Assoc.Prof, Dr.

Nguyen Truong Thinh

Department of Mechatronics
Faculty of Mechanical Engineering
Ho Chi Minh city University of Technical Engineering
Email: [email protected]
 The NASA special-purpose dextrous
17-DOF robot (courtesy Robotics Research manipulator (SPDM)
Corporation)
 Active cord mechanism (courtesy S. Hirose)

The continuum manipulator (courtesy OC

The OctArm continuum manipulator (courtesy Robotics)
I. Walker)
 An automatically controlled, reprogrammable, multipurpose
 Manipulator programmable in three or more axes, which may
be either fixed in place or mobile for use in industrial
automation applications
 Reprogrammable : whose programmed motions or auxiliary
functions may be changed without physical alterations
 Multipurpose : capable of being adapted to a different
applications
 Physical alterations : alteration of the mechanical structure or
control system except for changes of programming cassettes,
ROMs, etc
 Axis : direction used to specify the robot motion in a linear or
rotary mode
Yearly installations of industrial robots
worldwide
Yearly supply of industrial robots by main
industries
 A robot which operates semi- or fully autonomously
to perform a services useful to the well-being of
humans and equipment, excluding manufacturing
operations
 Carry the Baggage

Wheelchair Robot

Camera

Laser
Range
Finder
Porter Robot
Camera

Laser
Range
Finder
Robots on stock for non-industrial
applications
 Wakamaru is a Japanese domestic robot made by
Mitsubishi Heavy Industries, primarily intended to
provide companionship to elderly and disabled
people. The robot is yellow, 1m tall, and weighs 30
kilograms. It has two arms and its flat, circular base
has a diameter of 45 cm. The first hundred went on
sale in September, 2005, for USD$14,000.
 Wakamaru runs a Linux operating system on
multiple microprocessors. It can connect to the
Internet, and has limited speech (in both male and
female voices) and speech recognition abilities.
Functions include reminding the user to take
medicine on time, and calling for help if it suspects
something is wrong.
Cut-to-length (CTL) harvester made Walking forest harvester prototype by
by Ponsse Oy Ltd. Plustech Ltd., today part of John Deere
 The Cycab is an electrically-driven vehicle
for autonomous transportation in urban
environments (courtesy of INRIA)
Rhino, employing the synchro-drive mobile base B21 by Real
World Interface, was one of the first robots for museum guided
tours (courtesy of Deutsches Museum Bonn)
 RoboEarth is a European project led by the Eindhoven University of
Technology, in the Netherlands, to develop a "World Wide Web for
robots," a giant database where robots can share information about
objects, environments, and tasks.
 Researchers at Singapore's ASORO (A-Star Social Robotics Laboratory)
have built a cloud-computing infrastructure that allows robots to
generate 3-D maps of their environments much faster than they could
with their onboard computers.
 Google engineers developed Android-powered robot software that
allows a smartphone to control robots based on platforms like Lego
Mindstorms, iRobot Create, and Vex Pro.
 Researchers at the Laboratory of Analysis and Architecture of Systems,
in Toulouse, France, are creating "user manual" repositories for
everyday objects to help robots with manipulation tasks.
 At a children's hospital in Italy, Nao humanoid robots, created by the
French firm Aldebaran Robotics, will rely on a cloud infrastructure to
perform speech recognition, face detection, and other tasks that might
 Class1: Manual-Handling Device
 Class2: Fixed Sequence Robot
 Class3: Variable Sequence Robot
 Class4: Playback Robot
 Class5: Numerical Control Robot
 Class6: Intelligent Robot
 Variable Sequence Robot(Class3)
 Playback Robot(Class4)
 Numerical Control Robot(Class5)
 Intelligent Robot(Class6)
 Type A: Manual Handling Devices/
telerobotics
 Type B: Automatic Handling Devices/
predetermined cycles
 Type C: Programmable, Servo controlled
robot, continuous point-to-point trajectories
 Type D: Same type with C, but it can acquire
information.
 Manipulator or Rover : Main body of robot (Links, Joints, other
structural element of the robot etc)
 End Effector: The part connected to the last joint(hand) of a
manipulator
 Actuators: Muscles of the manipulators (servomotor, stepper
motor, pneumatic and hydraulic cylinder)
 Sensors: To collect information about the internal state of the
robot or
to communicate with the outside environment
 Controller: Similar to cerebellum.
It controls and coordinates the motion of the actuators.
 Processor: The brain of the robot.
It calculates the motions and the velocity of the robot’s joints.
 Software: Operating system, robotic software and the
collection of routines.
 Prismatic Joint: Linear, No rotation involved.

 Revolute Joint: Rotary, (electrically driven with stepper motor,

servo motor)
1 D.O.F. 2 D.O.F. 3 D.O.F.
 Planar (two-dimensional, Plane) motion
 Spatial(three-dimensional) motion : up to 3 Translations & 3
Rotations
z
 Translations: x, y, z
c
 Rotations : α,b, c

a b
x y

Rigid body : Elastic Modulus [E] = ∞

Elastic Body : Elastic Modulus [E] < ∞
 A joint which is formed by the contact between two bodies
and allows relative motion between them
 Cartesian & Portal Robot

 Vertically Articulated Robot

 Horizontally Articulated Robot

• The kinematic skeleton of a robot is
modeled as a series of links connected by
either hinged or sliding joints forming a
serial chain.
• This skeleton has two basic forms, that of
a single serial chain called a serial Robot
and as a set of serial chains supporting a
single end-effector, called a parallel robot,
• Robots can be configured to work in
parallel such as the individual legs of
walking machines
adaptive suspension vehicle
(ASV) walking machine
Salisbury three-fingered robot hand with
its cable drive system, Salisbury three-
fingered hand grasping a block.
 A single finger of the
Salisbury hand is a serial
chain robot

 A serial chain robot is a

sequence of links and
joints that begins at a base
and ends with an end-
effector.
• The links and joints of a robot are often configured to provide separate
translation and orientation structures. Usually, the first three joints are used
to position a reference point in space and the last three form the wrist which
orients the end-effector around this Point .
• The design of a robot is often based on the symmetry of its reachable
workspace. From this point of view there are three basic shapes: rectangular,
cylindrical, and spherical
  A robotic system in which two or
more serial chain robots support an
end-effector is called a parallel
robot.

 The workspace of a parallel robot is

the intersection of the workspaces of
the individual supporting chains.

 Another approach is to specify

directly the positions and
orientations that are to lie in the
workspace and solve the algebraic
equations that define the leg
constraints to determine the design
One leg of the ASV walking machine is a parallel robotparameters
The NASA gantry robot
General Stewart-Gough HEXA platform; all
platform: the actuated joints joints are revolute
are prismatic, the passive
joints are revolute.
Steps that define the climbing process of the climbing parallel robot.
Different images of the parallel robot climbing o a palm tree trunk.
Parallel robot climbing inside/outside tubular structures
 Cartesian/rectangular/gantry (3P) : 3 cylinders joint
 Cylindrical (R2P) : 2 Prismatic joint and 1 revolute joint
 Spherical (2RP) : 1 Prismatic joint and 2 revolute joint
 Articulated/anthropomorphic (3R) : All revolute(Human arm)
 Selective Compliance Assembly Robot Arm (SCARA): 2 paralleled
revolute joint and 1 additional prismatic joint
 Main axis Position
 Hand/Secondary Axis Orientation

 Characteristics :
◦ Payload
◦ Structure
◦ No. of Axis
◦ Work Volume (Workspace)
Programming Modes
 Physical Setup: PLC

 Lead Through/ Teach Mode: Teaching Pendant/ Playback, p-to-p

 Continuous Walk-Through Mode: Simultaneous joint-movement

 Software Mode: Use of feedback information

Robot Characteristics
 Payload: Fanuc Robotics LR Mate™ (6.6/ 86 lbs), M- 16i ™(35/ 594
lbs)
 Reach: The maximum distance a robot can reach within its work
envelope.
 Precision (validity): defined as how accurately a specified point can be
reached… 0.001 inch or better.
 Repeatability (variability): how accurately the same position can be
reached if the motion is repeated many times.
 Work Envelope, the space in
which a robot can operate,
which encloses its workspace,

 This envelope is defined by the

types of joints, their range of
movement and the lengths of
the links that connect them,

 The physical size of this

envelope and the loads on the
robot within this envelope are
of primary consideration in the
design of the mechanical The PUMA 560 robot
structure of a robot.
 Load capacity, a primary robot specification, is closely
coupled with acceleration and speed.

 Load capacity should be seen as a variable. It is wise to design

and specify a manipulator in terms of useful payload as a
function of performance rather than just in terms of maximum
capacity.

 Kinematic Skeleton: Manipulator shape and size is

determined by requirements on its workspace shape and layout,
the precision of its movement, its acceleration and speed, and
its construction.
 Microcomputer Machine Language Level: the
most basic and very efficient but difficult to understand to
follow.
 Point-to-Point Level: Funky® Cincinnati Milacron’s
T3©, It lacks branching, sensory information.
 Primitive Motion Level: VAL by Unimation™
Interpreter based language.
 Structured Programming Level: This is a compiler
based
but more difficult to learn.
 Task-Oriented Level: Not exist yet and proposed IBM
in the 1980s.
 Gantry manipulator
Cartesian manipulator and its workspace
Cylindrical manipulator Spherical manipulator
SCARA manipulator Anthropomorphic manipulator
 According to the latest report
by the International Federation
of Robotics (IFR), up to 2005,
59% of installed robot
manipulators worldwide has
anthropomorphic geometry,
20% has Cartesian geometry,
12% has cylindrical geometry,
and 8% has SCARA geometry.

Manipulator with parallelogram

Whenever larger payloads are required, the
mechanical structure will have higher stiffness to
guarantee comparable positioning accuracy. In such
a case, resorting to a closed kinematic chain is
advised. For instance, for an anthropomorphic
structure, parallelogram geometry between the
shoulder and elbow joints can be adopted, so as to
create a closed kinematic chain
 Move in Cartesian coordinate Sys
w/o coordinate transformation
possible
 No big burden on spatial shift for
programmer
 Stiff structure : Possible big work
volume
 Big collision room
 Big construction surface
 Slow work speed
 Clearance in axis feed
 Work volume in robot dimension
 Applications: Palletizing and
Construction work
 Small collision volume
 Wrap-around gripping
possible from obstacle
 Burden on actuators
through weight
compensation
 Applications: Painting,
Surface treatment,
Spot/Arc welding,
Workpiece handling,
Machining
 Characteristic of Assembly light workpiece weight, very short
tact time, high positional accuracy, small work volume
 SCARA : Selective Compliance Assembly Robot Arm  2-3
rotational DOFs and 1 vertical linear axis
 High stiffness in vertical direction
 On influence of robot weight on axis
 High speed/move
 Applications : Assembly, Joint, Soldering
Cylindrical Robo
The first walking mechanism, as
mentioned above, was built
around 1870 by Chebyshev.
Structure of the elbow manipulator. Workspace of the elbow manipulator.
 Low Medium High Heavy Special
payloads payloads payloads payloads constructio
n
robot

Payload 0 - 15 15 - 60 60 - 210 Up to 250 For

(kg) application
s up to
500
Restricted operational workspace and tool
workspace

Stress on kinematic device with gripper and

work-piece combined
 Main axis Position
 Hand/Secondary Axis Orientation

 Characteristics :
◦ Payload
◦ Structure
◦ No. of Axis
◦ Work Volume (Workspace)
iCub enjoys the view of San Francisco's Golden Gate Bridge during a break from
his demos at the 2011 International Conference on Intelligent Robots and Systems
 Within the American
nuclear weapons
program, plutonium
operations have
been conducted in
specialized hot cell
facilities that protect
workers and the
surrounding
environment. Here,
a weapons facility
worker uses a
teleoperator to
remotely perform
complicated
mechanical
operations on a
On track to help: An iRobot 710 Warrior robot, which can lift rubble and debris
weighing up to 220lb Read more:
iDetect: One of the Packbots is fitted with a sensor that can detect radioactivity
The robots called in to help prevent nuclear
meltdown at Fukushima plant

Multiple uses: The iRobot

PackBot, made in
Massachusetts, can sense,
lift and climb steep hills
The robots called in to help prevent nuclear
meltdown at Fukushima plant

Fine movements: The iRobot Warriors can also pick up and manipulate both big and
small objects
The robots called in to help prevent nuclear
meltdown at Fukushima plant
  Tokyo Electric Power Co said use
robots to examine the temperature,
radiation level, and oxygen
concentration inside a reactor
building at its troubled Fukushima
Daiichi nuclear power plant.
 The inspection by remotely operated
robots at the reactors will be carried
out to gauge whether it is safe to
allow workers to enter the building
and determine what work will be
required to bring the crippled
reactor under control.
One of the robots which will be  TEPCO will use two U.S.-made
used at No. 3 reactor robots equipped with moveable
 Simple service
robot
Dimension
 1 x 12” Touchscreen

 1 x 8” Touchscreen (head)

Audio
 Stereospeakers

 Microphone (for Dialogue)

Effects
 Light effects

 Add Actuators

 Unique design

Manipulator
 max. 2 Arms

 1 hand each

Control
 External PC (WLAN/Web)

 Onboard computer
(touchscreen)
 Spoken dialogue
 Height 155 cm
 Weight 130 Kg
 2 Arms, 3 Fingers,
 5 Cameras, 6 Laser
sensors
 DOF :Neck/Head 3
Lower Body
2 Arm
7 Finger
2

 Toyota & Tokyo Univ.

a)Hotel and restaurant robots
 Using robots in restaurants frees personnel from routine
tasks
 Ensures constant quality & no risk of ruining food as a result,
(timing)
 McDonald’s, Frymasterand Gas Research Institute have
developed a frying robot for French fried potatoes
 Sushi robots have been developed and introduced to the
market (Fine-Techno, www.roboticsushi.com) (www.algo-
gmbh.de)
 In hotels, robots can carry out tasks of carrying suitcases to
rooms, delivering room service or transporting laundry.
 Mobile robot systems for hotel use are still under
development. (University of Karlsruhe)
http://wn.com/Sushi_Norimaki
b) Guide robots (i)Types of operations carried out by
the robots)
 Used in museums or other places open to the
public to replace guides
 Usually the robots are autonomous mobile
platforms with multimedia features added. They go
round the museums following a planned path,
providing video and audio enhancements to the
exhibits. Like mobile platforms, they have sensors
and navigation systems to avoid collisions.
 During the night or at pre-defined times, the
robots go to a charging station and automatically
plug in to charge their batteries.
(ii) Level of distribution
 Guide robots are mainly at the prototype stage.

 Sage robot(Robotics Institute of Carnegie Mellon University)

which has been in use at the Carnegie Museum of Natural
History.
 Three robots at the Museum für Kommunikation in Berlin
which share tasks in welcoming, guiding and entertaining
museum visitors. These robots have covered more than
20,000 km since March 2000
 A group of 10 museum guides was presented with great
success at the EXPO'02 in Switzerland.
 Similar robot installations have been reported at an OPEL
sales centre at Berlin. Here, two robots personify a female and
a male character (Mona and Oskar) who engage in dialogues
and role-plays with the user. The robots have been developed
by Fraunhofer IPA.
 Sage is a completely autonomous
mobile multimedia exhibit built on
top of the XR4000 robot base by
Nomadic Technologies, Inc.
 It wanders Dinosaur Hall on a
planned path and provides video and
audio enhancements to the exhibits
for museum visitors. Sage navigates
using a single color video camera.
Artificial landmarks placed in
Dinosaur Hall help it orient during its
journeys. Sage also avoids all forms
of collisions, using 48 sonar sensors,
infrared sensors and tactile sensors
covering the bottom half of the
robot.
 Sage must take care of its batteries'
charge state, and so it is responsible
for plugging itself into the wall at its
"docking station" in the hall. It
recharges overnight and also takes a
KOMM-REIN ALSO-GUT MACH-WAS
(iii) Cost benefit analysis and major restraints on further
diffusion
 The robots might be an interesting cost-saving alternative in
the management of a museum.
 Experience shows that a clever installation may contribute
significantly to the museum’s attractiveness, especially
among children and teenagevisitors.
 Other approaches consider the use of robots as virtual
museum guidesas an extension of the access to museum
exhibits. A camera equippedrobot takes close-up pictures of
artefacts following commands via the Internet. A European
Community project investigated the feasibility and potential
of such an approach.

(iv) Major producers BlueBotics (Switzerland), Genova Robot

(Italy), GPS/Neobotix(Germany), Mobile Robots (Active Media)
(USA), MRISAR (USA), Robotech (Korea).
 PublicRelation Robots
c) Robots in marketing
 Some 20 robots are estimated to be in use. As mobile platforms
have reached technical maturity and modest unit costs, these
robots are increasingly being used as attractions or mobile
information kiosks to promote goods and services.
 The first mobile platforms have been installed at car sales
centres, interacting with interested visitors. (OPEL sales centre in
Berlin).
 Similar in appearance is the C4 of ALSOK (Japan) which can be
used interchangeably as an information kiosk and as security
agent.
 Robot personifications of female receptionists have been
introduced by kobalab (Japan) and Kokoro (Japan).
Major ProducersBlueBotics (Switzerland), GPS/Neobotix (Germany),
4DigitalBooks(Switzerland), Fraunhofer IPA (Germany), Honeybee
Robotics (USA), IdMind (Portugal), ISE(Canada), K-Team
(Switzerland), RoboMotio (Canada), Robotech (Korea), Smart
 CameraIndoor/outdoor
patrol, Information
Provision
 Can climb the 10o incline
 Speed : max 1.0 m/s,
normal 0.3 m/s
 W 850 x H 1470 x D
995190 Kg
 Operating time : 4 h
Communications whiz, forwarding phone calls, serving
as a floor guide, providing pavilion information

 W 480 x H 1005 x D
530
 30 Kg
 DOF : Head 3, Arm
4, Body 2 (Total 13)
 2 wheel skid steer
 300 mm/s
 Max tolerated floor
 Unevenness : 10
mm
 OS : Linux
 Com. : 802.11b
wireless
 Century XV
astronomical clock on
the side of Old town
Hall Tower in Prague
tower
 1.BionicANTs | Festo
 2- BionicKangaroo | Festo
 3 - Techject Inc. | The Robot Dragonfly
 4 - AquaPenguin | Festo
 5 - BionicOpter | Festo
 6 - eMotionButterflies | Festo
 7 - SmartBird | Festo
 8 - MIT Robotic Cheetah
 ORGANIZATION OF ROBOTICS-DESIGN PROCEDURE

GROUP 1 GROUP 2 GROUP 3

Design of mechanical system Design of Robot controller Control Implementation

Operating system and

Selection of the kinematic chain Development of robot control
program interpreter

Calculation of forces and

Control of drives Language development
moments

Drive system, power train;

Information processing Development of sensor
measuring systems (path, speed)
and brakes.
Interface to mechanical
External data processing
system
Construction of the axes

Interface to external PC
Passive sensor systems

Interface to sensors
 Knowlegde and techniques in systems
Design process model
engineering and project management

Task System analysis and development Solution

Development Robot systems design Prototype
Functional analysis
of a robot robot

Knowlegde and techniques in Knowlegde and techniques

Task model Robot system model
work systems analysis in systems design

General system engineering method for robot development

Mobile robot localization •Assistive hands
Vision-based tracking and navigation •Novel actuators
Features for visual servoing •Quadrapedal locomotion
Algorithmic methods in distributed •Calibration, accuracy, identification
robotics •Position estimation and navigation
UAV control •Visual attention
Transparency for teleoperation •Visual object detection and recognition
Biological principles in robotics •Visual attention
Grasping in unstructured environment •Visual object detection and recognition
Exotic sensors •Simulation and training environments
Dynamic walking •Biologically inspired robots
Automation •Grasp and manipulation planning
Micro/nano robotics •Multibody dynamics
Localization •Biped locomotion
Vision-based estimation and control •Kinematic and force calibration
Vision-based localization •Physical human-robot interaction
Moble sensor networks •Planning algorithm Visual place
Space and underwater robotics recognition
Teleoperation •SLAM
Bioligically inspired robotic fish •Decentralized control of multi-robot
systems with collision avoidance
•Multi-robot systems with kinematic or dynamic constraints
•Inverse kinematics and redundancy
•Rehabilitation robotics
•Haptic displays and interfaces
•Mobile robot calibration
•Human-robot coordination and interaction
•Safe robots
•Path planning
•Visual tracking
•Off-road mobile robots
•Multi-robot search
•Vision image capture and processing
•Dynamics and control of underactuated systems
•Medical robotics
•Non-holonomic mobile robot control
•Human- robot interaction
•Position, force and impedance control
 A robot, part of the
RoboEarth project, taps
the cloud to learn how
to serve a drink to a
patient.

 A Google researcher argues that cloud

computing could make robots smaller,
cheaper, and smarter
 Why Bill Gates wrote: “A Robot in Every Home:
The Robotic Future”, read the article and
prove it!
 Write a report on a robot of your choice.
Discuss all relevant characteristics of the
robot.
 How many degrees of freedom does a car
moving on parking lot have? An Elevator? A
Train? An Airplane?
 What is BioMimetics? BioRobotics? Humanoid
robot? Geminoid? Android?
Specialization of robots
Universal robot Application Specialist (modular Specialist
specific design) (customized
design)

Ex: Reis RV6 ABB Flex CMB modular IPA robot refueling
palletizer Robot
•Design fits standard •Application oriented •Task specific design • Task specific designs
applications designs, Integrated • Integration of • Primary applications:
•Product variants process control standard modules non-manufacturing
according to payload, functions (axis, control, sensors)
fields (service robots)
dexterity, working •Preconfigured •Preferred applications:
• Task based kinematic
envelope workcells available, material handling structure
Medium manufacturing •Small manufacturing • Small to large
quantities quantities manufacturing
Specialization of robot design
quantities
Palletizing Welding Assembly Coat, Spray, paint
•Large workspace •Interface to welding •Fast horizontal/ vertical •Fast spatial
• High speeds equipment motions movements
• High accelerations •Sensor integration • High precision • High dexterity
• Small footprint (seam tracking) • Sensor integration (part • Explosion protected
• 4 or 5 dof • Low load capacity detection, quality control) • 5, 6 dof
• 6 dof • 4-6 dof • offline
programmable
• Process control
functions
Measuring, quality Laboratory automation Press-handling Machining
control
• High precision • Inexpensive • High payload • High stiffness
• Sensor integration • Easy to program • Heavy duty • Positioning accuracy
(tactile, vision) • desk top installation • fast • Sensor integration
• High dexterity •3-5 dof • 4-6 dof (tactile, vision)
• 5 or 6 dof • limited load capacity • Weight balanced • 6 dof
 Manual or Mechanized task excution

Task model for Task requirements Quality Cost Flexibility

the functional
Main Tool Constraints
analysis of - Knowledge - Geometric
robots Objects
- Motion skills - Functional

- Perception skill Peripherals - Cost

Environment Reference system
Work system
Task decomposition
Sensors Motion control amd planning
- Geometrical properties - With sensor guidance - Without sensor guidance
- Mechanical properties (sensorimotor primitives)

Textures
Dock Move
Patterns
Undock Wait
Distances
Avoid Stop
Contours
Follow Approach
Bodies
Touch Depart
Objects
Insert Grasp
Forces Retract Detach
Torques

Quantification
Parameters Geometric Kinetic Mechanical
- Goal frames, trajectories - Motion speeds - Forces, torques
- Workspace volume - Acceleration - Endeffector forces
- Minimal number DOFs - Settle times - Object weights
- Preferred motion direction - Motion profiles
- Allowable tolerance
- Geometrical constraints
Criteria Characterization
Load capacity • Weight, inertia of handled object and endeffector
• External movements/forces on endeffector or axes
• Load history (RMS): static, periodic, stochastic,…
DoF • Required dexterity of endeffector
• Number of DoF of peripherals (turn table…)
Hand object, •Dimensions, size of object/parts
tools • Kind of tools (torch, gripper, grinder…)
• Interface to robot
Task • Changes form gripping to machining
characteristic • Object/Part presentation
s • Accessibility of objects/parts
• Tolerances (parts, part presentation)
• Fixing and positioning
• Speed, acceleration
Criteria Characterization
Accuracy • Positioning accuracy
• Repeatability
• Path accuracy
Path control • Point to Point (PTP)
• Continuous path (CP), motion profile
• Rounding
Environment • Quantifiable parameters (noise, vibration,
conditions temperature…)
• Not quantifiable parameters
Economical • Manufacturing cost, development cost
criteria • break-even point, tradeoffs
• Delivery time
• Quality
•Capacity (typical cycle times, throughput…)
• Point of sales (robot, workcell, production line)
Criteria Characterization
Repair, • Installation
maintenance • Programming (online, offline)
• Remote servicing
• Maintenance tasks and maintenance cycles
• Changeability of modules and parts
Flexibility • Woekcell, CIM integration (logical and geometric
interfaces)
• Error handling, diagnosis
• Cooperation with peripheral devices such as
turntables, material handling equipment, other
robots
External
Environment
sensors

Computer
Transmission ROBOT End-effector Object
control

Internal Peripheral
sensor devices
 I. Robot concept
Process step Results
Selection of kinematic structure Kinematic structure

Estimate of link, joint parameters Kinematic model (D-H

parameters), joint travels

Selection of transmission Structure of joint driving system

principle
Geometrical, performance data,
Selection of transmission and interfaces of selected
components components
System Name Symbol
Translation axis - Telescope X, Y , Z

Translation axis – Transverse U, V, W

Rotation axis - Pivot A, B, C

Rotation axis - Hinge D, E, P

Gripper

Tool

Separation of arm and wrist /

More than one independent chain in the Beginning (

1 DoF C 2 DoF BC 3 DoF CBR 4DoF 5DoF
CBR/E CBR/EP

Series-connected Orientation of wrist Orientation only

axis of same DoF not possible possible with large
movement of wrist
and arm
 In most cases, the surface of workpiece is complicated must be carried out at
certain angle to the surface  a high degree of mobility of the kinematic chain is
needed.
 Errors in path corners lead to overlaps (thickness of the layer)  large variations in
velocity.
 Low guiding power needed, since robot is usually programmed by manual tracing
of desired path.
 Conveyor tracking may be required
 Easy “teach in” procedure and continuous path control.
 Hydraulic drive systems are common to achieve high accelerations and
decelerations.
 A P
E
D

C
 High accelerations and decelerations,
 Mechanical mobility (as a rule at least 5 programmable axes),
 Extreme reliability of the components,
 Spot welding is usually performed in a large working space and with high loads,
 It is difficult to run the power supply to the working tool.
 Repeatability 1 mm at visible seams, 3mm at invisible seams,
 Often long and tall forearm owing to collision problems.

A P
E
D

C
 Processing of external sensor data is necessary,
 Forearm should swing in positive and negative direction (often difficult
accessibility to welding seams),
 In most cases continuous path control is required. Options like circular
interpolation are useful,
 High welding velocities are to be realized,
 Often a swiveling workpiece positioner is needed
 Programming comfort is required in the computation of dependences of welding
current and welding voltage, wire feeding, and welding velocity,
 Handling on presses
(a) Very short cycle times
(b) Special design, often Cartesian coordinate robot
(c) Conditions of installation and accessibility are to be considered in particular
 Handling on forging presses
(a) High speed and heavy workpieces,
(b) Robot must be resistant to dirt, heat and shock,
(c) Floor installation recommended
 Handling on die casting and injection molding machines
(a) Often gantry or console type installation
(b) Cycle times with injection molding machine are shorter than with die casting
machines,
(c) Very often simple movements lead to a simple programming language.
Changeover frequency is low.
(d) High positioning accuracy,
(e) Insensitive to heat and dirt.
 Handling on machine tool
(a) High positioning accuracy, short cycle times, and also quite often heavy
workpieces,
(b) Simple programming language owing to simple movements.

Y X

P
 The weights of workpieces in assembly are normally low (<1kg),
 Very short cycle times,
 High positioning accuracy (<0.1mm),
 In most cases movements are parallel to X, Y, Z, and there is small working space

X D E P

Y
Trajectory
generator

Servo Servo
Controller Coupling Gear
amplifier motor

Tachmeter Bearing

Position Output shaft

encoder = robot joint
- Kinematic defined
- Select by experience and rule of
thumb: motor and gear performance

Motor performance
Gear performance
Starting point
Desired Robot performance Move from starting location to goal location in time x
(including load at endeffector)

Move profiles for working cycle q q’ q”

t t t

Dynamic model of manipulator Computer analysis with simulation program,

F(q,q’,q”) includes gravitation and friction
t1

Joint torques
t
Equivalent
Peak torque
torque
requirements Equivalent torque = f(joint torque, time proportions of
requirements
working cycle, mean input speed)

Validate gear selection

Continuous
Peak torque Torque reduced by gear
torque
requirements
requirements

Validate motor selection

Type of servo Maximum Specific Properties
motor Output Power
Stepper motor 1 kW •Running in open servo-loop
• Heating in stalling
• Poor dynamics
Dc-brush 5 kW •Good controllability via armature
motor • High starting torque
•Brushes subject to wear
DC-brushless 10 kW •Maintenance-free
motor • Commutation by resolver of hall-
effect or optical sensor
• High power density with rare
earth magnets
AC- 20 kW •Maintenance-free
As/synchronou 80 kW • Very robust motor
s motor • High speed range
• Expensive to control
 Linear motor: for Cartesian robot transmissions, linear drives in high
dynamic pick-and-place tasks.
 Electrohydraulic servo-drives: consist a hydromotor or hydrocylinder and
a servo-valve for controlling and combined with a positional encoder.
Type of DC motor Specific Properties Schematic
Disk armature -Very small moment of
inertia
- Large speed range
+

- High positioning -
accuracy
- Flat type of
construction
+
Squirrel-cage -Robust drive
motor - Small moment of
inertia
- High number of -
revolutions up
10.000rpm +
- Secondary transmission
required
Torque-drive -High torque at low
- number of revolutions\ -
 Required
position

motor amplifier Pulse generator

Measuring system
Shaft Gear Brake Motor (position)
Measuring system
(speed)

Required speed

Speed control loop

Position control loop
System Principle Characteristics Transmi- Speed Transmission Application
ssion of
Movement reduction at distance

Spur r First rotatory R/r Yes No Arm

R
gearing arm axis
High moment
Bevel Special case R/r Yes No Arm
gearing R
r for flange
installation
Worm High R/r Yes, high No Arm
R
gearing transmission Wrist
ratio Gripper
r
Heavy weight
Heat problem
Expensive R/r Yes, high No Arm
Planetary Heavy in
gear weight
System Principle Characteristics Transmi- Speed Transmission Application
ssion of
Movement reduction at distance

Harmoni Very high R/r Yes No Arm

c drive transmission Very Wrist
ratio high
Small
dimensions
Light in
weight
Chain No backlash R/R’. Possible Yes Slide
drive Heavy in T/R’. module
weight R/T Wrist
No vibration

Toothed Backlash and R/R’. Possible Yes Wrist

belt drive vibration T/R’. Gripper
problematic R/T
Very light in
System Principle Characteristics Speed Transmission Application
reduction at distance
Bowden Very good for No Yes Wrist
wire transmission on
distance
Axial extension
Four bar- Very good for Possible Yes Arm
linkage precise power
transmission on
distance

Slider Backlash and No Yes Arm

crank vibration Wrist
chain problematic
Very light in
weight
Screw High transmission Yes No Arm
drive Friction Very high Wrist
spindle (lubrication)
System Principle Characteristics Speed Transmission Application
reduction at distance

Recirculatin High transmission Yes Yes Arm

g ball nut Very high Very Wrist
and screw precision and high
reliability
Expensive

Toothed rack Precision Yes Yes Arm

Inexpensive Wrist
Gripper

Cylinder A lot of variations Yes Yes Arm

possible for Wrist
hydraulic and Gripper
pneumatic system
High number of revolutions, Low number of revolutions,
low torque high torque
Servo motor Gear Robot link

Naming Common Accuracy Load

joint Ranges
Toothed belt < 10 m Max. 0.1 mm Small to
Ball bearing spindle <5m Max. 0.001 mm medium
Rack-and-pinion Theoreticall Max. 0.01 mm Small to
y unlimited medium
Medium to high
 Planetary gear

Rotary drive gear

Harmonic-drive
gear

Eccentric gear

Cam disk gear

Cycloid gearing Involute gearing

 Measuring system feedback the positional signal from the robot joint to the
controller. The resolution of position sensor is a limiting factor for
precision of the robot.
 Measuring system feedback the positional signal from the robot joint to the
controller. The resolution of position sensor is a limiting factor for
precision of the robot.

Measuring Principle Output Common Typical properties

system signal resolutions
Optical Linear / Digital 12-16 bits •No position loss
absolute rotary absolut during power down
encoder e • Multiturn possible
Optical Linear / Digital 5,000- •Position loss during
incremental rotary relative 100,000 power down
encoder pulses/rev • High resolution
Resolver Rotary Analog 12-16 bits •No position loss
absolut during power down
e • Robust
• Inexpensive
 +5V

TTL pulses
Trục quay
1 kΩ
1 kΩ
10 kΩ Op.amp 5.1 V
zener
Đĩa quay
1 kΩ

Hệ thống quang học

Đèn LED
 Classify Problem

Fault condition SAFETY: work

Assembly operation
detection envelope instrusion

No Degree of
Type of motion? Rigid object?
Misposition?
Minor
Linear Rotational Yes Major
No
Ok to touch? Remote Center
Force Compliance
Torque sensor Yes
sensor Complex shape Yes
Mechanical
limit switch No ident. reqd.?

Yes No Tactile sensor

Use fiber Will fiber
Line of Sight OK?
optics optics help?
Yes
No
No Photoelectric
Tiny object? sensor
Behind No Yes
non-ferrous
barrier Yes
Opaque object?
Yes
No
No Alignment problem?
Ferrous object?
Yes
Proximity No
Yes Moderate reflectivity?
sensor No Proximity
Ferrous-only sensor
proximity sensor Yes
Proximity Proximity
Note: If a large number of sensors are contemplated, sensor sensor
consider integrating their control with bus technology
 Fruit-picking robot
 Self-Replicating robot
 Robotic Head
 Fuel-tank Robot
 Robotic hand
 Trackless robot
 Transport of medications, lab samples,
supplies, meals, medical records, equipments
Hopefully YOU enjoy
the Robotics Lecture.