Fundamentals of Robotics

FUNDAMENTALS OF
ROBOTICS
by
R.C.SAINI
WWW.RCSAINI.COM
What Is Robot ?
By RIA (Robotics Industries Association, America)[2]

An industrial robot is a reprogrammable, multifunctional manipulator
designed to move materials, parts, tools, or special devices through
variable programmed motion for the
performance of a variety of
tasks.
A manipulator (or an industrial robot) is composed of a series of

links connected to each other via joints. Each joint usually has
an actuator (a motor for eg.) connected to it. These actuators
are used to cause relative motion between successive links. One
end of the manipulator is usually connected to a stable base and
the other end is used to deploy a tool.
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Classification of Robots
JIRA (Japanese Industrial Robot Association) [1]
Class1: Manual-Handling Device
Class2: Fixed Sequence Robot
Class3: Variable Sequence Robot
Class4: Playback Robot
Class5: Numerical Control Robot
Class6: Intelligent Robot
RIA (Robotics Industries Association, America)[1]
Variable Sequence Robot(Class3)
Playback Robot(Class4)
Numerical Control Robot(Class5)
Intelligent Robot(Class6)
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What is Robotics ?
Robotics is the art, knowledge base, and the know-how of

designing, applying, and using robots in human endeavors. [1]
Robotics is an interdisciplinary subject that benefits from

mechanical engineering, electrical and electronic engineering,
computer science, biology, and many other disciplines.
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History Of Robotics
1922: Karel apeks

Rabota(worker)
1952: NC machine (MIT)
1955: George Devol developed the first programmable robot
1955: Denavit-Hartenberg Homogeneous Transformation Matrices
1962: Unimation was formed, GM installed its first robot
1967: Mark II (Unimation Inc.)
1968: Shakey(SRI) - intelligent robot
1973: T3(Cincinnati Milacron Inc.)
1978: PUMA (Unimation Inc.)
1983: Robotics Courses
21C: Walking Robots, Mobile Robots, Humanoid Robots
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novel,
[1]
Rossums
Universal
Robots,
word
Advantages V/S
Disadvantages of Robots
6
[1,2]
Robots increase productivity, safety, efficiency, quality, and consistency

of products.
Robots can work in hazardous environments without the need.
Robots need no environmental comfort.
Robots work continuously without experiencing fatigue of problem.
Robots have repeatable precision at all times.
Robots can be much more accurate than human.
Robots can process multiple stimuli or tasks simultaneously.
Robots replace human workers creating economic problems.
Robots lack capability to respond in emergencies.
Robots, although superior in certain senses, have limited capabilities in

Degree of freedom, Dexterity, Sensors, Vision system, real time response.
Robots are costly, due to Initial cost of equipment, Installation costs,

Need for Peripherals, Need for training, Need for programming .
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Robot Components
Manipulator or the rover
End effector
Actuators
Sensors
Controller
Processor
Software
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[1]
Robot Components
Manipulator or the rover
This is the main body of the robot which consist of

the links, the joints, and the other structural
elements.
[3]
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Robot Components
End effector
Grippers
Tools
Welding attachments
etc.
[3]
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10
Robot Components
Actuators
Hydraulic
Pneumatic
Electric
Sensors
Used to collect information about the internal state of the robot
or to communicate with the outside environment.
[3]
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11
Robot Components
Controller
Processor
Software
[3]
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12
Robots degrees of freedom
[1,2]
Degrees of Freedom: Number of independent

position variables which would has to be specified
to locate all parts of a mechanism.
In most manipulators this is usually the number of

joints.
To fully place the object in space and orientate it

as desired. The robot will have 6 degrees of
freedom.
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13
Robot Joints
Revolute
Joint:
Rotary, or
(electrically
Prismatic Joint: Linear, No rotation
involved
(Hydraulic
pneumatic driven
with stepper motor, servo motor)
cylinder).
[3]
[3]
[3]
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14
Robot Coordinates
Cartesian/rectangular/gantry
(3P) : 3 Prismatic Joint
[3]
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15
Robot Coordinates
Cylindrical (R2P) : 2 Prismatic joint
and 1 revolute joint
[3]
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16
Robot Coordinates
Spherical (2RP) : 1 Prismatic joint and 2 revolute

joint
[3]
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17
Robot Coordinates
Articulated/anthropomorphic (3R) : All

revolute(Human arm)
[3]
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18
Robot Coordinates
Selective Compliance Assembly Robot Arm

(SCARA): 2 paralleled revolute joint and 1
additional prismatic joint
[3]
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19
Robot Reference Frames
A robots World, Joint,

and Tool reference
frames.
Most robots may be

programmed to move
relative to either of
these reference frames.
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[1]
20
Programming Modes
[1]
Physical Setup: PLC
Lead Through/ Teach Mode: Teaching Pendant/ Playback,

p-to-p
Continuous Walk-Through Mode: Simultaneous jointmovement
Software Mode: Use of feedback information
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21
Robot Characteristics
Payload:
Reach:
Precision (validity):
[1,2]
The weight a robot can carry and still remain

within its other specifications.
The maximum distance a robot can reach within its
work envelope.
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.
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22
Robot Languages
[1,2]
Microcomputer Machine Language Level:
Point-to-Point Level:
Primitive Motion Level:
the most
basic and very efficient but difficult to understand to follow.
Funky Cincinnati Milacrons T3 . It
lacks branching, sensory information.
VAL by Unimation Interpreter
based language.
Structured Programming Level:
This is a compiler based
but more difficult to learn.
Task-Oriented Level:
1980s.
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Not exist yet and proposed IBM in the
23
Robot Workspace
Typical workspaces for common robot configurations[1]

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24
Robot Application
Machine loading
Pick and place operations
Welding
Painting
Sampling
Assembly operation
Manufacturing
Surveillance
Medical applications
Assisting disabled individuals
Hazardous environments
Underwater, space, and remote locations
Etc.
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[1,2]
25
References
1.
Introduction To Robotics by SEED B. NIKU
2.
Industrial Robotics by Mikell P. Groover, Mitchell Weiss, Roger

N. Nagel and Nicholas G. Odrey
3.
Open course by Eastern Mediterranean University (EMU),

Cyprus(http://opencourses.emu.edu.tr/course/view.php?id=32)
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26
Thank You
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FUNDAMENTALS OF

By RIA (Robotics Industries Association, America)[2]

A manipulator (or an industrial robot) is composed of a series of

JIRA (Japanese Industrial Robot Association) [1]

Class1: Manual-Handling Device

Class2: Fixed Sequence Robot

Class3: Variable Sequence Robot

Class4: Playback Robot

Class5: Numerical Control Robot

Class6: Intelligent Robot

RIA (Robotics Industries Association, America)[1]

Variable Sequence Robot(Class3)

Numerical Control Robot(Class5)

Robotics is the art, knowledge base, and the know-how of

Robotics is an interdisciplinary subject that benefits from

1922: Karel apeks

1952: NC machine (MIT)

1955: George Devol developed the first programmable robot

1955: Denavit-Hartenberg Homogeneous Transformation Matrices

1962: Unimation was formed, GM installed its first robot

1967: Mark II (Unimation Inc.)

1968: Shakey(SRI) - intelligent robot

1973: T3(Cincinnati Milacron Inc.)

1978: PUMA (Unimation Inc.)

1983: Robotics Courses

21C: Walking Robots, Mobile Robots, Humanoid Robots

Robots increase productivity, safety, efficiency, quality, and consistency

Robots replace human workers creating economic problems.

Robots lack capability to respond in emergencies.

Robots, although superior in certain senses, have limited capabilities in

Robots are costly, due to Initial cost of equipment, Installation costs,

Manipulator or the rover

Manipulator or the rover

This is the main body of the robot which consist of

Robots degrees of freedom

Degrees of Freedom: Number of independent

In most manipulators this is usually the number of

To fully place the object in space and orientate it

Spherical (2RP) : 1 Prismatic joint and 2 revolute

Articulated/anthropomorphic (3R) : All

Selective Compliance Assembly Robot Arm

Robot Reference Frames

A robots World, Joint,

Most robots may be

Physical Setup: PLC

Lead Through/ Teach Mode: Teaching Pendant/ Playback,

Continuous Walk-Through Mode: Simultaneous jointmovement

Software Mode: Use of feedback information

The weight a robot can carry and still remain

specified point can be reached 0.001 inch or better.

how accurately the same

Microcomputer Machine Language Level:

Primitive Motion Level:

Structured Programming Level:

This is a compiler based

but more difficult to learn.

Not exist yet and proposed IBM in the

Typical workspaces for common robot configurations[1]

Pick and place operations