Introduction

2
 Course Content
The entire course content is organized as:
 Introduction to robotics
 Robot kinematics
Robot dynamics
Robot sensors and actuators
Trajectory planning
Robot control
Machine Vision
Mobile robots
3
 Robotics
Objective :
At the end of the lecture, it is expected that
everyone of you should be able:
To understand the fundamental definition of a
robot;
To distinguish robot from crane;
To classify robots based on performance;
To identify the major components of robot.
4
 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.

5
 Definition
A robot is a system that posses a number of
links attached serially to each other with
joints where each joint can be moved by some
type of actuator.
The manipulator can be moved in space and be
placed in any desired location within the work
space of the robot.
It can carry a certain amount of load, and each
link is controlled be a central controller which
controls the actuators.
6
 Fundamental Laws of Robotics
The term robotics was then introduced by Asimov as
the science devoted to the study of robots which was
based on the three fundamental laws:
1. A robot may not injure a human being or, through
inaction, allow a human being to come to harm.
2. A robot must obey the orders given by human
beings, except when such orders would conflict
with the first law.
3. A robot must protect its own existence, as long as
such protection does not conflict with the first or
second law.
7
 Industrial 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.

8
 Robot and Crane
Basically, both robotic manipulator and crane are
similar, their main difference is that the crane is
controlled be a human who operates and controls the
actuators, whereas the robot manipulator is
controlled by a computer that runs a program.
The motions of the robot are controlled through a
controller that is under the supervision of the
computer, which, itself is running some type of a
program.
Thus, the robot is designed to be able to perform any
task that can be programmed simply by changing the
program.
9
(a) A Kuhnezug truck-mounted crane (b) Fanuc S-500 robots performing seam-sealing on a truck..

10
 Robot Types
Manipulators
• Used for industrial automation

• Most of the robots (90%)

• Have two parts (end effector + articulated

mechanical structure)
• Mostly used for automobile industry

Walking robots
• Imitate walking pattern of man and animals

• Research and entertainment

Mobile robots
• Wheeled robots
 Classification of Robots
According to the Japanese Industrial Robot Association
robots are classified as:
Manual- handling Devices:- with multiple degrees of
freedom that is actuated by an operator.
Fixed-Sequence Robot:- performs the successive stages
of a task according to a predetermined, unchanging
method and is hard to modify.
Variable-Sequence Robots:- same as fixed-sequence
robot in performance, but easy to modify the sequence
of the task.
Playback Robot:- robot that repeats the same motions
according to the recorded information of human
operator.
12
Numerical Control Robot:- the operator supplies
robot with a movement program rather than
teaching it the task manually.
Intelligent Robot:-a robot with the means to
understand its environment and the ability to
successfully complete a task despite change in
the surrounding conditions under which it is to
be performed.

13
 Robot Components
A robot as a system consist of the following
elements which are integrated together to
perform a whole:
Manipulator
End effector

 Actuator

 Sensor

 Controller

14
 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.

15
 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

16
 Advantages 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. 17
 Disadvantages of Robots
 Robots lack capability to respond in
emergencies.
 Robots, although superior in certain senses, have
limited capabilities in Degree of freedom,
Dexterity, Sensors, Vision system, real time
response.
 Robots are costly, due to Initial cost of
equipment, Installation costs, Need for
Peripherals, Need for training, Need for
programming.

18
 Robot mechanical parts and structure

Types of mechanical structures

Serial or simple open – with one end fixed at a base
and the other end being open, links are joined by
joint one after the other
 Robot Mechanical Structure
Tree type
A robot with one end fixed but having multiple open
ends which branch like a tree
 Robot Structures
Parallel robot(closed kinematic)
• Robotic structures having multiple bases and
closed structures
 What are the parts of a
robot?
• Manipulator
• Pedestal
• Controller
• End Effectors
• Power Source
22
Manipulator

• Base
• Appendages
Shoulder
Arm
Grippers

23
Pedestal
(Human waist)

• Supports the
manipulator.
• Acts as a
counterbalance.

24
Controller
(The brain)
• Issues instructions to the
robot.
• Controls peripheral
devices.
• Interfaces with robot.
• Interfaces with humans.
25
End Effectors
(The hand)
• Spray paint
attachments
• Welding attachments
• Vacuum heads
• Hands
• Grippers
26
 End Effectors
The end-effector is specified according to the
task the robot should execute.
For material handling tasks, the end-effector
consists of a gripper of proper shape and
dimensions determined by the object to be
grasped.
To position the wrist which is then required to
orient the manipulator’s end-effector.
If arbitrary orientation in 3D space is desired, Spherical Wrist
the wrist must possess at least three DOFs
provided by revolute joints.

27
Power Source
(The food)
• Electric
• Pneumatic
• Hydraulic

28
 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.

29
 Continued…

Consider what is the degree of Fig. 3

1 D.O.F. 2 D.O.F. 3 D.O.F.

A Fanuc P-15 robot.

Reprinted with permission from Fanuc Robotics, North America, Inc.

30
 Robot Joints
Robots may have different types of joints, such
as linear, rotary, sliding, or spherical.
Since spherical joints are difficult to control,
hence, they are not common in robotics.
Most robots have either a linear (prismatic) joint
or a rotary (revolute) joint.
Prismatic joints are linear; there is no rotation
involved.
Revolute joints are rotary; there is no linear
translation involved.
31
 Robot Joints
Prismatic Joint: Linear, No rotation involved.
(Hydraulic or pneumatic cylinder)

Revolute Joint: Rotary, (electrically driven with stepper motor, servo motor)

32
 Robot Coordinates
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 arm)
Selective Compliance Assembly Robot Arm
(SCARA): 2 paralleled revolute joint and 1
additional prismatic joint
33
34
 Reference Frames
Robots may be moved relative to different
coordinate frames. The most common reference
frames are:
World reference frame: used to define the motions
of the robot relative to the other objects.
Joint reference frame: used to specify movements
of each individual joint of the robot.
Tool reference frame: used to specify movements
of the robot’s hand relative to a frame attached to
the hand.
35
Robot Reference Frames

A robot’s World, Joint,

and Tool reference
frames.
Most robots may be
programmed to move
relative to either of
these reference frames.

36
 Programming Modes
Physical Setup: PLC
Lead Through/ Teach Mode: Teaching Pendant/
Playback, p-to-p
Continuous Walk-Through Mode: Simultaneous joint-
movement
Software Mode: Use of feedback information

37
 How to specify a Robot?

A robot can be characterized using the following

specifications:
Payload: the maximum amount of weight a robot
can carry. The payload of robots compared
with their own weight is usually very small.
Reach: The maximum distance a robot can reach
within its work envelop. It is a function of the
robot’s joint lengths and its configuration.

38
 Continued…
Precision: how accurately a specified point can
be reached. It is a function of the actuator
resolution as well as feedback element.
Repeatability: how accurately the same position
can be reached if the motion is repeated many
times. Repeatability is much more important
than precision.

39
 Robot Characteristics
Payload: Fanuc Robotics LR Mate™ (6.6/ 86 lbs),
M- 16i ™(35/ 594 lbs)
Reach: The maximum distance a robot can reach
within its work envelope.
Precision (validity): defined as how accurately
a specified point can be reached… 0.001 inch or
better.
Repeatability (variability): how accurately
the same position can be reached if the motion is
repeated many times.
40
 Workspace
Workspace is the collection of points in space
which a robot can reach.
The robot workspace depends on its
configuration and size of its links and joints.
The workspace may be found either
mathematically by writing equations that
define robot’s links and joints or empirically
by moving each joint through its range of
motions and subtracting what it cannot reach.
41
 Robot Workspace

Fig. Typical workspaces for common robot configurations

42
 Cartesian manipulator Cylindrical manipulator
workspace workspace

Anthropomorphic
manipulator
workspace

SCARA manipulator
Spherical manipulator workspace
workspace 43
 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.

44
 Robot Application
Robots are applicable in environments where humans
cannot perform task, consistent performance and better
quality. Some of the applications of robot are:
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 45
 Continued…

A Staubli robot loading and unloading Staubli robot placing dishwasher tubs

An AM120 Fanuc robot A P200 Fanuc painting automobile bodies 46

 Continued…

Staubli RX FRAMS robot in a BMW A Fanuc LR Mate 200i robot removal operation

The Arm, a 6 DOF bilateral force-feedback manipulator Medical Robot of German

47
 Robot in the World

Painting Robot in Motor Company

Assembly Robot in Electronic Company

Wearable Robotic Arm and Tele-

48
Operated Robot (KIST)
 Sony (AIBO) – Toy robot

HONDA (ASIMO) – Biped Robot Fujitsu – Biped Robot (Laptop Size)

49
 DLR Gripper
NASA Mars Rover
Indoor Robots

KUKA Manipulator

Asimo Humanoid

Outdoor Robots
Robot Base Station
50
Painting Robot

Welding Robot

51
NASA flight simulator robot arm with electromechanical
control system components

52
Exploration

53
Medical Application

54
Thank You!

55