AUTOMATION

&
ARTIFICIAL
INTELLIGENCE
ROBOTS AND THEIR
APPLICATIONS
Introduction to Robotics
 Outline

• Definition
• Types
• Uses
• History
• Key components
• Applications
• Future
 Robot Defined
• Word robot was coined by a
Czech novelist Karel Capek in a
1920 play titled Rassum’s
Universal Robots (RUR)
• Robot in Czech is a word for
worker or servant Karel Capek
• Definition of robot:
–Any machine made by by one our members: Robot Institute
of America
–A robot is a reprogrammable, multifunctional manipulator
designed to move material, parts, tools or specialized devices
through variable programmed motions for the performance of
a variety of tasks: Robot Institute of America, 1979
 Robot Defined
• British Robot Association (BRA) defined the industrial robot as
“A reprogrammable device with minimum of four degrees of freedom
designed to both manipulate and transport parts, tools, or specialized
manufacturing implements through variable programmed motions for
performance motions for performance of specific manufacturing task.”

• The Robotics Industries Association (RIA) of USA defines the robot as:
“A reprogrammable, multifunctional manipulator designed to move
material through variable programmed motions for the performance of a
variety of tasks.”
• International Standards Organization (ISO)
“An industrial robot is an automatic, servo-controlled, freely
programmable, multipurpose manipulator, with several areas, for the
handling of work-pieces, tools, or special devices. Variably
programmed operations make the execution of a multiplicity of tasks
possible. ”
 General Framework of Robotics
❑ Robotics is the science studying the intelligent connection of
perception to action
• Action: mechanical system (locomotion & manipulation)
• Perception: sensory system (proprioceptive & heteroceptive)
• Connection: control system

❑ Robotics is an interdisciplinary subject concerning mechanics,

electronics, information theory, automation theory.
 Classification of Robots
▪ Class 1: Manual Handling Device
▪ Class2: Fixed-Sequence Robot
▪ Class3: Variable Sequence Robot
▪ Class4: Playback Robot
▪ Class5: Numerical Control Robot
▪ Class6: Intelligent Robot
JIRA:Japanise Industrial Robot Association RIA: The Robotics
Instute of America
 Classification of Robots
▪ Type A: Handling Devices with manual control
▪ Type B: Automatic Handling Devices with predetermined
cycles
▪ Type C: Programmable, servo controlled robots
▪ Type D: Type C with interactive with the environment

AFR: The Association Francaise de Robotique

Types of Robots: I
Manipulator
 Types of Robots: II

Legged Robot Wheeled Robot

 Types of Robots: III
Autonomous Underwater Vehicle Unmanned Aerial Vehicle
 Robot Uses: I

Jobs that are dangerous

for humans

Decontaminating Robot
Cleaning the main circulating pump
housing in the nuclear power plant
 Robot Uses: II

Repetitive jobs that are

boring, stressful, or labor-
intensive for humans

Welding Robot
 Robot Uses: III

Menial tasks that human

don’t want to do

The SCRUBMATE Robot

Laws of Robotics
• Asimov proposed three “Laws of
Robotics” and later added the
“zeroth law”
• Law 0: A robot may not injure
humanity or through inaction,
allow humanity to come to harm
• Law 1: A robot may not injure a
human being or through inaction,
allow a human being to come to
harm, unless this would violate a
higher order law
• Law 2: A robot must obey orders
given to it by human beings, except
where such orders would conflict
with a higher order law
• Law 3: A robot must protect its
own existence as long as such
protection does not conflict with a
higher order law
 History of Robotics: I

• The first industrial

robot: UNIMATE
• 1954: The first programmable
robot is designed by George
Devol, who coins the term
Universal Automation. He later
shortens this to Unimation, which
becomes the name of the first
robot company (1962).

UNIMATE originally automated the

manufacture of TV picture tubes
 History of Robotics: II

1978: The Puma (Programmable

Universal Machine for
Assembly) robot is developed
by Unimation with a General
Motors design support

PUMA 560 Manipulator

 History of Robotics: III
1980s: The robot industry enters a phase of rapid growth. Many
institutions introduce programs and courses in robotics. Robotics
courses are spread across mechanical engineering, electrical
engineering, and computer science departments.

Adept’s SCARA robots Cognex In-Sight Robot Barrett Technology Manipulator

 History of Robotics: IV

1995-present: Emerging
applications in small
robotics and mobile
robots drive a second
growth of start-up
companies and research

2003: NASA’s Mars Exploration Rovers launched toward

Mars in search of answers about the history of water on Mars
 Knowledgebase for Robotics
•Typical knowledgebase for the design and operation of robotics
systems
–Dynamic system modeling and analysis
–Feedback control
–Sensors and signal conditioning
–Actuators (muscles) and power electronics
–Hardware/computer interfacing
–Computer programming
Disciplines: mathematics, physics, biology,
mechanical engineering, electrical engineering,
computer engineering, and computer science
 Key Components
Power conversion
unit
Sensors Actuators
Controller
User interface

Manipulat
or linkage
Base
 Robot Base: Fixed v/s Mobile
Robotic manipulators used in Mobile bases are typically
manufacturing are examples of platforms with wheels or tracks
fixed robots. They can not attached. Instead of wheels or
move their base away from the tracks, some robots employ
work being done. legs in order to move about.
Robot Mechanism
Mechanical Elements
 Sensors
•Human senses: sight, sound, touch, taste, and smell provide us vital
information to function and survive

•Robot sensors: measure robot configuration/condition and its

environment and send such information to robot controller as
electronic signals (e.g., arm position,

presence of toxic gas) Accelerometer

Using Piezoelectric Effect

•Robots often need information that is beyond 5 human

senses (e.g., ability to: see in the dark, detect tiny
amounts of invisible radiation, measure movement that is
too small or fast for the human eye to see)

Flexiforce Sensor
 Vision Sensors

Vision Sensor: e.g., to pick bins,

perform inspection, etc.

Part-Picking: Robot can handle In-Sight Vision Sensors

work pieces that are randomly piled
by using 3-D vision sensor. Since
alignment operation, a special parts
feeder, and an alignment pallete are
not required, an automatic system
can be constructed at low cost.
 Force Sensors
Force Sensor: e.g., parts
fitting and insertion,
force feedback in robotic
surgery
Parts fitting and insertion:
Robots can do precise fitting
insertion of machine parts by using an
force sensor. A robot can insert parts
d
that have the phases after matching
their phases in addition to simply
inserting them. It can automate high-
skill jobs.
 Proximity Sensors

Example
Infrared Ranging Sensor

KOALA ROBOT
• 6 ultrasonic sonar transducers to explore wide, open areas
• Obstacle detection over a wide range from 15cm to 3m
• 16 built-in infrared proximity sensors (range 5-20cm)
•Infrared sensors act as a “virtual bumper” and allow for
negotiating tight spaces
 Tilt Sensors
Tilt sensors: e.g., to balance a robot

Example

Tilt Sensor
Planar Bipedal Robot
 Actuators/Muscles: I
• Common robotic actuators utilize combinations of
different electro-mechanical devices
– Synchronous motor
– Stepper motor
– AC servo motor
– Brushless DC servo motor
– Brushed DC servo motor

http://www.ab.com/motion/servo/fseries.html
 Actuators/Muscles: II

Pneumatic Cylinder

Hydraulic Motor Stepper Motor

DC Motor

Pneumatic Motor Muscle Wire Servo Motor

 Controller
• Provide necessary intelligence to control the
manipulator/mobile robot
• Process the sensory information and compute the
control commands for the actuators to carry out
specified tasks
 Storage Hardware
Storage devices: e.g., memory to store the
control program and the state of the robot system
obtained from the sensors
 Computation Hardware
Computational engine that computes the control
commands

RoboBoard Robotics Controller BASIC Stamp 2 Module

 Interface Hardware
Interface units: Hardware to interface digital
controller with the external world (sensors and actuators)

Analog to Digital Converter Operational Amplifiers

LM358 LM358

LM1458 dual operational amplifier

 Robots in Industry
•Agriculture
•Automobile
•Construction
•Entertainment
•Health care: hospitals, patient-care, surgery , research, etc.
•Laboratories: science, engineering , etc.
•Law enforcement: surveillance, patrol, etc.
•Manufacturing
•Military: demining, surveillance, attack, etc.
•Mining, excavation, and exploration
•Transportation: air, ground, rail, space, etc.
•Utilities: gas, water, and electric
•Warehouses
 Industrial Applications of Robots

•Material handling
•Material transfer
•Machine loading and/or
unloading
•Spot welding Material Handling Manipulator

•Continuous arc welding

•Spray coating
•Assembly
•Inspection
Assembly Manipulator

Spot Welding Manipulator

 Robots in Space

NASA Space Station

Robots in Hazardous Environments

TROV in Antarctica HAZBOT operating in

operating under water atmospheres containing
combustible gases
 Medical Robots

Robotic assistant for

micro surgery
 Robots in Military

PREDATOR
SPLIT STRIKE:
Deployed from a ISTAR
sub’s hull, Manta
could dispatch tiny
mine-seeking AUVs
or engage in more
explosive combat.

GLOBAL HAWK GOLDENEYE

 Robots at Home

Sony SDR-3X Entertainment Robot Sony Aido

 Future of Robots: I
Artificial Intelligence

Cog Kismet
 Future of Robots: II
Autonomy

Robot Work Crews Garbage Collection Cart

Future of Robots: III
Humanoids

HONDA Humanoid Robot

 Progressive Advancement In Robots
The growth of robots can be grouped into robot generations,
based on characteristics breakthrough in robot’s capabilities.
These generations are overlapping and include futuristic
projections.

1. First Generation : Robots are repeating, non-servo, pick and

place, or point to point kind.
2. Second Generation: The addition of sensing devices and
enabling the robot to alter its movements in response to
sensory feedback marked the beginning of second generation.
These robots exhibit path-control capabilities.
3. Third Generation: The third generation is marked with
robots having human-like intelligence.
4. Fourth Generation : This is futuristic and may be a reality
only during this millennium. It may be true android or an
artificial biological robot or a super humanoid capable of
producing its own clones.
Roboto Anatomy
❑ The robot anatomy is the study of skeleton of robot.
❑ The mechanical structure of manipulator that consist
of rigid bodies (links) connected by means of
articulations (joints), is segmented into an arm that
ensures mobility and reachability, a wrist that confers
orientation, and the end effector that performs the
task.
❑ Most manipulators are mounted on a base fastened
to the floor or on mobile platform of an autonomous
guided vehicle (AGV)
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❑ Let this base and its connection to the first joint be referred
to as link 0.
❑ It is the input link to joint 1, the first in the series of joints
used in the construction of the robot. The output link of joint
1 is link 1.
❑ Link 1 is the input link to joint 2, whose output link is link 2,
and so forth.
❑ This joint-link numbering scheme is illustrated in Figure
❑ Nearly all industrial robots have mechanical joints that can
be classified into one of five types: two types that provide
translational motion and three types that provide rotary
motion.
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1. Linear joint (type L joint). The relative movement between
the input link and the output link is a translational
telescoping motion, with the axes of the two links being
parallel.
2. Orthogonal joint (type O joint). This is also a translational
sliding motion, but the input and output links are
perpendicular to each other.
3. Rotational joint (type R joint). This type provides
rotational relative motion, with the axis of rotation
perpendicular to the axes of the input and output links.
4. Twisting joint (type T joint). This joint also involves rotary
motion, but the axis of rotation is parallel to the axes of the
two links.
5. Revolving joint (type V joint, V from the “v” in revolving).
In this joint type, the axis of the input link is parallel to the
axis of rotation of the joint, and the axis of the output link is
perpendicular to the axis of rotation.
Common Robot Configuration
❑ A robot manipulator can be divided into two sections: a body-and-arm assembly and a wrist assembly.
❑ There are usually three axes associated with the body-and-arm, and either two or three axes associated with
the wrist.
❑ At the end of the manipulator’s wrist is a device related to the task that must be accomplished by the robot.
❑ The device, called an end effector, is usually either a gripper for holding a work part or a tool for
performing some process.
❑ The body-and-arm of the robot is used to position the end effector, and the robot’s wrist is used to orient
the end effector.
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Body-and-arm Configurations.
• Given the five types of joints defined earlier, there are 5 * 5 * 5 = 125
possible combinations of joints that could be used to design the body-
and-arm assembly for a three-axis manipulator.
• In addition, there are design variations within the individual joint types
(e.g., physical size of the joint and range of motion). It is somewhat
remarkable, therefore, that only a few configurations are commonly
available in commercial industrial robots. These configurations are:
1. Articulated robot. Also known as a jointed-arm robot (Figure 8.3), it
has the general configuration of a human shoulder and arm. It consists
of an upright body that swivels about the base using a T joint. At the
top of the body is a shoulder joint (shown as an R joint in the figure),
whose output link connects to an elbow joint (another R joint).
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2. Polar configuration. This configuration
(Figure 8.4) consists of a sliding arm (L joint)
actuated relative to the body, which can rotate
about both a vertical axis (T joint) and a
horizontal axis (R joint)

3. SCARA. SCARA is an acronym for Selectively

Compliant Arm for Robotic Assembly. This
configuration (Figure 8.5) is similar to the jointed-
arm robot except that the shoulder and elbow
rotational axes are vertical, which means that the
arm is very rigid in the vertical direction, but
compliant in the horizontal direction. This permits
the robot to perform insertion tasks (for assembly)
in a vertical direction, where some side-to-side
alignment may be needed to mate the two parts
properly
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4. Cartesian coordinate robot. Other names for this configuration
include gantry robot, rectilinear robot, and x–y–z robot. As shown
in Figure 8.6, it consists of three orthogonal joints (type O) to
achieve linear motions in a three-dimensional rectangular work
space. It is commonly used for overhead access to load and unload
production machines.

5. Delta robot. This unusual design, depicted in Figure 8.7,

consists of three arms attached to an overhead base. Each arm is
articulated and consists of two rotational joints (type R), the first of
which is powered and the second is unpowered. All three arms are
connected to a small platform below, to which the end effector is
attached. The platform and end effector can be manipulated in
three dimensions. The delta robot is used for high-speed
movement of small objects, as in product packaging.
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PUMA Robotic Manipulator
Historically, one of the most widely used robotic manipulators on assembly
lines is the PUMA (Programmable Universal Machine for Assembly) RRR
robot. An example of a PUMA robot is depicted in Figure 1.14. The first
revolute joint of this robot is about the vertical axis, and the next two
parallel revolute joints are perpendicular to the vertical axis. The
widespread use of the PUMA robot can be attributed to the fact that it has a
rich kinematics and can access a large hemispherical workspace. With the
introduction of three rotational axes along two perpendicular directions,
however, the PUMA is less rigid than the Cartesian robot. It is well suited
to applications that require a large and highly reconfigurable workspace.
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Wrist Configurations.
• The robot’s wrist is used to establish the orientation of the end effector. Robot wrists usually consist of two
or three joints that almost always consist of R and T type rotary joints. Figure 8.8 illustrates one possible
configuration for a three-axis wrist assembly. The three joints are defined as follows: (1) roll, using a T
joint to accomplish rotation about the robot’s arm axis; (2) pitch, which involves up-and-down rotation,
typically using an R joint; and (3) yaw, which involves right-and-left rotation, also accomplished by means
of an R-joint. A two-axis wrist typically includes only roll and pitch joints (T and R joints).
• To avoid confusion in the pitch and yaw definitions, the wrist roll should be assumed in its center position,
as shown in the figure. To demonstrate the possible confusion, consider a two-jointed wrist assembly. With
the roll joint in its center position, the second joint (R joint) provides up-and-down rotation (pitch).
However, if the roll position were 90 degrees from center (either clockwise or counterclockwise), the
second joint would provide a right-left rotation (yaw).
Degrees of Freedom
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Robot Specification
Axis Movement Specifications:
• Axes - The individual segments of each robot manipulator are connected with mechanical joints - each
serves as an axis of movement. The most common industrial robots have six axes of movement. The
number and placement of axes determines the flexibility of each model.

• Robot Motion Range - Much like the joints between bones, robot axes have limits to each movement.
Every axis has a specific scope of motion. On a typical specifications sheet, the degree of movement shows
up as positive or negative degree of movement from the center base position of each axis.

• Robot Motion Speed - Each axis moves at a different speed. They are listed as degrees traveled per
second. Focus on this criterion when you need to match certain speed specifications for your application.

• Repeatability - Industrial robots are known for their accuracy. But this ability to return to an exact
location again and again, known as a robot's repeatability, can vary with each model. More precision-
driven applications will require tighter repeatability figures. Repeatability is listed as a millimeter of
alteration plus or minus from the point.
Robot Specification
Accuracy And Repeatability
Several terms must be defined in the context of this discussion:
(1) control resolution,
(2) accuracy,
(3) repeatability.
Control resolution refers to the capability of the robot’s positioning system to divide the range of the joint into
closely spaced points, called addressable points, to which the joint can be moved by the controller.
the capability to divide an axis range into addressable points depends on (1) limitations of the
electromechanical components that make up each joint-link combination and (2) the controller’s bit storage
capacity for that joint. The second limit on control resolution is the bit storage capacity of the controller. If
B = the number of bits in the bit storage register devoted to a particular joint, then the number of addressable
points in that joint’s range of motion is given by 2B. The control resolution is therefore defined as the distance
between adjacent addressable points. This can be determined as
 Robot Specification
Accuracy And Repeatability
Repeatability is a measure of the robot’s ability to position its end-of-wrist at a previously taught point in the
work volume. Each time the robot attempts to return to the programmed point it will return to a slightly
different position. Repeatability variations have as their principal source the mechanical errors previously
mentioned. Therefore, as in NC, for a single joint-link mechanism,

where s = standard deviation of the error distribution.

Accuracy is the robot’s ability to position the end of its wrist at a desired location in the work volume. For a
single axis, using the same reasoning as in NC,

where CR = control resolution from Equation

Robot Specification
One of the joints of an industrial robot has a type R joint with a range of 90°. The bit storage capacity of the robot
controller is 10 bits for this joint. The mechanical errors form a normally distributed random variable about a given taught
point. The mean of the distribution is zero and the standard deviation is 0.05°. (a) Determine the control resolution CR2,
accuracy, and repeatability for this robot joint. (b) Also, if the output link has a length of 0.75 m, determine the linear
distance corresponding to CR2, accuracy, and repeatability at the end of the link.
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Robot Specifications for Weight:
• Payload - The weight capacity of each robot manipulator is its payload. This is a critical specification and
includes the tooling weight as well. You can rule out a number of robots with this robot specification
category alone.

• Robot Mass - Every robot has a specific weight or mass. This number only indicates how much the robot
manipulator weighs. It does not include the weight of the robot's controller. This specification may not be
quite as important unless you are trying to install your robot on a table or shelf.
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Specifications and Work Envelope:
• Vertical Reach - How high can the robot go? A robot's vertical reach specification refers to the height of
the robot when it extends upwards from the base. Use this to determine whether or not a model is tall
enough for your application and location.

• Horizontal Reach - How far can a robot reach? The horizontal reach measures the distance of the fully
extended arm - from the base to the wrist. Some applications will require a wider work envelope with a big
reach, others are satisfied with a contained, short horizontal reach.

• Structure - Robots are engineered with different structures. The most common by far is the vertical
articulated type, sometimes called a vertical jointed-arm robot. Other structure types include SCARA,
Cartesian, and parallel kinematic robots.
Selection of Robots
1. Type
Some robot types use linear or prismatic joints. Applying force to a prismatic joint creates a linear
movement in the positive direction along the axis of translation.
Your choices are...
Articulated Robot Articulated robots have arms with three rotary joints.
Cartesian robots (i.e., rectangular coordinate robots, rectilinear robots) have three prismatic
joints whose axes are coincident with a Cartesian (X, Y, Z) coordinate system. These robots may
Cartesian Robot
also have an attached wrist to allow rotational movement. Gantry robots are a specific type of
Cartesian robot.
Collaborative robots, also called cobots, work alongside humans, unlike traditional industrial
Collaborative / Cobot robots. Collaborative robots act as an assistant and are involved in targeted, complex, sensitive
tasks that cannot be automated. Collaborative robots are often capable of learning.
Cylindrical robots have at least one rotary joint and at least one prismatic joint. The space or
Cylindrical Robot
coordinate system in which these robots operate is cylindrical in shape.
Gantry robots are Cartesian robots with three prismatic joints whose axes are coincident with a
Cartesian (Y, Y, Z) coordinate system. Gantry robots usually hang upside down. Like gantry
Gantry Robot cranes, they are suspended from an X or X/Y axis beam. Gantry robots provide flexible and
efficient solutions for a wide range of material handling applications such as pick and place,
machine loading and unloading, stacking, unitizing and palletizing.
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Parallel robots have arms (primary axes) that each have three concurrent prismatic
Parallel Robot (e.g.,
joints. Hexapods and deltas are parallel robots. They have six arms supporting one common
Delta/Hexapod)
platform.
Service robots have a high degree of autonomy without human intervention that ranges from
Service Robot partial autonomy, including human-robot interaction, to full autonomy without active
human intervention.
Selectively compliant arm for robotic assembly (SCARA) robots are cylindrical and have two
SCARA Robot parallel joints to provide compliance in one selected plane. SCARA robots are commonly used in
assembly applications.
Spherical or polar robots have an arm with two rotary joints and one prismatic joint. The axes of a
Spherical / Polar Robot
spherical robot form a polar coordinate system.
Swing arm robots travel horizontally to a fixed position, plunge to pick an item and then rotate to
Swing Arm Robot
release picked item.
Other Other unlisted robot types or configurations.
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2. Drive System
Your choices are...

Robots driven by electricity typically integrate electric motors and actuators. Energy demands may be
Electric
substantial. Challenges exist for wet or electrically sensitive environments.

Large industrial robots often use a hydraulic drive system for improved speed and strength. Hydraulic
Hydraulic robots tend to require more floor space, but are well suited for applications such as spray painting in which
electric robots present a fire hazard.

Pneumatic drives are used in small robots with few axes of movement, such as pick-and-place devices.
Pneumatic
Typically, pneumatic robots are less expensive than hydraulic or electric robots.
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3. Specifications
Number of Axes The number of axes is determined by the total number of prismatic and rotary joints.

Load Capacity Load capacity or payload is the maximum object weight a robot can manipulate.

The reach or work envelope is the maximum distance that a robot can extend an arm to perform a task.
Each type of robot
Reach has a different work envelope. For example, Cartesian robots work within a cube-shaped
envelope while cylindrical robots work within a cylindrical envelope. Polar and articulated robots
work, respectively, within envelopes that are partially or completely spherical.

This is the distance that robots travel along the X-axis.

X-axis Travel
This is the distance that robots travel along the Y-axis.
Y-axis Travel
Z-axis Travel This is the distance that robots travel along the Z-axis.
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4. Applications
Your choices are...
Assembly Robots are suitable for assembly applications.
Automotive testing robots are used by car manufacturers (OEMs) or their contractors.
They are designed to control, monitor and collect kinematic, noise, vibration, emission
and other test data in fully autonomous testing situations not suited to direct human
Automotive Testing control, like extended driving (e.g., 40 hours continuously) on automotive test tracks.
They adapt to steering mechanisms, throttles, emission systems and other electrical or
mechanical systems found in a vehicle undergoing development, and can be used to
simulate high G-force maneuvers in dangerous weather conditions.
Dispensing (e.g., Robots are suitable for dispensing applications such as gluing, sealing, filling and
Gluing, Sealing, Filling) potting.
A domestic robot is an autonomous robot that is primarily used for household chores, but
Domestic Use
may also be used for education, entertainment or therapy.
Robots are suitable for inspection applications. Some of these applications require robots
Inspection to be mobile or capable of withstanding harsh environments. Examples include pipelines,
storage tanks and boilers.
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Material Handling (e.g., Robots are suitable for material handling applications such as palletizing
Loading/Unloading, Palletizing) and part or tool loading and unloading.
Robots are suitable for combined repetitive transporting and manipulating
Machine Tending
tasks.
Robots are suitable for metal removal applications such as cutting,
Metal Removal (e.g.,
deburring, drilling, machining and punching. Special end-effectors or
Cutting, Deburring, Drilling)
attachments may be required.
Robots are suitable for the inclusion of a laser for applications such as laser
Laser Processing
welding, marking, cutting and labeling.
Robots are suitable for packaging applications such as boxing, traying,
Packaging
palletizing and labeling.
Robots are suitable for use in pharmaceutical, chemical or medical or
Medical / Pharmaceutical
surgical applications.
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Robots are suitable for painting or coating applications. Painting robots are in the
Painting / Coating automotive and aerospace industries or when high-volume,
programmable, precise painting is required.
Autonomous robots that are used for sensitive applications such as ordinance
Security / Military
disposal or security inspections.
Sprue pickers are used shortly after the molding cycle to retrieve and remove the
Sprue Picker
sprue, runner or small molded part.
Robots are suitable for welding applications such as arc welding and laser
Welding
welding. Special end-effectors or attachments may be required.
Other / Specialty Other unlisted or specialized applications.
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5. Features
Your choices are...

The robot learns and problem solves when working in its

Artificial Intelligence (A.I.)
environment, optimizing success and efficiency of task completion.

Ceiling Mounted Robots can be mounted on a ceiling to save space.

Wall Mounted Robots can be mounted on a wall.
Cleanroom Robots are rated for cleanroom applications.

Mobile Robots use treads, wheels, robotic limbs or other methods to move.

Portable Robots can be transported easily from one location to another.

 Robot Control System
• The actuations of the individual joints must be controlled in a coordinated fashion for the manipulator to
perform a desired motion cycle.
• Microprocessor-based controllers are commonly used today in robotics as the control system hardware.
• The controller is organized in a hierarchical structure as indicated in Figure 8.9 so that each joint has its own
feedback control system, and a supervisory controller coordinates the combined actuations of the joints
according to the sequence of the robot program.
• Different types of control are required for different applications. Robot controllers can be classified
into four categories [5]:
(1) limited-sequence control,
(2) playback with point-to-point control,
(3) playback with continuous path control, and
(4) intelligent control.
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Limited-sequence Control
❑ This is the most elementary control type.
❑ It can be utilized only for simple motion cycles, such as pick-and-place operations (i.e., picking an
object up at one location and placing it at another location).
❑ It is usually implemented by setting limits or mechanical stops for each joint and sequencing the actuation
of the joints to accomplish the cycle.
❑ Interlocks are sometimes used to indicate that the particular joint actuation has been accomplished so that
the next step in the sequence can be initiated.
❑ However, there is no servo-control to accomplish precise positioning of the joint.
❑ Many pneumatically driven robots are limited-sequence robots.
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Playback with point-to-point Control.
❑ Playback robots represent a more sophisticated form of control than limited-sequence robots.
❑ Playback control means that the controller has a memory to record the sequence of motions in a given work
cycle, as well as the locations and other parameters (such as speed) associated with each motion, and then to
subsequently play back the work cycle during execution of the program.
❑ In point-to-point (PTP) control, individual positions of the robot arm are recorded into memory.
❑ These positions are not limited to mechanical stops for each joint as in limited sequence robots.
❑ Instead, each position in the robot program consists of a set of values representing locations in the range of
each joint of the manipulator.
❑ Thus, each “point” consists of five or six values corresponding to the positions of each of the five or six joints
of the manipulator.
❑ For each position defined in the program, the joints are thus directed to actuate to their respective specified
locations.
❑ Feedback control is used during the motion cycle to confirm that the individual joints achieve the specified
locations in the program.
❑ Interlocks are used to coordinate the actions of the robot with the actions of other equipment in the work cell.
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Playback with Continuous path Control.
Continuous path robots have the same playback capability as the previous type. The difference between
continuous path and point-to-point is the same in robotics as it is in NC. A playback robot with continuous path
control is capable of one or both of the following:
1. Greater storage capacity.
➢ The controller has a far greater storage capacity than its point-to-point counterpart, so the number of
locations that can be recorded into memory is far greater than for point-to-point.
➢ Thus, the points constituting the motion cycle can be spaced very closely together to permit the robot to
accomplish a smooth continuous motion.
➢ In PTP, only the final location of the individual motion elements are controlled, so the path taken by the
arm to reach the final location is not controlled.
➢ In a continuous path motion, the movement of the arm and wrist is controlled during the motion.
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2. Interpolation calculations.
➢ The controller computes the path between the starting point and the ending point of each move using
interpolation routines similar to those used in NC.
➢ These routines generally include linear and circular interpolation.
➢ The difference between PTP and continuous path control can be explained mathematically as follows.
o Consider a three-axis Cartesian coordinate manipulator in which the end-of-arm is moved in x–y–z space.
o In point-to-point systems, the x-, y-, and z-axes are controlled to achieve a specified point location within
the robot’s work volume.
o In continuous path systems, not only are the x-, y-, and z-axes controlled, but the velocities dx/dt, dy/dt, and
dz/dt are controlled simultaneously to achieve the specified linear or curvilinear path.
o Servo-control is used to continuously regulate the position and speed of the manipulator.
o It should be mentioned that a playback robot with continuous path control has the capacity for PTP control
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Intelligent Control
❑ Industrial robots are becoming increasingly intelligent. In this context, an intelligent robot is one that
exhibits behavior that makes it seem intelligent.
❑ Some of the characteristics that make a robot appear intelligent include the capacities to interact with its
environment, make decisions when things go wrong during the work cycle, communicate with humans,
make computations during the motion cycle, and respond to advanced sensor inputs such as machine
vision.
❑ In addition, robots with intelligent control possess playback capability for both PTP and continuous path
control.
❑ All of these features require
(1) a relatively high level of computer control and
(2) an advanced programming language to input the decision-making logic and other “intelligence” into
memory.
 Control of Robotics System
FEEDBACK AND CLOSED-LOOP CONTROL
We will model a manipulator as a mechanism that is instrumented with sensors at each joint to measure the
joint angle and that has an actuator at each joint to apply a torque on the neighbouring (next higher) link. We
wish to cause the manipulator joints to follow prescribed position trajectories, but the actuators are
commanded in terms of torque, so we must use some kind of control system to compute appropriate actuator
commands that will realize this desired motion. Almost always, these torques are determined by using
feedback from the joint sensors to compute the torque required.
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• Let's consider what algorithm might be implemented in the block labeled "control system" in Fig. 9.1. One
possibility is to use the dynamic equation of the robot to calculate the torques required for a particular
trajectory.

• Generally, the only way to build a high-performance control system is to make use of feedback from joint
sensors, as indicated in Fig. 9.1. Typically, this feedback is used to compute any servo error by finding the
difference between the desired and the actual position and that between the desired and the actual velocity:
SECOND-ORDER LINEAR SYSTEMS
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1. Real and Unequal Roots. This is the case when b2 > 4mk ; that is, friction dominates, and sluggish
behavior results. This response is called overdamped.
2. Complex Roots. This is the case when b2 <4mk; that is, stiffness dominates, and oscillatory behavior
results. This response is called underdamped.
3. Real and Equal Roots. This is the special case when b2 = 4 mk; that is, friction and stiffness are
"balanced," yielding the fastest possible non-oscillatory response. This response is called critically
damped.
Real and Unequal Roots
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CONTROL OF SECOND-ORDER SYSTEMS
Suppose that the natural response of our second-order mechanical system is
not what we wish it to be. Perhaps it is underdamped and oscillatory, and we
would like it to be critically damped; or perhaps the spring is missing
altogether (k = 0), so the system never returns to x = 0 if disturbed.

Let's also assume that we have sensors capable of detecting the block's position and velocity. We now
propose a control law which computes the force that should be applied by the actuator as a function of the
sensed feedback:
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It is clear that, by setting the control gains, and we

can cause the closed-loop system to appear to have
any second system behaviour that we wish. Often,
gains would be chosen to obtain critical damping
(i.e., b' = and some desired closed-loop stiffness given
directly by k'.
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Control Law Partitioning
In this method, we will partition the controller into a model-based portion and a servo portion. The result is
that the system's parameters (i.e., in, b, and k, in this case) appear only in the model-based portion and that the
servo portion is independent of these parameters.

We wish to decompose the controller for this system into two parts. In this case, the model-based portion of
the control law will make use of supposed knowledge of in, b, and k. This portion of the control law is set up
such that it reduces the system so that it appears to be a unit mass.

The second part of the control law makes use of feedback to modify the behavior of the system. The model-
based portion of the control law has the effect of making the system appear as a unit mass, so the design of
the servo portion is very simple—gains are chosen to control a system composed of a single unit mass (i.e.,
no friction, no stiffness).
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Trajectory Following Control
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