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Robotics - Scientific area that studies the link between perception and action. Robot: – Device able to perform activities as a human – Programmable manipulator able to execute multiple operations (e.g., material and part handling), following programmed paths to fulfill a large variety of tasks. Mobile Robot / Platform: – Platform with a large mobility within its environment (air, land, underwater) – A system with the following functional characteristics: - Mobility: total mobility relative to the environment
- A certain level of autonomy : limited human interaction
- Perception ability : sensing and reacting in the environment
Applications : The robots have potential application in areas where a vehicle or a mechanic automatic system may exist . Areas of application: – Support to medical services - Transportation of food, medication, medical exams,
- Automation of pharmacy service
– Automatic cleaning of large areas - Supermarkets, airports, industrial sites
- Glass cleaning
- Domestic vacuum-cleaner
– Client support - Museum tours, exhibitions guides
– Agricultural - Fruit and vegetable picking, fertilization, planting
– Forests Cleaning, fire preventing, tree cutting Components of a Mobile Robot : - A mobile robot is a combination of various physical (hardware) and computational (software) components.
In terms of hardware components, a mobile robot can be considered as a collection of subsystems for: - Locomotion – how the robot moves through its environment
- Sensing – how the robot measures properties of itself and its environment.
- Reasoning – how the robot maps the measurements into actions
- Communication – how the robot communicates with an outside operator
In terms of software components, a set of subsystems are responsible for : - Planning in its various aspects
Mobile Robots Navigation : "Mobile Robot Navigation" covers a large spectrum of different systems, requirements and solutions. The aim is to study this range of requirements, identify the major areas within the scale which are most commonly used, and to discuss appropriate systems for meeting the requirements. Navigation of Mobile Robots is a broad topic, covering a large spectrum of different technologies and applications. It draws on some very ancient techniques, as well as some of the most advanced space science and engineering. There are three types of navigation : - Global: getting between end locations,
- Local: carrying out a task while at a location
- Personal: monitoring of the individual robot and anything in contact with it.
Types of Mobile Robots: 1) Wheeled robot : Robots can have just about any number of wheels, although 3 and 4 are the most common. Normally a three wheeled robot uses two wheels and a caster at one end. Advantages : - Usually low-cost - Simple design and construction - Diameter, width, material, weight, tread etc. can all be custom to your needs Disadvantages : - May lose traction (slip) - Small contact area (small rectangle or line) 2) Tracked Robot : Track drive is best for robots used outdoors and on soft ground. Although tracks do not provide added "force", they do reduce slip and more evenly distribute the weight of the robot, making them useful for loose surfaces such as sand and gravel. Advantages : - Constant contact with the ground prevents slipping that might occur with wheels - Evenly distributed weight helps your robot tackle a variety of surfaces Disadvantages : - When turning, there is a sideways force that acts on the ground; this can cause damage to the surface the robot is being used on, and cause the tracks to wear. - Not many different tracks are available (robot is usually constructed around the tracks) - Increased mechanical complexity and connections 3) Miscellaneous and combination / hybrid : Miscellaneous designs can include hovercraft, snake-like designs, turrets and more. It is wise to consider when building a combination / hybrid design, to use a modular design (each functional part can be taken off and tested separately). Advantages : - Designed and built to meet specific needs - Multi-tasking and can be comprised of modules - Can lead to increased functionality and versatility Disadvantages : - Increased complexity and cost - Often times parts must be custom designed and built 4) Arms & Grippers : Arms and grippers are the best way for a robot to interact with the environment it is exploring. Simple robot arms can have just one motion, while more complex arms can have a dozen or more unique degrees of freedom. Advantages : - Very simple to very complex design possibilities - Easy to make a 3 or 4 degree of freedom robot arm (two joints and turning base) Disadvantages : - Stationary unless mounted on a mobile platform - Cost to build is proportional to lifting capability Author works for OMICS Publishing Group, which is built upon the principles of open access journals and is determined to provide free and unrestricted access of research articles to scientists around the world for the advancement of science and technology.
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Robotics, Mobile robot, Open Access,
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