Lecture 1 - Intro

Question 1

Define Robots

Answer 1

Data driven machines. Acquire, process and act

Question 2

Define robotics

Answer 2

Art of designing, constructing, operating and applying robots

Question 3

First industrial robot

Answer 3

Unimate 1961

Question 4

First autonomous mobile robot

Answer 4

shakey 1966-72

Question 5

Robotics Industry Association Robot definition

Answer 5

re-programmable, multi-functional, manipulator designed to move material… through variable programmed motions for the performance of … tasks”

Question 6

Brady Robot definiton

Answer 6

“the intelligent connection of perception to action” 1989

Question 7

Arkin Robot definition 1998

Answer 7

machine able to extract info from environment and us knowledge to move safely in a purposive manner (shortened)

Question 8

Module definition of robot

Answer 8

Physical agent that generates “intelligent” connection between perception and action

Question 9

Areas of application

Answer 9

Medical Support
Military
Hazardous Environments
Space
Elderly/handicapped

Question 10

3 Robot advantages

Answer 10

Productivity/safety/efficiency/quality/consistency
More accurate
Useful in dangerous environments

Question 11

3 Robot Disadvantages

Answer 11

Economic problem (human jobs)
Limited capabilities
Costly

Question 12

Topics of robotics

Answer 12

Sensor Processing
Uncertainty Managemment
Control Architecture
Path Planning/Navigation
Localization
Sensor Fusion

Question 13

What makes a robot intelligent

Answer 13

Situational awareness/decision making
Adapts to environment
Plan/replan appropriate actions
Learns to improve performance from experience

Question 14

Manipulator

Answer 14

Main body of the robot

Consists of links, joints etc

Question 15

Effector

Answer 15

Last joint which handles object

Question 16

Actuator

Answer 16

Muscles of manipulator

Motors etc

Question 17

Sensor space

Answer 17

Robot exists in its sensor space/perceptual space

Question 18

Controller

Answer 18

1. Receives data from computer
2. Controls motions of actuators and
3. Coordinates the motions based on sensor feedback

Question 19

Processor

Answer 19

Robot Brain
Computes movements required to achieve desired location and speed.

Question 20

Degree of Freedom

Answer 20

Number of position variables that locate parts o the mechanism (eg forwards/backwards, left/right, up/down etc)

DoF may be controllable or not.

Question 21

Robot Kinematics

Answer 21

How the robots joint angle configurations translate to locations in the world/position of the effector. Velocity also.