Introduction to Robotics
By
M. Subba Rao
Assistant Professor
Dept. of Mech. Engg.
01/09/2022 Page: 1/20
Contents
1. Terminology
2. History of Robotics
3. Definition
4. What can Robots do
5. Benefits with Robots
6. Automation and Robotics
7. Laws of Robotics
8. Components of Robotics
9. Classification
01/09/2022 10. Degree of freedom 2
1. Terminology
Robot-Mechanical device that performs human
tasks, either automatically or by remote control.
Robotics-Study and application of robot
technology.
Telerobotics-Robot that is operated remotely.
Robotics involve in the fundamentals of
Physics, Mathematics, Mechanical
Engineering, Electronics Engineering, Electrical
engineering, Computer Science and other.
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2. History of Robotics
• Robot was first introduced into our vocabulary by
Czech playwright Karel Capek in 1921 play Rossum’s
Universal Robots.
• The word “robota” in Czech means simply work.
Robots as machines that resemble people, work
tirelessly, and revolt against their creators.
Karel Capek
2. History of Robotics
• 1921 Czech author Karel Capek wrote a story called
Rossum’s Universal Robots and introduced the word
“Rabota”(meaning worker).
• 1942 The term Robotics was introduced by Isaac
Asimov in his story named Runaround.
• 1954 George Devol developed the first programmable
Robot.
• 1956 Joseph Engelberger started the first robotics
company: Unimation.
• 1962 General Motors used the manipulator: Unimate
in die-casting application.
2. History of Robotics
• 1973 Richard Hohn of Cincinnati Milacron
Corporation manufactured The Tomorrow Tool (T3)
robot
• 1975 Ralbart at CMU, USA, built a 4-legged hopping
machine, the first dynamically stable machine
• 1978 Unimation developed PUMA (Programmable
Universal Machine for Assembly)
• 1983 Odetics introduced a unique experimental six-
legged device
• 1986 ASV (Adaptive Suspension Vehicle) was
developed at Ohio State University, USA
2. History of Robotics
• 1997 Pathfinder and Sojourner was sent to the Mars
by the NASA.
• 2000 Asimo humaniod robot was developed by Honda
• 2004 The surface of the Mars was explored by Spirit
and opportunity
• 2012 Curiosity was sent to the Mars by the NASA,
USA
• 2015 Sophia (humanoid) was built by Honson
Robotics, Hong Kong.
3. Definition
Robot Institute of America (RIA): Robot is a
programmable, multi-functional manipulator
designed to move material, parts, tools or
specialized devices through variable
programmed motion for a variety of tasks.
International organization for Standardization
(ISO): An automatically controlled,
reprogrammable, multipurpose manipulator
programmable in three or more axes, which
can be either fixed in place or mobile for use in
industrial automation application.
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4. What can Robots do
Jobs that are dangerous, difficult, dirty and dull
for humans: 4D jobs
Loading and unloading
Material transfer: Furnace, automated lines
Assembly operations/inspection
Welding: Arc, spot at high temperature
Spray painting: Thermal Spraying
Grinding
Aerospace
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4. What can Robots do
Jobs that are dangerous, difficult, dirty and dull
for humans: 4D jobs
Welding Robot Decontaminating Robot
Cleaning the main circulating
pump housing in the nuclear
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power plant
4. What can Robots do
Jobs that are dangerous, difficult, dirty and dull
for humans: 4D jobs
Pick and Place Robot
Cleaning Robot
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5. Benefits with Robots
Safety: Safety is the most obvious advantage of
utilizing robotics
Speed: Robots don't get distracted or need to take
breaks
Consistency: Robots never need to divide their
attention between a multitude of things
Perfection: Robots will always deliver quality
Happier Employees: Robots do 4D jobs
Job Creation: Robots need people for monitoring,
supervision; and build those robots.
Increase Productivity:
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6. Automation and Robotics
Robotics
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5. Automation and Robotics
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7. Laws of Robotics
Asimov proposed three “Laws of Robotics”
Law 1: A robot may not injure a human being or life
Law 2: A robot should obey the orders of the master
without conflicting the first law.
Law 3: A robot should protect its own existence
without conflicting first and second laws.
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8. Components of Robotics
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8. Components of Robotics
Manipulator / Rover : This is the main body of
the Robot and consists of links, joints and
structural elements of the Robot.
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8. Components of Robotics
End Effector : This is the part that generally
handles objects, makes connection to other
machines, or performs the required tasks.
It can vary in size and complexity from a end
effector on the space shuttle to a small gripper
Acutators : Actuators are the muscles of the
manipulators. Common types of actuators are
servomotors, stepper motors, pneumatic
cylinders etc.
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8. Components of Robotics
Sensors : Sensors are used to collect
information about the internal state of the robot
or to communicate with the outside
environment. Robots are often equipped with
external sensory devices such as a vision
system, touch and tactile sensors etc which
help to communicate with the environment
Controller : The controller receives data from
the computer, controls the motions of the
actuator and coordinates these motions with
the sensory feedback information.
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9. Degrees of Freedom
It is defined as the minimum number of
independent parameters / variables /
coordinates needed to describe a system
completely.
Notes:
A point in 2D, 2 DOF; in 3D, 3 DOF
A Rigid body in 3D, 6 DOF
Degree of freedom = 6-n
Where, n = number of constrains
Spatial manipulator: 6 DOF
Planar Manipulator: 3 DOF
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10. Different Joints used in Robots
Prismatic Joint (P)
Revolute Joint (R)
Twisting Joint (T)
Cylindrical Joint (C)
Spherical Joint (S’)
Hooke Joint (U)
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10. Different Joints used in Robots
Prismatic Joint (P)
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10. Different Joints used in Robots
Revolute Joint (R)
Twisting Joint (T)
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10. Different Joints used in Robots
Cylindrical Joint (C)
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10. Different Joints used in Robots
Spherical Joint (S’)
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10. Different Joints used in Robots
Hooke Joint (U)
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11. Redundant Manipulator
Spacial Manipulator > 6 DOF
Planar Manipulator > 3 DOF
Notes:
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12. Under-actuated Manipulator
Spacial Manipulator < 6 DOF
Planar Manipulator < 3 DOF
Notes:
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13. Spacial Manipulator
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14. Planar Manipulator
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15. Serial Planar Manipulator
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16. Parallel Planar Manipulator
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16. Parallel Planar Manipulator
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17. Parallel Spacial Manipulator
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17. Parallel Spacial Manipulator
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Work Volume and Work Envelope
• Work volume is the term refers to the
space within which the robot can
manipulate its wrist end.
• Work envelope refers to the work volume
which can be reached by some point at
the end of the Robot arm
11. Classification of Robotics
Based on Coordination system
1. Cylindrical coordinate Robots
2. Spherical Coordinate robots
3. Joint arm robots
4. Cartesion coordinate robots
Based on Control method
2. Non-servo-controlled robots
3. Servo-controlled robots
4. Point to point servo-controlled robots
5. Continuous-path servo-controlled robots
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1. Cylindrical coordinate robot (R2P):
- 2 prismatic joints and 1
revolute joint
- Used to handle
parts/objects in
manufacturing
-Cannot reach the objects
lying on the floor
-Poor dynamic performance
Example: Prab,
Versatran600, Autoplace.
Cylindrical Robot - Work Volume
Cylindrical Robot - Work Envelope
2. Sperical coordinate robots (TRP):
- 1 prismatic joints and 2
revolute joint (TRP)
- Suitable for handling
parts/objects in
manufacturing
-Cannot reach the objects
lying on the floor
-Poor dynamic performance
Example: Unimate 2000B
Sperical Robot - Work Volume
Spherical Robot - Work Envelope
3. Joint arm robots:
Three different types of jointed arm robots
1. Pure Spherical jointed arm
2. Parallelogram Jointed arm
3. Jointed Cylindrical robot
3.1 Pure Spherical Jointed Arm
- 3 revolute joint (TRR)
- Rotary movement about
3 axes.
-Suitable for handling
parts/objects in
manufacturing
-Can reach close to the
base of the robot
-Rigidity and accuracy
may not be good enough
Example: PUMA, CRS, T3
Pure Spherical Jointed Arm - Work envelope
3.2 Parallelogram Jointed arm
- 3 revolute joint
(TRR)
-Rotary
movement about
3 axes.
-Can place the
objects close to
the base
- Large load carrying capacity
-Manipulator is rigidity and accurate
- Disadvantage is limited workspace
2) Parallelogram Jointed
3.3 Jointed Cylindrical robot
- Selective Compliance
Assembly Robot Arm (SCARA)
-Precise and faster
-Limited vertical reach
-Rapid and smooth motion
-SCARA is extremely stiff in
vertical direction
4. Cartesian coordinate robot
Two different types of Cartesian coordinate
robots
1. Cantilevered Cartesian
2. Gantry-style Cartesian
1. Cantilevered Cartesian
-3 Linear joints that orient
the end effector, which are
usually followed by
additional revolute joints.
-Good repeatability and
accuracy
-Easy to program
-Limited extension from the
support
-Less rigid
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Cartesian Robot - Work Envelope
2. Gantry-style Cartesian
-Good repeatability and
accuracy
-Easy to program
-More workspace
-More rigid
-Suitable for heavy loads
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CONTROL METHODS
• Non Servo Control
– implemented by setting limits or mechanical stops for
each joint and sequencing the actuation of each joint
to accomplish the cycle
– end point robot, limited sequence robot, bang-bang
robot
– No control over the motion at the intermediate points,
only end points are known
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• Programming accomplished by
– setting desired sequence of moves
– adjusting end stops for each axis accordingly
– the sequence of moves is controlled by a “squencer”,
which uses feedback received from the end stops to
index to next step in the program
• Low cost and easy to maintain, reliable
• relatively high speed
• repeatability of up to 0.01 inch
• limited flexibility
• typically hydraulic, pneumatic drives
• Servo Control
– Point to point Control
– Continuous Path Control
• Closed Loop control used to monitor
position, velocity (other variables) of each
joint
Point-to-Point Control
• Only the end points are programmed, the path
used to connect the end points are computed
by the controller
• user can control velocity, and may permit
linear or piece wise linear motion
• Feedback control is used during motion to
ascertain that individual joints have achieved
desired location
• Often used hydraulic drives, recent trend
towards servomotors
• loads up to 500lb and large reach
• Applications
– pick and place type operations
– palletizing
– machine loading
Continuous Path Controlled
• in addition to the control over the endpoints,
the path taken by the end effector can be
controlled
• Path is controlled by manipulating the joints
throughout the entire motion, via closed loop
control
• Applications:
– spray painting, polishing, grinding, arc welding
THANK YOU
for your Patient Hearing
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