Introduction to Robotics
Analysis, systems, Applications
Saptarishi Saha
Chapter 1
Fundamentals
1. Introduction
Fig. 1.1 (a) A Kuhnezug truck-mounted crane Fig. 1.1 (b) Fanuc S-500 robots performing
Reprinted with permission from Kuhnezug seam-sealing on a truck.
Fordertechnik GmbH.
Reprinted with permission from Fanuc Robotics, North
America, Inc.
What is a Robot
The difference between a robot and a manipulator
Run by a computer or microprocessor not a human
Controlled by feedback devices
Mostly autonomous
What is a Robot ?
Random House Dictionary A machine that
resembles a human being and does mechanical
routine tasks on command.
Robotics Association of America An industrial
robot is a re-programmable, multifunctional
manipulator designed to move materials, parts,
tools, or specialized devices through variable
programmed motions for the performance of a
variety of tasks.
What is a Robot ?
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.
Classification of Robots
- JIRA (Japanese Industrial Robot
Association)
Manual-Handling Device
Fixed Sequence Robot
Variable Sequence Robot
Playback Robot
Numerical Control Robot
Intelligent Robot
Classification of Robots
- RIA (Robotics Institute of America)
Variable Sequence Robot
Playback Robot
Numerical Control Robot
Intelligent Robot
Classification of Robots
- AFR (Association FranÇaise de Robotique)
Manual Handling Devices/ telerobotic
Automatic Handling Devices/ predetermined
cycles
Programmable, Servo controlled robot,
continuous point-to-point trajectories
Same type with C, but it can acquire information.
What is Robotics?
Robotics is the art, knowledge base, and
the know-how of designing, applying, and
using robots in human endeavors.
Robotics is an interdisciplinary subject that
benefits from mechanical engineering,
electrical and electronic engineering,
computer science, biology, and many
other disciplines.
What is Robotics
History of Robotics
1922: Karel Čapek’s novel, Rossum’s Universal Robots, word
“Robota” (worker)
1952: NC machine (MIT)
1955: Denavit-Hartenberg Homogeneous Transformation
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
What are the parts
of a robot?
•Manipulator
•Pedestal
•Controller
•End Effectors
•Power Source
Manipulator
• Base
• Appendages
Shoulder
Arm
Grippers
Pedestal
(Human waist)
• Supports the
manipulator.
• Acts as a
counterbalance.
Controller
(The brain)
• Issues instructions to
the robot.
• Controls peripheral
devices.
• Interfaces with robot.
• Interfaces with
humans.
End Effectors
(The hand)
• Spray paint
attachments
• Welding attachments
• Vacuum heads
• Hands
• Grippers
Power Source
(The food)
• Electric
• Pneumatic
• Hydraulic
Robots degrees of freedom
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.
Robots degrees of freedom
Consider what is the degree of Fig. 3
1 D.O.F. 2 D.O.F. 3 D.O.F.
Fig. 1.3 A Fanuc P-15 robot.
Reprinted with permission from Fanuc Robotics, North
America, Inc.
Robot Joints
Prismatic Joint: Linear, No rotation involved.
(Hydraulic or pneumatic cylinder)
Revolute Joint: Rotary, (electrically driven with stepper motor, servo motor)
Robot
Coordinates
Fig. 1.4
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 ar
Selective Compliance Assembly Robot Arm (SCARA):
2 paralleled revolute joint and 1 additional prismatic joint
Robot Reference Frames
Fig. 1.6 A robot’s World, Joint, and
Tool reference frames.
Most robots may be
programmed to move relative to
either of these reference frames.
Robot Workspace
Fig. 1.7 Typical workspaces for common robot configurations
Some of the commonly used configurations in Robotics are
Cartesian/Rectangular Gantry(3P) : These Robots are made of 3
Linear joints that orient the end effector, which are usually followed
by additional revolute joints.
Cartesian Robot - Work Envelope
Robot Configurations
Cylindrical (R2P): Cylindrical coordinate Robots have 2 prismatic
joints and one revolute joint.
Cylindrical Robot - Work Envelope
Robot Configurations
Spherical joint (2RP): They follow a spherical coordinate system, which has
one
Spherical Robot - Work Envelope
ROBOT CHARACTERISTICS
• Payload
Payload is the weight a robot can carry
• Reach
• Reach is the maximum distance a robot can reach
within its work envelope.
• Precision
Precision is defined as how accurately a specifies
point can be reached
• Repeatability
Repeatability is how accurately the same position
can be reached if the motion is repeated many
times.
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Chapter 1
Fundamentals
Robot
Languages
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.
Chapter 1
Fundamentals
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
Chapter 1
Fundamentals
Robot
Application
Fig. 1.8 A Staubli robot loading and unloading Fig. 1.9 Staubli robot placing dishwasher tubs
Fig. 1.10 An AM120 Fanuc robot Fig. 1.11 A P200 Fanuc painting automobile bodies
Chapter 1
Fundamentals
Robot
Application
Fig. 1.12 Staubli RX FRAMS robot in a BMW Fig. 1.13 A Fanuc LR Mate 200i robot removal operation
Fig. 1.13 The Arm, a 6 DOF bilateral force-feedback manipulator Medical Robot of German
Advantages VS. Disadvantages of
Robots
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 replace human workers creating economic
problems.
Robots can process multiple stimuli or tasks
simultaneously.
Robots lack capability to respond in emergencies.
Robots, although superior in certain senses, have limited
capabilities in Degree of freedom, Dexterity, Sensors,
Thank you
