roboticsseminar-130305080126-phpapp01

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A

Seminar Report

On

ROBOTICS

A project report submitted in partial fulfillment of the Requirement for the

award of degree of

BACHELOR OF TECHNOLOGY

In

ELECTRONICS & COMMUNICATION ENGINEERING

Submitted by

Mr. D.NARESH 0T!"A0#"$

DE%ARTMENT OF ELECTRONICS & COMMUNICATION ENGINEERING

%ULI%ATI %RASAD INSTITUTE OF TECHNOLOGY AND SCIENCES 'HAMMAM.

(Appro)e* +, AICTE A--iiate* to !NTUH H,*era+a*/

0"1 0"2


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%ULI%ATI %RASAD INSTITUTE OF TECHNOLOGY AND SCIENCES 'HAMMAM.

(Appro)e* +, AICTE A--iiate* to !NTUH H,*era+a*/

DE%ARTMENT OF ELECTRONICS & COMMUNICATION ENGINEERING

CERTIFICATE

T3i4 i4 to 5erti-, t3at t3e Seminar report Entite* 6ROBOTICS7 i4 a

+ona-i*e re5or* o- 8or9 5arrie* o:t +,

Mr. D.NARESH 0T!"A0#"$

;e 3ere+, a55or* o:r appro)a o- it a4 a proree o-

BACHELOR OF TECHNOLOGY

In

ELECTRONICS & COMMUNICATION ENGINEERING

O-

!a8a3ara Ne3r: Te53noo>i5a Uni)er4it, H,*era+a*.

D:rin> t3e a5a*emi5 ,ear 0"1 0"2

HEAD OF THE DEPARTMENTMr. ?.?EN'ATNARAYANA

M.TECH

PRINCIPAL

Mr. V.VINOD BABU

M.TECH, (P.HD)

SEMINAR SUPERVISOR Mr. CH.RA!ESH

M.TECH


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AC'NO;LEDGEMENT

Fir4t, I 8o:* i9e to t3an9 m, >:i*e Mr. CH.RA!ESH -or 3i4 4:pport

t3ro:>3 m, t3e4i4 -or 3i4 4:pport an* en5o:ra>ement 83i53 8a4 a8a,4

t3ere 83en I nee*e* it.

I ta9e t3e opport:nit, to e@pre44 m, *eep 4en4e o- >ratit:*e to

Mr. ?.?EN'ATANARAYANA Hea* o- t3e Department o- Ee5troni54 &

Comm:ni5ation En>ineerin> %ULI%ATI %RASAD INSTITUTE OF

TECHNOLOGY & SCIENCE '3ammam -or 3i4 te53ni5a in-ormation an*

4:pport 83i53 3epe* me in 4:55e44-:, 5ompetin> t3i4 pro


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DECLARATION

I *e5are t3at t3e proree 3a4 +een

a8ar*e* earier. I -:rt3er *e5are t3at t3i4 pro


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INDEX

S.NO CONTENTS%.NO

" A+4tra5t "

Intro*:5tion

2 Ro+oti54 #

# ;3, Ro+oti54

La84 o- Ro+oti54 $

$ T,pe4 o- Ro+oti54

Component4 o- Ro+oti54

Appi5ation4 "

A*)anta>e4 "

"0Con5:4ion "

"" Re-eren5e40


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ROBOTICS

A+4tra5t

Ro+oti54 i4 a prominent 5omponent o- man:-a5t:rin>

a:tomation 83i53 8i a--e5t 3:man a+o:r at a e)e4 -rom :n49ie*

8or9er4 to pro-e44iona en>ineer4 an* man>er4 o- pro*:5tion. It i4

po44i+e per3ap4 i9e, t3at ro+oti54 8i +e5ome a -ie* i9e to*a,4

5omp:ter te53noo>, 83i53 i4 per)a4i)e t3ro:>3o:t o:r 4o5iet,.

Ro+oti54 te53noo>, i4 5ontroe* +, mean4 o- pro>rammin> an*

t3e a+iit, to pro>ram a ro+ot i4 *epen*ent on it4 e)e o- te53noo>,.

S:55e44-: impementation o- ro+oti54 in :4e-: appi5ation4 i4 o+)io:4, a

-:n5tion o- t3e te53noo>, an* pro>rammin>. To*a, ro+ot4 are 3i>3,

a:tomate* me53ani5a manip:ator4 5ontroe* +, 5omp:ter4.

An in*:4tria ro+ot i4 a repro>ramma+e m:ti-:n5tiona

manip:ator *e4i>ne* to mo)e materia4 part4 too4 or 4pe5ia *e)i5e4

t3ro:>3 )aria+e pro>ramme* motion4 -or t3e per-orman5e o- a )ariet, o-

ta494.


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INTRODUCTION

To*a, t3e 3:man anao>, o- an in*:4tria ro+ot i4 )er,

imite*. Ro+ot4 *o not oo9 i9e 3:man4 an* t3e, *o not +e3a)e i9e

3:man4. In4tea* t3e, are onearme* ma53ine4 83i53 amo4t operate

-rom a -i@e* o5ation on t3e -a5tor, -oor. F:t:re ro+ot4 are i9e, to 3a)e

a >reater n:m+er o- attri+:te4 4imiar to t3e attri+:te4 o- 3:man4. T3e,

are i9e, to 3a)e >rater 4en4or4 5apa+iitie4 more intei>en5e a 3i>3er

e)e o- man:a *e@terit,(49i in :4in> one4 3an*4/ an* a imite* *e>ree

o- mo+iit,(mo)a+e/. T3ere i4 no *en,in> t3at t3e te53noo>, o- ro+oti54

i4 mo)in> in a *ire5tion to pro)i*e t3e4e ma53ine4 8it3 more an* more

5apa+iitie4 i9e t3o4e o- 3:man4.

S5ien5e -i5tion 3a4 no *o:+t 5ontri+:te* to t3e *e)eopment o-

ro+oti54 +, pantin> i*ea4 in t3e min*4 o- ,o:n> peope 83o mi>3t

em+ar9 on 5areer4 in ro+oti54 an* +, 5reatin> a8arene44 amon> t3e

p:+i5 a+o:t t3i4 te53noo>,.

A:tomation an* ro+oti54 are t8o 5o4e, reate* te53noo>ie4. In an

in*:4tria 5onte@t 8e 5an *e-ine a:tomation a4 a te53noo>, t3at i4

5on5erne* 8it3 t3e :4e o- me53ani5a ee5troni5 an* 5omp:ter+a4e*

4,4tem4 in t3e operation an* 5ontro o- pro*:5tion. E@ampe4 o- t3i4

te53noo>, in5:*e tran4-er ine4 me53anie* a44em+, ma53ine4

-ee*+a59 5ontro 4,4tem4 (appie* to in*:4tria pro5e44e4/ n:meri5a,

5ontroe* ma53ine too4 an* ro+ot4. A55or*in>, ro+oti54 i4 a -orm o-

in*:4tria a:tomation.

T3ere are t3ree +roa* 5a44e4 o- in*:4tria a:tomation -i@e*

a:tomation pro>ramma+e a:tomation an* -e@i+e a:tomation. Fi@e*

a:tomation i4 :4e* 83en t3e )o:me o- pro*:5tion i4 )er, 3i>3 an* it i4

t3ere-ore appropriate to *e4i>n 4pe5iaie* e=:ipment to pro5e44 t3e

pro*:5t )er, e--i5ient, an* at 3i>3 pro*:5tion rate4. %ro>ramma+e

a:tomation i4 :4e* 83en t3e )o:me o- pro*:5tion i4 reati)e, o8 an*

t3ere are a )ariet, o- pro*:5t4 to +e ma*e. In t3i4 5a4e t3e pro*:5tion

e=:ipment i4 *e4i>ne* to +e a*apta+e to )ariation4 in pro*:5t

5on-i>:ration.


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O- t3e t3ree t,pe4 o- a:tomation ro+oti54 5oin5i*e4 mo4t 5o4e,

8it3 pro>ramma+e a:tomation. An in*:4tria ro+ot i4 a >enerap:rpo4e

pro>ramma+e ma53ine 83i53 po44e44e4 5ertain ant3ropomorp3i5 or

3:mani9e 53ara5teri4ti54. T3e mo4t t,pi5a 3:mani9e 53ara5teri4ti5 o-pre4ent*a, ro+ot4 i4 t3eir mo)a+e arm4. T3e ro+ot 5an +e pro>ramme*

to mo)e it4 arm t3ro:>3 a 4e=:en5e o- motion4 in or*er to per-orm 4ome

:4e-: ta49.


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ROBOTICS

It i4 a -ie* o- En>ineerin> t3at 5o)er4 t3e mimi59in> o- 3:man

+e3a)ior.

Ro+oti54 in5:*e4 t3e 9no8e*>e o- Me53ani5a Ee5troni54

Ee5tri5a & Comp:ter S5ien5e En>ineerin>.

What is Robotics

J T3e 8or* ro+oti54 i4 :4e* to 5oe5ti)e, *e-ine a -ie* in en>ineerin>

t3at 5o)er4 t3e mimi59in> o- )ario:4 3:man 53ara5teri4ti54

J So:n* 5on5ept4 in man, en>ineerin> *i45ipine4 i4 nee*e* -or 8or9in> in

t3i4 -ie*

J It -in* it4 :4e4 in a a4pe5t4 o- o:r i-e


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What a Robot can mean?

An a:tomati5 in*:4tria ma53ine repa5in> t3e 3:man in 3aar*o:4

8or9.

An a:tomati5 mo+ie 48eeper ma53ine at a mo*ern 3ome.

An a:tomati5 to, 5ar -or a 53i* to pa, 8it3.

A ma53ine remo)in> mine4 in a 8ar -ie* a +, it4e- an* man,

moreK

WHY ROBOTICS ?

Spee*

It 5an 8or9 *an>ero:4 en)ironment

To per-orm repetiti)e ta49

E--i5ien5,

A55:ra5,

A*apta+iit,


11/28

Laws of Robotics

T3e term robotics8a4 5oine* in t3e "#04 +, 45ien5e -i5tion 8riter I4aa5

A4imo).

A4imo)4 La84 o- Ro+oti54

A ro+ot ma, not in or t3ro:>3 ina5tion ao8 a

3:man +ein> to 5ome to 3arm.

A ro+ot m:4t o+e, t3e or*er4 >i)en it +, 3:man +ein>4 e@5ept

83ere 4:53 or*er 8o:* 5on-i5t 8it3 t3e Fir4t La8.

A ro+ot m:4t prote5t it4 o8n e@i4ten5e a4 on> a4 4:53 prote5tion

*oe4 not 5on-i5t 8it3 t3e Fir4t or Se5on* La8.


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Types of Robot ;3eee*

Le>>e*


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Cim+in>

F,in>

Components of ROBOTS

o Str:5t:re

o %o8er 4o:r5e

o A5t:ation

o Sen4in>

o Manip:ation

o Lo5omotion

Str:5t:re

T3e 4tr:5t:re o- a ro+ot i4 :4:a, mo4t, me53ani5a an* 5an +e

5ae* a 9inemati5 53ain.


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T3e 53ain i4 -orme* o- in94 (it4 +one4/ a5t:ator4 (it4 m:45e4/ an*

ree4 o- -ree*om.

%o8er S:pp,

S:ita+e po8er 4:pp, i4 nee*e* to r:n t3e motor4 an* a44o5iate*

5ir5:itr,

T,pi5a po8er re=:irement ran>e4 -rom 2? to #? DC

0? AC 4:pp, m:4t +e mo*i-ie* to 4:it t3e nee*4 o- o:r ma53ine

Batterie4 5an a4o +e :4e* to r:n ro+ot4

Ro+ot4 are *ri)en +, *i--erent motor4

o DC Motor4

o Stepper Motor4

o Ser)o Motor4

DC Motor4

o A4 t3e name 4:>>e4t4 a motor 83i53 :4e4 a DC (Dire5t

C:rrent/ po8er

o Can r:n in +ot3 *ire5tion4

o Spee* Controa+e

Stepper Motor4


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o U4e* -or mea4:re* rotation Can +e 3e* at a parti5:ar

po4ition o- t3e 43a-t

o I*ea -or man, a:tonomo:4 ro+ot4 re=:irin> 3i>3er pre5i4ion

Ser)o Motor4

o U4e* in 5o4e* oop 5ontro 4,4tem4 in 83i53 8or9 i4 t3e

5ontro )aria+e.

o An inte>ra -ee*+a59 *e)i5e (re4o)er/ or *e)i5e4 (en5o*er an*

ta53ometer/ are eit3er in5orporate* 8it3in t3e 4er)o motor or

are remote, mo:nte* o-ten on t3e oa* it4e-


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ACTUATION

A5t:ator4 are t3e m:45e4 o- a ro+ot t3e part4 83i53 5on)ert

4tore* ener>, into mo)ement. T3e mo4t pop:ar a5t:ator4 are ee5tri5 motor4.

ANI!ULATION Ro+ot4 83i53 m:4t 8or9 in t3e rea 8or* re=:ire 4ome 8a, to

manip:ate o+


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o Me53ani5a Gripper4

o ?a5::m Gripper4

o Genera p:rpo4e e--e5tor4

LOCOOTION It i4 5on5erne* 8it3 t3e motion o- t3e ro+ot.

Ro+ot 5ontain4 *i--erent t,pe4 o- *ri)e4

o Di--erentia *ri)e

o Car t,pe

o S9i* 4teer *ri)e

o S,n53rono:4 *ri)e

o %i)ot *ri)e

o Arti5:ate* *ri)e

DIFFERENTIAL DRIVE


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ACKERMAN DRIVE

S'ID STEER DRI?E


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SYNCHRONOUS DRI?E

%I?OT DRI?E


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Arti5:ate* Dri)e


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App"ication of ROBOTICS

Ro+ot4 in o:r E)er, Da, Li-e

Let4 4tart 8it3 i-e a4 8e 9no8 it.Di* ,o: 9no8 t3at ,o:r i-e i4 a--e5te*)irt:)a e)er, *a, +, ro+ot4

I- ,o: ri*e in a 5ar an in*:4tria ro+ot 3epe* +:i* it. I- ,o: eat 5oo9ie4t3ere are ro+ot a44em+, ine4 to 3ep ma9e an* pa59 t3em. T3e5omp:ter ,o: :4e to 4en* emai4 an* :4e -or re4ear53 amo4t 5ertain,o8e4 it4 e@i4ten5e in part to in*:4tria ro+ot4. In*:4tria ro+ot4 are e)en:4e* in t3e me*i5a -ie* -rom p3arma5e:ti5a4 to 4:r>er,.

From t3e man:-a5t:rin> o- pa>er4 an* 5e p3one4 to 4pa5e e@porationro+ot4 are part o- t3e e)er, *a, -a+ri5 o- i-e.

Mo*ern :4e4 o- Ro+ot4

"/For E%LORATION

%eope are intere4te* in pa5e4 t3at are 4ometime4 -: o- *an>er i9eo:ter 4pa5e or t3e *eep o5ean. B:t 83en t3e, 5an not >o t3eret3em4e)e4 t3e, ma9e ro+ot4 t3at 5an >o t3ere. T3e ro+ot4 are a+e to5arr, 5amera4 an* ot3er in4tr:ment4 4o t3at t3e, 5an 5oe5t in-ormation

an* 4en* it +a59 to t3eir 3:man operator4.

T3e O*,44e, II+ 4:+mer4i+e ro+ot i4 43o8n 4:4pen*e* in a tan9.Re4ear53 45ienti4t4 at MIT -or o5ean e@poration *e)eope* it. T3e in4et

43o84 t3e So repaire* at t3e !et


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%rop:4ion La+4. So a 4 -a4ter t3an 3:man4. Ro+ot4*o not nee* to +e pai* eat *rin9 or >o to t3e +at3room i9e peope.T3e, 5an *o repetati)e 8or9 t3at i4 a+4o:te, +orin> to peope an* t3e,8i not 4top 4o8 *o8n or -a to 4eep i9e a 3:man.

In*:4tria ro+ot4 4pot 8e* a:tomo+ie +o*ie4 on an a44em+, ine (-rom

Nationa Geo>rap3i5 !:, "/.

2/For MEDICINE

Sometime4 83en operatin> *o5tor4 3a)e to :4e a ro+ot in4tea*. A3:man 8o:* not +e a+e to ma9e a 3oe e@a5t, one "00t3 o- a in53 8i*ean* on>.

;3en ma9in> me*i5ine4 ro+ot4 5an *o t3e


23/28

ROBODOC a mo*i-ie* in*:4tria ro+ot *ri4 a pre5i4e 3oe in t3e -em:r(t3i>3+one/ o- t3i4 49eeton (-rom Nationa Geo>rap3i5 !:, "/.

Some *o5tor4 an* en>ineer4 are a4o *e)eopin> pro4t3eti5 (+ioni5/ im+4

t3at :4e ro+oti5 me53ani4m4. Dr. Da)i* Go8 o- t3e %ro4t3eti54 Re4ear53an* De)eopment Team at %rin5e44 Mar>aret Ro4e Ort3opae*i5 Ho4pitama*e t3e -ir4t +ioni5 arm 5ae* t3e #$inb%&'h o$%"a& A&m System(#AS)in ".

Camp+e Air* S5otti43 3ote o8ner -itte* 8it3 t3e 8or*4 -ir4t +ioni5 arm(ima>e4 -romT3e Iri43 Time48e+ 4ite/.

#/ For t3e MILITARY an* %OLICE

%oi5e nee* 5ertain t,pe4 o- ro+ot4 -or +om+*i4po4a an* -or +rin>in>)i*eo 5amera4 an* mi5rop3one4 into *an>ero:4 area4 83ere a 3:manpoi5eman mi>3t >et 3:rt or 9ie*. T3e miitar, a4o :4e4 ro+ot4 -or ("/o5atin> an* *e4tro,in> mine4 on an* an* in 8ater (/ enterin> enem,

+a4e4 to >at3er in-ormation an* (2/ 4p,in> on enem, troop4.

MER? poi5e remote 5ontro +om+*i4po4a ro+ot

C,p3er remote 5ontro 3ei5opter -or miitar, 4:r)eian5e ($ -t*iameter 0 mie ran>e (-rom Nationa Geo>rap3i5 !:, "/.
http://www.nationalgeographic.com/media/ngm/9707/lastwits.htmlhttp://www.ireland.com/scripts/search/highlight.plx?TextRes=Edinburgh%20Modular%20Arm&Path=/newspaper/finance/1998/0904/fin26.htmhttp://www.ireland.com/scripts/search/highlight.plx?TextRes=Edinburgh%20Modular%20Arm&Path=/newspaper/finance/1998/0904/fin26.htmhttp://www.ireland.com/scripts/search/highlight.plx?TextRes=Edinburgh%20Modular%20Arm&Path=/newspaper/finance/1998/0904/fin26.htmhttp://www.nationalgeographic.com/media/ngm/9707/lastwits.htmlhttp://www.nationalgeographic.com/media/ngm/9707/lastwits.htmlhttp://www.ireland.com/scripts/search/highlight.plx?TextRes=Edinburgh%20Modular%20Arm&Path=/newspaper/finance/1998/0904/fin26.htmhttp://www.ireland.com/scripts/search/highlight.plx?TextRes=Edinburgh%20Modular%20Arm&Path=/newspaper/finance/1998/0904/fin26.htmhttp://www.ireland.com/scripts/search/highlight.plx?TextRes=Edinburgh%20Modular%20Arm&Path=/newspaper/finance/1998/0904/fin26.htmhttp://www.nationalgeographic.com/media/ngm/9707/lastwits.html


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A*+ANTA,#S

Re)o:tion in Me*i5a 45ien5e an* Heat3 5are 4,4tem4.

Ne8 & 8i*e 45ope in E*:5ation & Trainin>.

A >oo* 3ep in N:5ear in*:4tr,.

U4e* tremen*o:4, in Sport4 a5ti)itie4.

%a, t3e roe o- an e--i5ient a44i4tan5e in Re4ear53 an* De)eopment

45ien5e4.

Can )er, 8e 3an*e 3o:4e3o* +:4ine44.


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27/28

Refe&ences.


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"/ Broo94 Ro*ne,. A53ie)in> Arti-i5ia Intei>en5e t3ro:>3 B:i*in>Ro+ot4. Bo4ton Ma44a53:4ett4 In4tit:te o- Te53noo>, "$./ Hor48i Ian. T3e %o, S,4tem. AI an* Mo+ie Ro+ot4.2/ ?a:>3an R. N. S:mpter A. Fro4t an* S. Cameron. E@periment4 in

A:tomati5 Fo59 Contro. E*in+:r>3 U' ".#/ Mar9 Yim Da)i* G. D:-- an* 'imon D. Ro:-a4. %o,Bot a Mo*:arRe5on-i>:ra+e Ro+ot. IEEE Internationa Con-eren5e on Ro+oti54 &A:tomation. Apri 000/ Martin Martin C. an* Han4 Mora)e5. Ro+ot E)i*en5e Gri*4. CMU RI TR$0$ "$$/ Mora)e5 Han4. Ro+ot4 A-ter A. Comm:ni5ation4 o- t3e ACM.O5to+er 002. ?o. #$ No. "0./ Ia3 No:r+a9343 Ro+ %o8er4 an* Stan Bir53-ie*. DER?ISH An O--i5eNa)i>atin> Ro+ot. Cop,ri>3t " AAAI./ Dieter Fo@ ;o-ram B:r>ar* Fran9 Deaert an* Se+a4tian T3r:n.Monte Caro Lo5aiation E--i5ient %o4ition E4timation -or Mo+ie Ro+ot4.Cop,ri>3t " AAAI/ R. Gra+o849i L. Na)arroSerment an* %. '3o4a. An Arm, o- SmaRo+ot4. S5iAm Onine Ma, 00#."0/ La?ae Ste)en an* !ame4 ':--ner. RRTConne5t An E--i5ientApproa53 to Sin>eP:er, %at3 %annin>. Cop,ri>3t 000 ICRA

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