上海交通大学：《机器人学导论 Introduction to Robotics》课程教学资源（PPT课件讲稿）Lecture 1 Introduction

l>\ Introduction to Robotics 且 Dr Hesheng Wang Associate professor Department of Automation Email:wanghesheng@sjtu.edu.cn Phone number 34207252

Introduction to Robotics Dr. Hesheng Wang Associate Professor Department of Automation Email: wanghesheng@sjtu.edu.cn Phone number: 34207252

Course Information 0896 Contents > Modeling Control Kinematics Trajectory planning Differential kinematics Motion control Direct/Inverse kinematics Hardware/software Dynamics architecture

Course Information – Contents

0896 History of Robotics Date Significance Robot Name Inventor First Descriptions of more than 100 machines and century automata, including a fire engine, a wind organ, a Ctesibius, philo A D coin-operated machine, and a steam-powered Her )oT engine, in Pneumatica and automata by heron of Alexandria, and others earlier Alexandria Boat with four 1206 First programmable humanoid robots robotic A-Jazari musicians c. 1495 Designs for a humanoid robot Mechanical Leonardo da vinci knight 1738 Mechanical duck that was able to eat, flap its wings, and excrete Digesting Duck Jacques de Vaucanson Japanese mechanical toys that served tea, fired l800s arrows, and painted Karakuri toys Tanaka Hisashige

History of Robotics Date Significance Robot Name Inventor First century A.D. and earlier Descriptions of more than 100 machines and automata, including a fire engine, a wind organ, a coin-operated machine, and a steam-powered engine, in Pneumatica and Automata by Heron of Alexandria Ctesibius, Philo of Byzantium, Heron of Alexandria, and others 1206 First programmable humanoid robots Boat with four robotic musicians Al-Jazari c. 1495 Designs for a humanoid robot Mechanical knight Leonardo da Vinci 1738 Mechanical duck that was able to eat, flap its wings, and excrete Digesting Duck Jacques de Vaucanson 1800s Japanese mechanical toys that served tea, fired arrows, and painted Karakuri toys Tanaka Hisashige

0896 History of Robotics 1921 First fictional automatons called"robots"appear in Rossum's the play r U.R. Universal robots Karel Capek 1930 Humanoid robot exhibited at the 1939 and 1940 Westinghouse Elektro World's fairs Electric Corporation 1948 Simple robots exhibiting biological behaviors Elsie and Elmer William Grey Walter First commercial robot from the unimation 1956 company founded by George Devol and Joseph Unimate George deyo Engelberger, based on Devol,s patents 1961 First installed industrial robot Unimate George deyo 1963 First palletizing robot o Palletizer Fuji Yusoki Kogyo 1973 First industrial robot with six electromechanically KUKA Robot anulus driven axes Group 1975 Programmable universal manipulation arm, a PUMA Victor scheinman Unimation product

History of Robotics 1921 First fictional automatons called “robots” appear in the play R.U.R. Rossum’s Universal Robots Karel Čapek 1930s Humanoid robot exhibited at the 1939 and 1940 World’s Fairs Elektro Westinghouse Electric Corporation 1948 Simple robots exhibiting biological behaviors [4] Elsie and Elmer William Grey Walter 1956 First commercial robot, from the Unimation company founded by George Devol and Joseph Engelberger, based on Devol’s patents [5] Unimate George Devol 1961 First installed industrial robot Unimate George Devol 1963 First palletizing robot [6] Palletizer Fuji Yusoki Kogyo 1973 First industrial robot with six electromechanically driven axes [7] Famulus KUKA Robot Group 1975 Programmable universal manipulation arm, a Unimation product PUMA Victor Scheinman

0896 History of Robotics The word robot was introduced to the public by Czech writer Karel Capek in his play R.U.R Rossum's Universal Robots, which premiered in1921. The word robotics was first used in print by Isaac Asimov, in his science fiction short story Liar!, published in May 1941 in Astounding Science Fiction. Asimov was unaware that he was coining the term since the science and technology of electrical devices is electronics, he assumed robotics already referred to the science and technology of robots

History of Robotics

0896 History of Robotics Three laws of robotics Law One: A robot may not injure a human being, or, through inaction, allow a human being to come to harm Law TWO: A robot must obey orders given it by human beings, except when such orders would conflict with the first law Law Three: A robot must protect its own existence, as long as such protection does not conflict with the first or second law

History of Robotics

0896 History of Robotics Smurf and sensitive. Shakey was the first mabile mbot that Walking Hauck, by pushing pedals that contrdled (he early robots(1940's-50's) Grey Walter's"Elsie the The General electric Walking tortoise Stanford Research Truck the first legged vehicle Institute in the with a computer-brain by ralph 1960s Moser at General Electric Corp in the 1960s

History of Robotics early robots (1940's - 50's) Grey Walter's "Elsie the tortoise" "Shakey" Stanford Research Institute in the 1960s. The General Electric Walking Truck the first legged vehicle with a computer-brain, by Ralph Moser at General Electric Corp. in the 1960s

0896 History of Robotics The first modern industrial robots were probably the Animates, created by George devol and Joe Engleberger in the 1950s and 60s. Engleberger started the first robotics company, called Unimation"and has been called the "father of robotics Armed for duty. A Unimate robot--really, just an arm- picks up and puts down parts in a General Electric factor

History of Robotics

0896 History of Robotics 8 Isaac asimov and Joe engleberger (image from Robotics Society of America web site

Isaac Asimov and Joe Engleberger (image from Robotics Society of America web site) History of Robotics

0896 History of Robotics EXPLORATION People are interested in places that are sometimes full of danger, like outer space, or the deep ocean. But when they can not go there themselves, they make robots that can go there. The robots are able to carry cameras and other instruments so that they can collect information and send it back to their human operators

History of Robotics