Robotics 101: 15 Frequently Asked Questions - Kenility

Robotics is an exciting field combining engineering, programming, and artificial intelligence to solve real-world challenges. This list of frequently asked questions is designed to guide you from foundational knowledge to more technical concepts, offering insights into the complexities of robotics.

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1. What is robotics, and why is it important?

Robotics is the science of designing, building, and programming machines to perform tasks automatically. It is important because robots improve efficiency, reduce human risk in dangerous environments, and enable breakthroughs in healthcare, manufacturing, and exploration industries.

2. How do robots perceive their environment?

Robots use sensors to detect and interpret their surroundings. Common sensors include:

• Cameras for visual input.
• Proximity sensors for object detection.
• LIDAR for creating 3D maps of spaces.
• Tactile sensors to detect physical contact or texture.

3. What are the primary applications of robotics today?

Robots are used in various fields, including:

• Healthcare: Surgical robots like Da Vinci or rehabilitation robots.
• Agriculture: Autonomous tractors and drones for crop monitoring.
• Logistics: Robots in warehouses for inventory management.
• Space exploration: Rovers like NASA’s Perseverance on Mars.

4. What are collaborative robots (cobots)?

Cobots are robots designed to work alongside humans in shared environments. Unlike traditional robots, they are lightweight, easy to program, and equipped with safety features like sensors to avoid collisions. They’re popular in manufacturing and small-scale industries.

5. What types of locomotion do robots use?

Robots use various locomotion methods to navigate environments:

• Wheeled robots: Efficient on flat surfaces (e.g., delivery robots).
• Legged robots: Good for rough terrain (e.g., Boston Dynamics’ Spot).
• Tracked robots: Ideal for heavy-duty tasks in challenging conditions.
• Flying robots (drones): Used in surveillance or delivery.

6. What are humanoid robots, and what are their uses?

Humanoid robots resemble human form and behavior. They are often used in:

• Customer service: As receptionists or guides.
• Research: To study human-robot interaction.
• Education: Teaching STEM concepts interactively.

7. How does robotic programming work?

Robotic programming involves writing code to control a robot's actions. It typically includes:

• Kinematics: Understanding motion.
• Path planning: Defining safe and efficient movement routes.
• AI integration: Enabling decision-making and adaptability.

8. How are robots tested before deployment?

Robots undergo extensive testing, including:

• Simulations: Virtual environments to test performance.
• Stress testing: Ensuring reliability under challenging conditions.
• Functional testing: Evaluating sensors, actuators, and software.

9. What is inverse kinematics, and why is it critical in robotics?

Inverse kinematics determines the joint movements required to position a robot's end-effector (e.g., a robotic arm's gripper) at a desired location. It’s essential for precise control in tasks like welding, surgery, and assembly.

10. How does SLAM (Simultaneous Localization and Mapping) work?

SLAM is a process that allows robots to map their surroundings while keeping track of their location within the map. It uses:

• Sensors like LIDAR and cameras to collect spatial data.
• Algorithms to process and merge data into a cohesive map.
• Localization to pinpoint the robot's position on the map.

11. What is the role of machine learning in robotics?

Machine learning enables robots to improve performance by learning from data. Examples include:

• Object recognition: Identifying items in real-time.
• Autonomous driving: Navigating complex environments.
• Predictive maintenance: Analyzing usage patterns to predict failures.

12. How do robotic control systems function?

Robotic control systems manage a robot’s movements and interactions. Key control methods include:

• Open-loop control: No feedback is used (simple tasks).
• Closed-loop control: Feedback from sensors corrects movements in real time.
• Model predictive control: Optimizes future actions based on predictions.

13. What is a robotic manipulator, and how does it work?

A robotic manipulator is a robotic arm designed for tasks like picking, placing, or assembling objects. It uses:

• Joints and links to provide flexibility.
• Actuators to power movement.
• End-effectors (grippers, tools) to interact with objects.

14. What is the difference between forward and inverse dynamics in robotics?

• Forward dynamics: Calculates the motion of a robot based on forces and torques applied.
• Inverse dynamics: Determines the required forces and torques for a desired motion.
  These calculations are vital for robotic control and motion planning.

15. How is robotics advancing in the field of autonomous systems?

Autonomous systems are becoming increasingly sophisticated with advancements in:

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• AI: Enabling real-time decision-making.
• Edge computing: Reducing latency by processing data on-device.
• Multi-agent coordination: Allowing fleets of robots to work collaboratively.

Conclusion: The Transformative Impact of Robotics

Robotics is revolutionizing industries by enhancing efficiency, precision, and safety. From automating repetitive tasks in manufacturing to enabling groundbreaking advancements in healthcare and space exploration, robots are reshaping how we work and live. Their ability to integrate with artificial intelligence, machine learning, and advanced sensors continues to unlock new possibilities, pushing the boundaries of what technology can achieve.

As robotics evolves, industries are not just adapting but thriving, embracing solutions that improve productivity while reducing costs and risks. The growing accessibility of robotics technologies, such as collaborative robots and autonomous systems, ensures that businesses of all sizes can benefit from their potential.

In the coming years, robotics will play a central role in solving global challenges, from addressing labor shortages to combating climate change through smart agriculture and sustainable practices. By staying informed and embracing innovation, industries can harness the power of robotics to create a smarter, more efficient, and prosperous future.

A quick google search converting 1.9 Nm to pounds equals 1.4 foot-pounds or 16 inch- pounds. For your motor to handle 30 pounds maximum, the arm must be 0.5 inches long or less. A gearbox will reduce the speed and increase the torque available.

Having both speed and weight capacity will probably require a larger motor.

I believe that choosing between direct or indirect drive is more about where you want to install the motor in relation to the arm. Do you have the space and strength required to install the stepper motor and gearbox at the pivot point of the arm or must it go somewhere else?

Those are worse than your current stepper motor. The add shows 170 Newton-centimeter which means 1.7 Newton-meter compared to your current 1.9 Nm.

I believe sharing how I did my math will help you. Torque is defined as twisting or motor shaft rotation force. It is measured in compound units of force times distance. Picture your ratchets and sockets in your toolbox. The smallest ratchet has a handle length about 6 inches. When you press on the handle with some force (say 10 pounds), you have 10 pounds of force and 6 inches of length. This means 60 pound inches of torque or 5 pound feet torque. When you grab the large ratchet (12 inches), the same 10 pounds has 12 inches now so 120 inch pounds or 10 foot pounds.

It appears that your design has not been adequately thought out and you need to figure this out before buying more parts. Start with drawing a stick-figure of your arm and label the length of each arm segment. Next, decide the maximum weight capacity of the arm in the hand. This will allow you to calculate the minimum hold torque at each joint; stronger components will help things stay cooler and last longer.

Another critical design specification is the required speed. If you decide the maximum rotation angle of the joint (shoulder or elbow) and how long you can wait for it to move from one stop to the other, then you can calculate the required rpm (rotation speed) of the joint. So, if the rotation is 180° and you want it completed in one second, then multiply the number of rotations (1/2 rotation) by the time (1 second) for the rotation speed 0.5 rotations per second).

Motor speed is measured in RPM (revolutions per minute). To make the above speed in minutes, multiply (0.5 rotation / second) by (60 seconds / 1 minute [this is like multiplying by one, but changes the unit of measure]). This equals 30 RPM.

Your electric stepper motor spins much faster than this (30 RPM)! The degree angle of your stepper motor and the maximum drive frequency of it determines the maximum speed. The second stepper motor link has 1.8° steps so 200 steps per 1 rotation. At 600 Herz (cycles per second), you get 3 rotation per second or 180 RPM.Through a gearbox, pulley system, or other mechanical advantage type device, you can use a mechanical advantage of 6 to match the motor speed to your desired arm speed. Slowing the speed by 6X increases the torque approximately (friction and other factors reduce the actual torque output) 6X. With your 1.9Nm motor, the 1.4 ft-lb goes to 8.4 maximum (~8 ft-lb likely).

If you want a 3 foot arm to hold 30 pounds, the hold torque is 90 ft*lbs or 11 times more than your current motor with 6:1 gearbox.

There is the possibility of using an electric linear actuator on the arm for movement and hold strength similar to how an excavator boom (arm) functions. Much easier to get inexpensive arm strength. The drawback is that it requires a separate circuit to measure the movement and position of the arm.

Good luck with your project.

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