Sejarah Robot
Definisi dan terminologi RoboT
Wind powered organ, Heron of Alexandria (10 – 70 M), egypt : Mathematician, Engineer, inventor
Hidro powered water rising machine, Abū al-'Iz Ibn Ismā'īl ibn al-Razāz al-Jazarī (1136 – 1206 M), Mesopotamia: Mechanical Engineer, Craftman, Artist, mathematician and astronomer.
Buku fí ma'rifat al-hiyal al-handasiyya (Book of Knowledge of Ingenious Mechanical Devices): Menggambarkan 50 jenis perangkat mekanik disertai dengan penjelasan bagaimana membangunnya.
The first person to use the word robot wasn't a scientist, but a playwright. Czechoslovakian writer Karel Capek first used the word robot in his satirical play, R.U.R. (Rossum's Universal Robots). Taken from the Czech word for forced labor, the word was used to describe electronic servants who turn on their masters when given emotions. This was only the beginning of the bad-mouthing robots would receive for the next couple of decades. Many people feared that machines would resent their role as slaves or use their steely strength to overthrow humanity.
Reference:
http://www.msnbc.com/modules/robot_history/
http://capek.misto.cz/obrazky/divadlo/theater.html
In the early 1940’s MIT developed a numerically controlled (NC) milling machine (the first NC machine tool) The term 'robotics' refers to the study and use of robots and was coined and first used by the Russian-born American scientist and writer Isaac Asimov (1942). Asimov also created the ‘Three Laws of Robotics’.
1. a robot may not injure a human being, or, through inaction, allow a human being to come to harm;
2. a robot must obey orders given to it by human beings except where such orders conflict with the first law; and
3. a robot must protect its own existence as long as such protection does not conflict with the first or the second law.
Mathematician Charles Babbage dreamed up the idea for an "analytical engine" in the 1830s, but he was never able to build his device. It would take another 100 years before John Atanassoff would build the world's first digital computer. In 1946 the University of Pennsylvania completed the ENIAC (Electronic Numerical Integrator And Calculator), a massive machine made up of thousands of vacuum tubes. But these devices could only handle numbers. The UNIVAC I (Universal Automatic Computer) would be the first device to deal with letters.
ENIAC computer (1946)
⦁ 17.468 vacum tube transistor, 70.000 resistor, 10.000 kapasitor
⦁ 5 million soldered conection
⦁ Dim : 2,4x0,9x30 m, Space :167 m2, weight : 27 Ton, Power : 160 kW
In 1961 George Devol created his patent for parts transfer machines. Joe Engelberger teamed with Devol to form Unimation and was the first to market robots. As a result, Engelberger has been called the 'father of robotics.'
Komponen Robot
⦁ Locomotion: Mekanisme gerak dan aktuator
⦁ Sensor
⦁ Kecerdasan: perilaku dan interaksi
⦁ Navigasi: pemetaan, trayektori, lokalisasi
Navigasi
- berkaitan dengan menggerakkan seluruh platform (fisik) menuju tujuan yang ditentukan
- Kemampuan yang perlu dimiliki oleh sebuah sistem navigasi :
⦁ Membuat representasi lingkungan kerja (mapping).
⦁ Mengetahui posisinya (localization).
⦁ Membuat rencana jalur berdasarkan representasi yang dimilikinya (motion planning).
⦁ Mengambil keputusan dan melakukan aksi pergerakan (follower, obstacle avoidance).
Robotika….
Robot Sensing
⦁ Visual and non-visual sensors
⦁ Sensor fusion algorithms
⦁ Vision and laser based tracking control
Experts Talks (TED) Vijay Kumar
Automaton (self-operating machine), Leonardo da Vinci (1452 – 1519 M): Painter, sculptor, architect, musician, scientist, mathematician, engineer, inventor, anatomist, geologist, cartographer, botanist and writer.
The first person to use the word robot wasn't a scientist, but a playwright. Czechoslovakian writer Karel Capek first used the word robot in his satirical play, R.U.R. (Rossum's Universal Robots).
Taken from the Czech word for forced labor, the word was used to describe electronic servants who turn on their masters when given emotions. This was only the beginning of the bad-mouthing robots would receive for the next couple of decades. Many people feared that machines would resent their role as slaves or use their steely strength to overthrow humanity.
Slaves of steel
The first person to use the word robot was a playwright, Czechoslovakian writer Karel Capek in his satirical play, R.U.R. (Rossum's Universal Robots). 1921 The word “robot” from the czech “robota” which means a serf or one in subservient labor.
Cover page of the first edition
The first person to use the word robot wasn't a scientist, but a playwright. Czechoslovakian writer Karel Capek first used the word robot in his satirical play, R.U.R. (Rossum's Universal Robots). Taken from the Czech word for forced labor, the word was used to describe electronic servants who turn on their masters when given emotions. This was only the beginning of the bad-mouthing robots would receive for the next couple of decades. Many people feared that machines would resent their role as slaves or use their steely strength to overthrow humanity.
Reference:
http://www.msnbc.com/modules/robot_history/
http://capek.misto.cz/obrazky/divadlo/theater.html
In the early 1940’s MIT developed a numerically controlled (NC) milling machine (the first NC machine tool) The term 'robotics' refers to the study and use of robots and was coined and first used by the Russian-born American scientist and writer Isaac Asimov (1942). Asimov also created the ‘Three Laws of Robotics’.
1. a robot may not injure a human being, or, through inaction, allow a human being to come to harm;
2. a robot must obey orders given to it by human beings except where such orders conflict with the first law; and
3. a robot must protect its own existence as long as such protection does not conflict with the first or the second law.
Calculator & Computer
- John Atanassoff built the world's first digital computer.
- J. Presper Eckert & John Mauchly at Univ. Pennsylvania build the first large electronic computer called ENIAC (Electronic Numerical Integrator And Calculator). But these devices could only handle numbers.
- The UNIVAC I (Universal Automatic Computer) would be the first device to deal with letters.
- John Atanassoff built the world's first digital computer.
- J. Presper Eckert & John Mauchly at Univ. Pennsylvania build the first large electronic computer called ENIAC (Electronic Numerical Integrator And Calculator). But these devices could only handle numbers.
- The UNIVAC I (Universal Automatic Computer) would be the first device to deal with letters.
- John Atanassoff built the world's first digital computer.
- J. Presper Eckert & John Mauchly at Univ. Pennsylvania build the first large electronic computer called ENIAC (Electronic Numerical Integrator And Calculator). But these devices could only handle numbers.
- The UNIVAC I (Universal Automatic Computer) would be the first device to deal with letters.
- John Atanassoff built the world's first digital computer.
- J. Presper Eckert & John Mauchly at Univ. Pennsylvania build the first large electronic computer called ENIAC (Electronic Numerical Integrator And Calculator). But these devices could only handle numbers.
- The UNIVAC I (Universal Automatic Computer) would be the first device to deal with letters.
Mathematician Charles Babbage dreamed up the idea for an "analytical engine" in the 1830s, but he was never able to build his device. It would take another 100 years before John Atanassoff would build the world's first digital computer. In 1946 the University of Pennsylvania completed the ENIAC (Electronic Numerical Integrator And Calculator), a massive machine made up of thousands of vacuum tubes. But these devices could only handle numbers. The UNIVAC I (Universal Automatic Computer) would be the first device to deal with letters.
⦁ 17.468 vacum tube transistor, 70.000 resistor, 10.000 kapasitor
⦁ 5 million soldered conection
⦁ Dim : 2,4x0,9x30 m, Space :167 m2, weight : 27 Ton, Power : 160 kW
In 1961 George Devol created his patent for parts transfer machines. Joe Engelberger teamed with Devol to form Unimation and was the first to market robots. As a result, Engelberger has been called the 'father of robotics.'
The first industrial modern robot - the Unimate - developed by Devol and Engelberger - was installed at GM (New Jersey) in 1962.
In 1964 Artficial Intelligence (AI) Labs open at MIT, Stanford (SRI) and University of Edinburgh.
The mobile robot ‘Shakey’ was developed at Stanford in the late sixties.It had a camera and touch sensors and could move about the lab floor.
SRI develop the ‘Stanford Arm’ - an electrically powered manipulator and then ‘WAVE’ - the first robot programming language. This was subsequently developed into VAL for use with Unimation robots.
In 1974 ASEA introduce the all electric drive IRb6. Cincinnati Milacron also introduce computer controlled T3 (The Tomorrow Tool) robot. Kawasaki use Unimation machines to weld motorbike frames.
In 1976 Viking I & II space crafts equipped with robot arms land on Mars.
Unimate PUMA’s (Programmable Universal Machine for Assembly) introduced in 1978. SCARA’s (Selective Compliance Articulated Robot Arm) introduced in 1979.
Vision based workcell demonstrated at University of Rhode Island in 1980.
The mobile robot ‘Shakey’ was developed at Stanford in the late sixties.It had a camera and touch sensors and could move about the lab floor.
SRI develop the ‘Stanford Arm’ - an electrically powered manipulator and then ‘WAVE’ - the first robot programming language. This was subsequently developed into VAL for use with Unimation robots.
In 1974 ASEA introduce the all electric drive IRb6. Cincinnati Milacron also introduce computer controlled T3 (The Tomorrow Tool) robot. Kawasaki use Unimation machines to weld motorbike frames.
In 1976 Viking I & II space crafts equipped with robot arms land on Mars.
Unimate PUMA’s (Programmable Universal Machine for Assembly) introduced in 1978. SCARA’s (Selective Compliance Articulated Robot Arm) introduced in 1979.
Vision based workcell demonstrated at University of Rhode Island in 1980.
Definisi Robot
- American Heritage Dictionary: ro·bot (rbt, -bt) n.
⦁ A mechanical device that sometimes resembles a human being and is capable of performing a variety of often complex human tasks on command or by being programmed in advance.
⦁ A machine or device that operates automatically or by remote control.
⦁ A person who works mechanically without original thought, especially one who responds automatically to the commands of others.
- Websters:
1 a : a machine that looks like a human being and performs various complex acts (as walking or talking) of a human being; also : a similar but fictional machine whose lack of capacity for human emotions is often emphasized
b: an efficient insensitive person who functions automatically.
2: a device that automatically performs complicated often repetitive tasks.
3: a mechanism guided by automatic controls.
- RIA
A re-programmable multi-functional manipulator designed to move material, parts, or specialized devices through variable programmed motion for the performance of a variety of tasks" (RIA, Robot Institute of America, A group within Society of Manufacturing Engineering).
Ciri-Ciri Umum Robot (Robot Features)
⦁ Melakukan Tugas (perform a task)
⦁ Pergerakan (movement)
⦁ Merasakan (Sense)
⦁ Memutuskan (Decide)
⦁ Melakukan aksi (respond)
Komponen Robot
⦁ Locomotion: Mekanisme gerak dan aktuator
⦁ Sensor
⦁ Kecerdasan: perilaku dan interaksi
⦁ Navigasi: pemetaan, trayektori, lokalisasi
 |
Robot Tasks (Sejumlah Aksi yang perlu dilakukan untuk menyelesaikan pekerjaan)
|
Locomotion: Yaitu Bergerak Dari Satu Tempat/Posisi Ke Tempat/Posisi Yang Lain
Navigasi
- berkaitan dengan menggerakkan seluruh platform (fisik) menuju tujuan yang ditentukan
- Kemampuan yang perlu dimiliki oleh sebuah sistem navigasi :
⦁ Membuat representasi lingkungan kerja (mapping).
⦁ Mengetahui posisinya (localization).
⦁ Membuat rencana jalur berdasarkan representasi yang dimilikinya (motion planning).
⦁ Mengambil keputusan dan melakukan aksi pergerakan (follower, obstacle avoidance).
Robotika….
Faktor Desain Sistem Robot
⦁ Maneuverability (kemampuan Bergerak, maju/mundur lurus, berputar)
⦁ Controllability (Dapat dikendalikan)
⦁ Traction (Daya tarik/Power)
⦁ Climbing ability (Kemampuan memanjat)
⦁ Stability (Kestabilan)
⦁ Efficiency (Efisiensi)
⦁ Maintenance (Pemeliharaan)
⦁ Environmental impact (pengaruhnya terhadap lingkungan, obstacle minor boleh ditabrak, hanya bisa dihindari, atau di geser)
⦁ Navigational (navigasi/pengenalan posisi).
⦁ Maneuverability (kemampuan Bergerak, maju/mundur lurus, berputar)
⦁ Controllability (Dapat dikendalikan)
⦁ Traction (Daya tarik/Power)
⦁ Climbing ability (Kemampuan memanjat)
⦁ Stability (Kestabilan)
⦁ Efficiency (Efisiensi)
⦁ Maintenance (Pemeliharaan)
⦁ Environmental impact (pengaruhnya terhadap lingkungan, obstacle minor boleh ditabrak, hanya bisa dihindari, atau di geser)
⦁ Navigational (navigasi/pengenalan posisi).
Topik
⦁ Robot Manipulator
- Kinematics model of manipulators
- Dynamic Model of manipulators
- Trajectory generation
- Robot Control
⦁ Mobile Robot
- Kinematic &dynamic model of wheeled mobile robots
- Feedback control of mobile robots with nonholonomic constraints
- Motion planning
- Mapping and Navigation
Robot Sensing
⦁ Visual and non-visual sensors
⦁ Sensor fusion algorithms
⦁ Vision and laser based tracking control
Summary
- Robotics--interdisciplinary research
⦁ Mechanical design
⦁ Computer science and engineering
⦁ Electrical engineering
⦁ Cognitive psychology, perception and neuroscience
- Research open problems
⦁ Manipulation, Locomotion
⦁ Control, Navigation
⦁ Human-Robot Interaction
⦁ Learning & Adaptation (AI)
⦁ Mechanical design
⦁ Computer science and engineering
⦁ Electrical engineering
⦁ Cognitive psychology, perception and neuroscience
- Research open problems
⦁ Manipulation, Locomotion
⦁ Control, Navigation
⦁ Human-Robot Interaction
⦁ Learning & Adaptation (AI)
Experts Talks (TED) Vijay Kumar
References
⦁ Bahan Kuliah Robotika-ITB oleh Hilwadi Hindersah Bab I
⦁ http://www.msnbc.com/modules/robot_history/
⦁ Slide Kuliah Robotika oleh Wrastawa Ridwan, ST, MT
, egypt : Mathematician, Engin...){kind=link}
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