remote Control Robots:

An autonomous robot is despite its autonomous not a very clever or intelligent unit.The memory and brain capacity is usually limited, an autonomous robot can be compared to

an insect in that respect. 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. To detonate a bomb

it is safer to send the robot to the danger area.

Fig.10 Dante 2, a NASA robot designed to explore

volcanoes via remote control.

7.5Virtual Robots:

Virtual robots dont exits in real life. Virtual robots are just programs, building blocksof software inside a computer. A virtual robot can simulate a real robot or just perform a

repeating task. A special kind of robot is a robot that searches the world wide web. Theinternet has countless robots crawling from site to site. These WebCrawlers collectinformation on websites and send this information to the search engines.

Another popular virtual robot is the chatterbot. These robots simulate conversations

with users of the internet. One of the first chatterbots was ELIZA. There are many varieties of

chatterbots now, including E.L.V.I.S.

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7.6 BEAM Robots:BEAM is short for Biology, Electronics, Aesthetics and Mechanics. BEAM robots are

made by hobbyists. BEAM robots can be simple and very suitable for starters.

Biology:

Robots are often modeled after nature. A lot of BEAM robots look remarkably likeinsects. Insects are easy to build in mechanical form. Not just the mechanics are in

inspiration also the limited behavior can easily be programmed in a limited amount of

memory and processing power.

Electronics:

Like all robots they also contain electronics. Without electronic circuits the engines

cannot be controlled. Lots of Beam Robots also use solar power as their main source of

energy.

Aesthetics:

A BEAM Robot should look nice and attractive. BEAM robots have no printed circuits

with some parts but an appealing and original appearance.

Mechanics:

In contrast with expensive big robots BEAM robots are cheap, simple, built out of

recycled material and running on solar energy.

Fig.11 BEAM Robot

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8.ADVANTAGES:

The advantages of robotics can be classified into four major categories:

1: Quality/Accuracy/Precision:

Many industrial robots are in the form of a robotic arm. The image at the left shows

Unimate, the first industrial robot, which has the appearance of a robotic arm. The image in the

next section shows a contemporary industrial robotics arm. Due to its mechanical nature and

computerized control, a robotic arm can carry out a repetitive task with great precision andaccuracy, thus providing improved, consistent product quality. This would apply to quite a

variety of production line tasks, like welding, assembling a product, spray painting, or cutting

and finishing.

2: Efficiency/Speed/Production Rate:

The mechanical nature of the equipment and the computerized control, make industrial

robotics technology more efficient and speedy, leading to higher production rates than withhuman labor. Another aspect of efficiency is that robots can be mounted from the ceiling andhave no problem with working upside down. This can lead to a savings in floor space.

3: Ability to Work in Environments that are Inhospitable to Humans:

This is an interesting set of advantages of robotics. There are a number of tasks that are

too dangerous, too exposed to toxins, or just plain too dirty for humans to conveniently do them.These are ideal robotics tasks. This includes tasks as simple as spray painting, because there is no

need to worry about the robot inhaling the paint fumes! It also includes such daunting tasks asdefusing bombs and such dirty tasks as cleaning sewers.

4: Freedom from Human Limitations:

This set of advantages of robotics is due to the fact that human characteristics like

boredom from doing a repetitive task don't interfere with the functioning of a robot. There issome overlap with the first two categories of advantages of robotics, because the lack of

interference from boredom leads to greater accuracy, quality, and rate of production. There is

more to this set of advantages of robotics, however. Since a robot doesn't need to rest or eat, andnever gets sick, a robotic arm can work 24/7, with only limited occasional downtime forscheduled maintenance.

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9.APPLICATIONS:

The Robotics have a very wide range of applications in the present world:

Outer Space:

Manipulative arms that are controlled by a human are used to unload the docking bay of

space shuttles to launch satellites or to construct a space station.

The Intelligent Home:

Automated systems can now monitor home security, environmental conditions and energyusage. Door and windows can be opened automatically and appliances such as lighting and air

conditioning can be pre programmed to activate. This assists occupants irrespective of their state

of mobility.

Exploration :

Robots can visit environments that are harmful to humans. An example is monitoring the

environment inside a volcano or exploring our deepest oceans. NASA has used robotic probes

for planetary exploration since the early sixties.

MilitaryRobots:

Airborne robot drones are used for surveillance in today's modern army. In the future

automated aircraft and vehicles could be used to carry fuel and ammunition or clear minefields

Farms:

Automated harvesters can cut and gather crops. Robotic dairies are available allowingoperators to feed and milk their cows remotely.

The Car Industry:

Robotic arms that are able to perform multiple tasks are used in the car manufacturing

process. They perform tasks such as welding, cutting, lifting, sorting and bending. Similar

applications but on a smaller scale are now being planned for the food processing industry inparticular the trimming, cutting and processing of various meats such as fish, lamb, beef.

Hospitals :

Under development is a robotic suit that will enable nurses to lift patients withoutdamaging their backs. Scientists in Japan have developed a power-assisted suit which will givenurses the extra muscle they need to lift their patients - and avoid back injuries.

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Disaster Areas::

Surveillance robots fitted with advanced sensing and imaging equipment can operate in

hazardous environments such as urban setting damaged by earthquakes by scanning walls, floors

and ceilings for structural integrity.

Entertainment::

Interactive robots that exhibit behaviours and learning ability. SONY has one such robotwhich moves freely, plays with a ball and can respond to verbal instructions.

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10 .FUTURE SCOPE:

The future of robotics, includes their usage in home, factories, hospitals and biomimetics.Presently it appears more like fiction, but in the next few decades all this will become fact.

General Usage Of Robots In the Future:

International experts on robotics are of the view that by year 2020, robots will be capableof observing and performing tasks, talking, and will possess aptitude and intellect. The

association of human beings with robots will be ordinary and usual. In the near future, robots

will not be a complex machine, but equipment or machinery to be utilized in every day life,

including washing, assisting in moving of disabled or injured people, working in factories, etc.

Robotic Surgery:

Doctors visualize that in the near future advanced robots will be utilized to assist in

carrying out long distance medical treatment including surgery, diagnosis, and other medical

treatment. This will enable the treatment to be carried out in a shorter time, and it may not benecessary for the patients to travel long distances, which presently may even involve travel from

one continent to another. Robots may also assist in carrying out minor medical treatment, instead

of advising a pill for certain ailment, a small robot may be introduced in the blood, which willsense the reason of ailment, and subsequently arrange appropriate medicines in the affected part

of the body.

Improvement In Human Brain:

Robots will be introduced into parts of human beings, such as intellectual insertion in thebrain, which will enhance memory and improve ideas in the mind. Nano robots will even be

injected into the blood to wash and scrub blood vessels. The human mind with the assistance of

robotic brains will be able to perform 100 trillion commands per second.

Robots In Biomimetics:

The next concentration for modern robots will be biomimetics, an area which will

concentrate on the manufacture of equipment that obtain guidance from the environment as

motivation for their looks and attitude. Presently, broad research is being carried out in this field.

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11 .CONCLUSION:

Today we find most robots working for people in industries, factories, warehouses, andlaboratories. Robots are useful in many ways. For instance, it boosts economy because

businesses need to be efficient to keep up with the industry competition.

Therefore, having robots helps business owners to be competitive, because robots can dojobs better and faster than humans can, e.g. robot can built, assemble a car. Yet robots cannot

perform every job; today robots roles include assisting research and industry. Finally, as the

technology improves, there will be new ways to use robots which will bring new hopes and new

potentials.

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12.REFERENCES:

1) http://www.electronicsteacher.com/robotics/type-of-robots.php2) http://www.brighthub.com/engineering/mechanical/articles/33043.aspx3) http://en.wikipedia.org/wiki/Robotics#Components4) http://www.robots.com/articles/viewing/advantages-of-robots/4865) http://www.melbpc.org.au/pcupdate/2205/2205article10.htm

http://www.electronicsteacher.com/robotics/type-of-robots.phphttp://www.brighthub.com/engineering/mechanical/articles/33043.aspxhttp://en.wikipedia.org/wiki/Robotics#Componentshttp://www.robots.com/articles/viewing/advantages-of-robots/486http://www.robots.com/articles/viewing/advantages-of-robots/486http://en.wikipedia.org/wiki/Robotics#Componentshttp://www.brighthub.com/engineering/mechanical/articles/33043.aspxhttp://www.electronicsteacher.com/robotics/type-of-robots.php