5
Norbert Wiener, a professor at M.I.T., publishes Cybernetics, a book which describes the
concept of communications and control in electronic, mechanical, and biological systems.
1954
After the invention of the transistor in 1948, many robots were used in conjunction with the
computer. The first patent for a computer controlled industrial robot was developed in 1954 by
George Devol. Devol created a computerized memory and control system called "universal
automation." Devol co-founded the Unimation industrial robot company, and "started the
industrial robot revolution" by selling designs of powerful assembly line arms to General
Motors.
1959
Planet Corporation markets the first commercially available robot.
1960
Unimation is purchased by Condec Corporation and development of Unimate Robot Systems
begins. American Machine and Foundry, later known as AMF Corporation, markets a robot,
1962
General Motors installs the first industrial robot on a production line.
1968
Stanford Research Institute at Palo Alto, California (SRI) builds and tests a mobile robot with
vision capability, called Shakey. It was a small unstable box on wheels that used memory and
logical reasoning to solve problems and navigate in its environment. Besides moving
between rooms and avoiding objects, Shakey II was able to stack wooden blocks according to
spoken instructions. It looked to see if the blocks were properly aligned, and if not, it adjusted
the stack. Shakey was once asked to push a box off a platform, but could not reach the box.
The robot found a rasmp, pushed the ramp against the platform, rolled up the ramp, and then
pushed the box onto the floor
1970
At Stanford University a robot arm is developed which becomes a standard for research
projects. The arm is electrically powered and becomes known as the Stanford Arm.
1973
The first commercially available minicomputer-controlled industrial robot is developed by
Richard Hohn for Cincinnati Milacron Corporation. The robot is called the T3, “The
Tomorrow Tool”.
1974
Professor Scheinman, the developer of the Stanford Arm, forms Vicarm Inc. to market a
6
version of the arm for industrial applications. The new arm is controlled by a minicomputer.
1976
Robot arms are used on Viking 1 and 2 space probes Vicarm Inc. incorporates a
microcomputer into the Vicarm design.
1977
ASEA, a European robot company, offers two sizes of electric powered industrial robots. Both
robots usea microcomputer controller for programming and operation. In the same year
Unimation purchases Vicarm Inc.
1978
The Puma (Programmable Universal Machine for Assembly) robot is developed by Unimation
from Vicarm techniques and with support from General Motors.
1980
The robot industry starts its rapid growth, with a new robot or company entering the market
every month.
A brief overview
The parts of many modern robots can be generalized into four categories: the base, object
manipulator, primary control system, and sensory system. The base is usually a metal or
plastic frame that supports the robot's components. Most industrial robot bases are stationary,
although the arms move about. Other bases move about by treads, wheels, or legs. Wheel
driven bases have various configurations. Some have two big rear wheels, and a small front
balancing wheel, while others have four equally sized wheels.
The second part of the modern robot is the object manipulator. Basic grasping and
manipulation requires a large amount of memory, due to the requirements of smoothness and
sensitivity during operation . The minimum number of fingers necessary to grasp an object,
hold it securely, and manipulate it smoothly was found to be three.
The third part of the modern robot is the control system. Primary systems include the remote
control, driver circuit, or computer. Quite often, the control system consists of a primary
control and secondary, application-specific controls. The primary control executes the main
program, calling individual functions or reading resultant data, while the secondary control
systems determine how those functions are processed.
