1
ROBOTICS
Industrial Robotics
Dr. Shady A. Maged
2
Labs Content
Matlab Simulink
3
References:
• M. W. Spong, S. Hutchinson, M. Vidyasagar,” Robot
modeling and control,” John Wiley & Sons, Inc., 2006.
• P. J. McKerrow, “ Introduction to robotics, ”Addison-
Wesley Publishing Comp., 2001.
• R. P. Paul, “ Robot manipulators: mathematics,
programming and control,” MIT press, 1981.
• J. J. Craig,” Introduction to robotics: mathematics and
control,” Addison-Wesley Publishing Comp., , 1986.
• L. W. Tsai, “ Robot analysis: the mechanics of serial
and parallel manipulators,” John Wiley & Sons, Inc.,
1999.
4
What is a Robot?
• Definition of Robot:
A robot is/are programmable multifunctional
manipulator designed to move materials, parts, tools or
specialized devices through variable programmed
motions for the performance of a variety of tasks.
A robot is a machine which can be programmed to do a
variety of tasks.
5
What is a Robot?
Robot vs. Computer
6
What is a Robot?
Robot vs. Human
7
What is Robotics
Definition of Robotics:
Robotics is a discipline which involves
a) The design, manufacture, control, and programming of robot
b) The use of robot is to solve problem.
c) The study of control processes, sensors and algorithms used in
human, animals, and machine
d) The application of these control processes and algorithm to the
design of robots.
8
Applications
1. Industrial Robots: used in jobs that were hot, heavy,
hazardous.
9
Applications
ABB Different Robots
10
Applications
What Can Industrial Robots Do?
Material handling
Material transfer
Machine Loading and/or unloading
welding
Spray coating
Assembly
Inspection
Advantages:
• increased productivity
• improve quality control
• reduce exposure of human to
harmful chemicals
11
Applications
2. Mobile Robots: A mobile robot is a robot that can move
in the real world and can be completely autonomous
The main features
Reprogramability
The ability to navigate
Autonomy
12
Applications
3. Climbing Robots
13
Applications
4. Humanoid Robots
ASIMO (JAPAN) Vs. PETMAN (USA)
14
Applications
5. Underwater or Submarine Robots: Inspection and
maintenance of offshore oil-wells Mining on the ocean
floor
15
Applications
6. Space Exploration Robots: : Satellite maintenance robot
construction robots for constructing space stations and
space ships
16
Applications
7. Robots
17
Applications
8. Deming Robots
18
Applications
9. Inspection Robots
19
Applications
10. Agriculture Robots
20
Applications
11. Cleaning Robots
21
Applications
12. Personal Assistant Robots
Automatic wheel chairs controlled by voice
commands The use of robot to perform
complex tasks by people with limited Stewart Robot
disability
22
Stewart Parallel Manipulator
23
Components and subsystems
Robot arm:
Serial manipulators parallel manipulators
(Single open loop chain) (Multiple closed loop chains)
24
Feature Serial robot Parallel robot
Mechanism Open chain Closed chain
Comparison
Payload/weight ratio Low High
Workspace Large Small
Maximum Force Limited by Summation of
minimum all actuator
actuator force forces
Speed and acceleration Low High
Modelling and solving Relatively simple Complex
dynamics
Solving inverse Difficult Easy
kinematics
Solving forward Easy Sophisticated
kinematics
Position error Accumulates Averages
25
Which is better parallel or serial?
The both types of robots have advantages and disadvantages.
For example parallel robots offer potential advantages compared with
serial, with higher overall stiffness, higher precision, low inertia, and higher
operating speeds and accelerations. However these advantages could be easy
relativized by reduced workspace, difficult mechanical design, and more
complex kinematics and control algorithms.
It is really very difficult to say what kind of robot is better, serial or parallel.
A robot selection procedure is very difficult and complex activity.
It depends on many different factors like
type of application (dangerous, repetitive and boring, precise, etc.)
task requirements (DOF, speed, accuracy, repeatability)
load requirements
Workspace
programming time, etc.
26
27
28
29
Articulated Robot
• ABB IRB 120
Fabricant ABB
Model IRB 120
Application General Use
Configuration Articulated
DOF 6
Horizontal Reach 60 cm
Max Velocity 7000 mm/s
Drive Electric AC Drive
30
31
32
33
34
35
36
37
38
THANK YOU
Email: [Link]@[Link]
