Elnasr University

College of Engineering
Department of Electrical Engineering
‫ ﺣﻜﻢ‬5101

Advanced Industrial Robotic

Systems

abusabah22@[Link]

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 Course Outline
 Introduction to Industrial Robotics: Definitions, History of
Robots, types, applications, motion control.
 Robot Components: Manipulator, Sensors, Drive Systems,
Control Systems.
 Classification of Robots.
 Robot Motion: Work spaces and Reference Frames, Motion
Control strategies, Torque Control,
 Sensory System: Time domain analysis of 1st and 2nd order
systems, system response for different test signals, Unit
Impulse, Unit step and ramp.
 Robot Programming: Steady state, static and dynamic error.
 Vision System: Routh- Hurwitz Stability Criterion
 Safety Issues: End-efector mechanical limits, Electrical
limits.
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Text Books
1. D J Todd, Fundamentals of Robot
Technology, (1st Edition), Prentice Hall,
1986.

2. Norman S. Nise, Control Systems

Engineering, (6th Edition), John Wiley &
Sons, 2011.

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 Text Books
3. D J Todd, Fundamentals of Robot
Technology, (1st Edition), Prentice Hall,
1986.

4. Roland Siegwart and Illah R. Nourbakhsh,

Introduction to Autonomous Mobile Robot,
MIT Press, 2004.

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Course Evaluation
28 hours, 3 credits
 Home works: 5%
 Class works: 5%
 Mid-term and Lab: 30%
 Final exam: 60%

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Contact Information

Dr. Abusabah I.A. Ahmed

Email: abusabah22@[Link]
Tel: 0123730107

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 Advanced Industrial Robotic
Systems
Lecture 1

Introduction to Industrial
Robotics

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Lecture Outline
 Introduction
 Robots
 History of Robots
 Robot Types
 Motion Control
 Robot Control Systems
 Robot Characteristics and Applications

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 Introduction
 A robot can be defined as a computer controlled machine with
some Degrees of Freedoms (DoFs), with ability to move in its
environment.
 A robot typically has sensors to make sure it does not hit any
obstacles in its way.
 Path planning is to determine how to accomplish those goals,
some robots are pre-programmed with the plan steps to carry out
the given goals.
 So planning is to determine how to move about its environment
using the available degrees of freedom this may be the motion of
an arm to pick something up or it may be a series of movements
to physically move it from location 1 to location 2.
 The robot usually has a 3-phase sequence of operations: sense
(perception), process (interpretation and planning), action
(movement of some kind).
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 Robots
What is a robot?
A robot is an intelligent system that interacts with the physical
environment through sensors and effectors.

Robot

sensors effectors

Environment

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 History of Robots
 350 BC - the Greek mathematician, Archytas builds a
mechanical bird dubbed “the pigeon” that is propelled by
steam.
 270 BC - a Greek engineer named Ctesibus made a pipe
organ called a “hydraulis” and water clocks with movable
figures. These clocks were the most accurate until the use of
the pendulum in the 17th century.
 1801 – Joseph Jacquard builds an automated loom that is
controlled by a punch card. Punch cards are later used as an
input method for some early 20th century computers.
 1818 - Mary Shelley wrote "Frankenstein" which was about
a frightening artificial life form created by Dr. Frankenstein.

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 History of Robots
 1921 - The term "robot" was first used in a play called
"R.U.R." or "Rossum's Universal Robots" by the Czech
writer Karel Capek. The plot was simple: man makes robot
then robot kills man!
 1940 – Isaac Asimov produces a series of short stories about
robots starting with “A Strange Playfellow” (later renamed
“Robbie”) for Super Science Stories magazine. The story is
about a robot bound to protect a child. It is later compiled into
the volume, “I, Robot” in 1950.
 1941 - Science fiction writer Isaac Asimov first used the word
"robotics" to describe the technology of robots and predicted
the rise of a powerful robot industry.

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 History of Robots
 1942 - Asimov wrote "Runaround", a story about robots
which contained the "Three Laws of Robotics"
 A robot may not injure a human, or, through inaction, allow a human
being to come to harm.
 A robot must obey the orders it by human beings except where such
orders would conflict with the First Law.
 A robot must protect its own existence as long as such protection does
not conflict with the First or Second Law.

 1948 - "Cybernetics", an influence on artificial intelligence

research was published by Norbert Wiener.
 1956 - George Devol and Joseph Engelberger formed the
world's first robot company.

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 History of Robots
1977 – Star Wars is released. George Lucas introduces the
strongest image of a human future with robots. It inspires a
generation of researchers.
1979 - The Standford Cart crossed a chair-filled room
without human assistance. The cart had a TV camera mounted
on a rail which took pictures from multiple angles and relayed
them to a computer. The computer analyzed the distance
between the cart and the obstacles.
 1997 –Pathfinder lands on Mars.

 1997 – The first node of the ISS is placed in orbit using a

robotic arm.
 1998 – Tiger Electronics introduces Furby. It can react to
its environment and communicate using over 800 phrases.
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 History of Robots
2004 – The Mars Exploration Rovers Spirit and Opportunity
land on Mars and prove that Mars was once covered with
water.
 2004 – I, Robot, new version of robots trying to take over
the world.

 2005 - Honda debuts new Asimo robot that can complete

office tasks.

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 History of Robots
2010 – Roomba the fist commercialized AI robot: a vacuum
cleaner.
 2010 – NASA and General Motors join forces to develop
Robonaut-2, the new version of humanoid robot astronaut.
2015 – Remotely piloted UAVs and Quad-copters with live
video feed and weaponized.
2020 – Self-driving Cars and Humanoid Robots are
developed.

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 Robot Types
 Robot is an electromechanical device that is:
Reprogrammable
Multifunctional
Sensible for environment

Legged Mobile Robots

Wheeled Mobile Robots

Creeping Robots
Flying Robots
Swimming Robots
Special purposes Robots

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 Motion Control
Robot Manipulator
 Manipulator consists of joints and links
Joints provide relative motion
Links are rigid members between joints
Various joint types: linear and rotary
Each joint provides a “degree-of-freedom”
Most robots possess five or six degrees-of-freedom
 Robot manipulator consists of two sections:
 Body-and-arm –for positioning of objects in the robot's
work volume.
 Wrist assembly –for orientation of objects.

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 Motion Control
Translational motion
Linear joint (type L)
Orthogonal joint (type O)
Rotary motion
Rotational joint (type R)
Twisting joint (type T)
Revolving joint (type V)

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 Motion Control
Joint Drive Systems
 Electric
Uses electric motors to actuate individual joints
Preferred drive system in today's robots
 Hydraulic
Uses hydraulic pistons and rotary vane actuators
Noted for their high power and lift capacity
 Pneumatic
 Typically limited to smaller robots and simple
material transfer applications

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Robot Control Systems
 Playback with point-to-point control –records work
cycle as a sequence of points, then plays back the
sequence during program execution.
 Playback with continuous path control –greater
memory capacity and/or interpolation capability to
execute paths (in addition to points).
 Intelligent control –exhibits behavior that makes it
seem intelligent, e.g., responds to sensor inputs,
makes decisions, communicates with humans.

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 End Effectors
The special tooling for a robot that enables it to
perform a specific task.
 Two types:
Grippers –to grasp and manipulate objects (e.g.,
parts) during work cycle.
Tools –to perform a process, e.g., spot welding,
spray painting.

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Robot Characteristics and Applications
Characteristics
 General characteristics of industrial work situations
that promote the use of industrial robots:
Hazardous work environment for humans.
Repetitive work cycle.
Difficult handling task for humans.
Multi-shift operations.
Infrequent changeovers.
Part position and orientation are established in the
work cell.

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Robot Characteristics and Applications
Applications
 Material handling applications:
Material transfer –pick-and-place, palletizing.
Machine loading and/or unloading.
 Processing operations:
Spot welding and continuous arc welding.
Spray coating.
Other –water jet cutting, laser cutting, grinding.
 Assembly and inspection.

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