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Industrial Robotics
BME061
(Specialization - Manufacturing & Automation)

Syllabus
Unit-1 (8-Hours)
Introduction to robotics: Brief History, Basic Concepts of Robotics such as Definition, Three
laws, Elements of Robotic Systems i.e. Robot anatomy, DOF, Misunderstood devices etc.,
Classification of Robotic systems on the basis of various parameters such as work volume,
type of drive, etc., Associated parameters i.e. resolution, accuracy, repeatability, dexterity,
compliance, RCC device etc., Introduction to Principles & Strategies of Automation, Types &
Levels of Automations, Need of automation, Industrial applications of robot.

Unit-2 (8-Hours) Grippers and Sensors for Robotics: Grippers for Robotics - Types of
Grippers, Guidelines for design for robotic gripper, Force analysis for various basic gripper
system. Sensors for Robots - Types of Sensors used in Robotics, Classification and
applications of sensors, Characteristics of sensing devices, Selections of sensors. Need for
sensors and vision system in the working and control of a robot.

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Syllabus
Unit-3 (8-Hours) Drives and Control for Robotics: Drive - Types of Drives, Types of
transmission systems, Actuators and its selection while designing a robot system. Control
Systems: Types of Controllers, Introduction to closed loop control.

Unit-4 (8-Hours) Programming and Languages for Robotics: Robot Programming: Methods of
robot programming, WAIT, SIGNAL and DELAY commands, subroutines, Programming
Languages: Generations of Robotic Languages, Introduction to various types such as VAL,
RAIL, AML, Python, ROS etc., Development of languages since WAVE till ROS.

Unit-5 (8-Hours) Related Topics in Robotics: Socio-Economic aspect of robotisation.

Economical aspects for robot design, Safety for robot and standards, Introduction to Artificial
Intelligence, AI techniques, Need and application of AI, mobile robotics, New trends & recent
updates in robotics. Mobile Robot locomotion: Types of locomotion, hopping robots, legged
robots, wheel edrobots, stability, manoeuvr ability, controllability

What is Robotics?
Robotics : Robotics is the interdisciplinary branch of technology that deals with the
design, construction, operation, and application of Robots.

A robot is a machine that is programmed to perform specific tasks, either

autonomously or under the control of an external device.
A robot is a machine, programmable by a computer & capable of carrying out a complex
series of actions automatically.
A robot can be guided by an external control device, or the control may be embedded
within.
Robots may be constructed to evoke human form, but most robots are task-performing
machines, designed with an emphasis on stark functionality, rather than expressive
aesthetics.

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History Of Robotics
The history of robotics dates back to ancient civilizations, with the concept of artificial
servants and automated machines appearing in mythology and literature.
Here's a brief overview:

1. Ancient Civilizations (3000 BC - 500 AD): The concept of artificial servants and
automated machines appeared in ancient mythologies, such as the Greek myth of Talos
and the Egyptian myth of the automated statues of the gods.

2. Middle Ages (500 - 1500 AD): During the Middle Ages, inventors and engineers began
to design and build automated machines, such as clockwork devices and hydraulic-
powered machines.

History Of Robotics
3. Industrial Revolution (1500 - 1800 AD): The Industrial Revolution saw the
development of more complex machines, such as textile machines and steam-powered
engines.

4. 20th Century (1900 - 2000 AD): The 20th century saw the development of modern
robotics, with the introduction of the first industrial robots in the 1950s and 1960s. The
1980s saw the introduction of robotics in manufacturing, with the development of
flexible manufacturing systems (FMS).

5. 21st Century (2000 AD - present): The 21st century has seen the development of more
advanced robotics technologies, such as artificial intelligence (AI), machine learning
(ML), and the Internet of Things (IoT).

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Welcome to the world of Productivity

Key Milestones in Robotics
Some key milestones in the history of robotics include:

1954: The first industrial robot, Unimate, is introduced.

1969: The first robotic arm, the Rancho Arm, is developed.
1973: The first microprocessor-controlled robot is introduced.
1980s: Robotics begins to be used in manufacturing, with the development of FMS.
2000s: AI and ML begin to be used in robotics, enabling more advanced capabilities.

Key Milestones in Robotics

350 BC : Greek mathematician, Archytas of Tarentum builds a mechanical bird

dubbed "the Pigeon" that is propelled by steam.

322 BC : The Greek philosopher Aristotle

writes, "If every tool, when ordered, or
even of its own accord, could do the work
that befits it, then there would be no need
either of apprentices for the master
workers or of slaves for the lords”. hinting
how nice it would be to have a few robots
around.

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Key Milestones in Robotics

200 BC : Greek, inventor and Physicist Ctesibus of Alexandria,

Water clocks that have movable figures on them. Up until then
the Greeks used hour glasses that had to be turned over after all
these and ran through. Ctesibus' invention changed this
because it measured time as a result of the force of water falling
through it at a constant rate. In general, the Greeks were
fascinated with automata of all kinds, often using them in
theater productions and religious ceremonies.

An early 19th-century illustration of Ctesibius's (285–222 BC) “Clepsydra”

from the 3rd century BC.
The hour indicator ascends as water flows in.
Also, a series of gears rotate a cylinder to correspond to the temporal hours

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Key Milestones in Robotics

1954: The first industrial robot, Unimate, is introduced.

Unimate was the first industrial robot, a hydraulic arm that could perform repetitive
tasks. It was created in 1961 by Unimation, a robotics company founded by
Joseph Engelberger and George Devol .

https://robotsguide.com/robots/unimate

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History

322 B.C. - “If every tool, when ordered, or even of its own accord, could
do the work that befits it... then there would be no need either of
apprentices for the master workers or of slaves for the lords.” - Aristotle
1495 - Leonard da Vinci designs a mechanical clockwork that sits up,
waves its arms, and moves its head
1738 - Jacques de Vaucanson creates a mechanical duck that was able to
eat, flap its wings, and excrete
1769 - Wolfgang von Kempelen builds “The Turk”, which gains fame as
an automaton capable of playing chess - until the hidden human
operator was discovered!

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History

● 1921 - Karel Capek popularizes the term “robot” in a play called

R.U.R.(Rossum’s Universal Robots) wherein robot workers take
over the earth
● 1942 - Isaac Asimov publishes Runaround, which introduces the
three “laws” of robotics
● 1951 - Raymond Goertz builds the first master/slave teleoperation
system for handling radioactive material
● 1954 - George Devol files a patent for the first programmable robot,
and calls it “universal automation”
● 1961- Unimate, the first industrial robot, begins work on a General
Motors assembly line

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Definition
Introduction to robotics:
Brief History, Basic
Concepts of Robotics such
“A robot is a reprogrammable, multifunctional
as Definition, Three laws,
Elements of Robotic manipulator designed to move material, parts,
Systems i.e. Robot
anatomy, DOF, tools, or specialized devices through variable
Misunderstood devices
etc., Classification
Robotic systems on the
of programmed motions for the performance of a
basis of various
parameters such as work variety of tasks.”
volume, type of drive, etc.,
Associated parameters i.e.
resolution, accuracy,
repeatability, dexterity, The Robotics Institute of America
compliance, RCC device
etc., Introduction to
Principles & Strategies of
Automation, Types &
Levels of Automations,
Need of automation,
Industrial applications of
robot.

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Definition
Introduction to robotics:
Brief History, Basic Single correct definition of "Robot", but a typical robot will have
Concepts of Robotics such
as Definition, Three laws, several or possibly all of the following properties:
Elements of Robotic
Systems i.e. Robot ● It is artificially created
anatomy, DOF,
Misunderstood devices
● It can sense environment, and manipulate or interact with
etc., Classification
Robotic systems on the
of
things in it
basis of various ● It has some ability to make choices based on the environment,
parameters such as work
volume, type of drive, etc., often using automatic control or a pre programmed sequence.
Associated parameters i.e.
resolution, accuracy, ● It is programmable
repeatability, dexterity,
compliance, RCC device ● It moves with one or more axes of rotation or translation
etc., Introduction to
Principles & Strategies of ● It makes dexterous coordinated movements
Automation, Types
Levels of Automations,
&
● It moves without direct human intervention
Need of automation, ● It appears to have intent or agency.
Industrial applications of
robot.

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Three Laws of Robotics

Introduction to robotics:
Brief History, Basic The laws are as follows:
Concepts of Robotics such
as Definition, Three laws, (1) a robot may not injure a human being or, through inaction,
Elements of Robotic
Systems i.e. Robot allow a human being to come to harm;
anatomy, DOF,
Misunderstood devices
(2) a robot must obey the orders given it by human beings except
etc., Classification
Robotic systems on the
of
where such orders would conflict with the First Law;
basis of various (3) a robot must protect its own existence as long as such
parameters such as work
volume, type of drive, etc., protection does not conflict with the First or Second Law.”
Associated parameters i.e.
resolution, accuracy, Asimov later added another rule (Fourth or zeroth law) that
repeatability, dexterity,
compliance, RCC device superseded the others.
etc., Introduction to
Principles & Strategies of It stated that “a robot may not harm humanity, or, by inaction,
Automation, Types
Levels of Automations,
&
allow humanity to come to harm.”
Need of automation,
Industrial applications of
robot.

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Robot Anatomy
Introduction to robotics:
Brief History, Basic Manipulator
Concepts of Robotics
such as Definition,
(Joints and Links)
Three laws, Elements of Joints provide relative motion
Robotic Systems i.e.
Robot anatomy, DOF, Links are rigid members between joints
Misunderstood devices
etc., Classification of
Robotic systems on the Various joint types:
basis of various
parameters such as work
(linear and rotary)
volume, type of drive, Each joint provides a “degree-of-freedom”
etc., Associated
parameters i.e. Most robots possess 5 or 6 degrees-of-freedom
resolution, accuracy,
repeatability, dexterity,
compliance, RCC device Robot manipulator consists of two sections:
etc., Introduction to
Principles & Strategies of Body-and-arm – for positioning of objects in
Automation, Types & the robot's work volume
Levels of Automations,
Need of automation, Wrist assembly – for orientation of objects
Industrial applications of
robot.

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Robot Anatomy
Introduction to robotics:
Brief History, Basic Manipulator
Concepts of Robotics
such as Definition,
Three laws, Elements of q Translational motion
Robotic Systems i.e.
Robot anatomy, DOF, q Linear joint (type L)
Misunderstood devices
etc., Classification of q Orthogonal joint (type O)
Robotic systems on the
basis of various
parameters such as work
volume, type of drive,
q Rotary motion
etc., Associated
parameters i.e. q Rotational joint (type R)
resolution, accuracy,
repeatability, dexterity, Twisting joint (type T)
compliance, RCC device q Revolving joint (type V)
etc., Introduction to
Principles & Strategies of
Automation, Types &
Levels of Automations,
Need of automation,
Industrial applications of
robot.

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Joint Notation Scheme

Introduction to robotics:
Brief History, Basic § Uses the joint symbols (L, O, R, T, V) to designate joint
Concepts of Robotics
such as Definition, types
Three laws, Elements of § used to construct robot manipulator
Robotic Systems i.e.
Robot anatomy, DOF, § Separates body-and-arm assembly from wrist assembly
Misunderstood devices
etc., Classification of
using a colon (:)
Robotic systems on the
basis of various
parameters such as work Example: TLR : TR
volume, type of drive,
etc., Associated
parameters i.e.
resolution, accuracy,
repeatability, dexterity,
compliance, RCC device
etc., Introduction to
Principles & Strategies of
Automation, Types &
Levels of Automations,
Need of automation,
Industrial applications of
robot.

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Polar Coordinate
Body-and-Arm Assembly
Introduction to robotics:
Brief History, Basic
Concepts of Robotics
such as Definition, Notation TRL:
Three laws, Elements of
Robotic Systems i.e.
Robot anatomy, DOF, Consists of a sliding arm (L joint)
Misunderstood devices actuated relative to the body,
etc., Classification of
Robotic systems on the
which can rotate about both a
basis of various vertical axis (T joint) and
parameters such as work
volume, type of drive,
horizontal axis (R joint)
etc., Associated
parameters i.e.
resolution, accuracy,
repeatability, dexterity,
compliance, RCC device
etc., Introduction to
Principles & Strategies of
Automation, Types &
Levels of Automations,
Need of automation,
Industrial applications of
robot.

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Cylindrical Body-and-Arm Assembly

Introduction to robotics:
Brief History, Basic
Concepts of Robotics
such as Definition, Notation TLO:
Three laws, Elements of
Robotic Systems i.e.
Robot anatomy, DOF, Consists of a vertical column,
Misunderstood devices relative to which an arm assembly
etc., Classification of
Robotic systems on the
is moved up or down
basis of various The arm can be moved in or out
parameters such as work
volume, type of drive,
relative to the column
etc., Associated
parameters i.e.
resolution, accuracy,
repeatability, dexterity,
compliance, RCC device
etc., Introduction to
Principles & Strategies of
Automation, Types &
Levels of Automations,
Need of automation,
Industrial applications of
robot.

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Cartesian Coordinate
Body-and-Arm Assembly
Introduction to robotics:
Brief History, Basic
Concepts of Robotics
such as Definition, Notation LOO:
Three laws, Elements of
Robotic Systems i.e.
Robot anatomy, DOF, Consists of three sliding joints,
Misunderstood devices two of which are orthogonal
etc., Classification of
Robotic systems on the
Other names include rectilinear
basis of various robot and x-y-z robot
parameters such as work
volume, type of drive,
etc., Associated
parameters i.e.
resolution, accuracy,
repeatability, dexterity,
compliance, RCC device
etc., Introduction to
Principles & Strategies of
Automation, Types &
Levels of Automations,
Need of automation,
Industrial applications of
robot.

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Jointed-Arm Robot
Introduction to robotics:
Brief History, Basic
Concepts of Robotics
such as Definition,
Three laws, Elements of
Notation TRR:
Robotic Systems i.e.
Robot anatomy, DOF,
Misunderstood devices
etc., Classification of
Robotic systems on the
basis of various
parameters such as work
volume, type of drive,
etc., Associated
parameters i.e.
resolution, accuracy,
repeatability, dexterity,
compliance, RCC device
etc., Introduction to
Principles & Strategies of
Automation, Types &
Levels of Automations,
Need of automation,
Industrial applications of
robot.

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SCARA Robot
Introduction to robotics:
Brief History, Basic
Concepts of Robotics
such as Definition, Notation VRO:
Three laws, Elements of
Robotic Systems i.e. SCARA stands for
Robot anatomy, DOF, Selectively Compliant Assembly Robot Arm
Misunderstood devices
etc., Classification of
Robotic systems on the Similar to jointed-arm robot except that
basis of various vertical axes are used for shoulder and
parameters such as work
volume, type of drive, elbow joints to be compliant in horizontal
etc., Associated direction for vertical insertion tasks
parameters i.e.
resolution, accuracy,
repeatability, dexterity,
compliance, RCC device
etc., Introduction to
Principles & Strategies of
Automation, Types &
Levels of Automations,
Need of automation,
Industrial applications of
robot.

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Wrist Configuration Example

Introduction to robotics:
Brief History, Basic
Concepts of Robotics q Wrist assembly is attached to end-of-arm
such as Definition,
Three laws, Elements of q End effector is attached to wrist assembly
Robotic Systems i.e. q Function of wrist assembly is to orient end effector
Robot anatomy, DOF,
Misunderstood devices q Body-and-arm determines global position of end effector
etc., Classification of
Robotic systems on the
basis of various Two or three degrees of freedom:
parameters such as work
volume, type of drive, q Roll
etc., Associated q Pitch
parameters i.e.
resolution, accuracy, q Yaw
repeatability, dexterity,
compliance, RCC device
Notation :RRT
etc., Introduction to
Principles & Strategies of
Automation, Types &
Levels of Automations,
Need of automation,
Industrial applications of
robot.

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Wrist Configurations
Introduction to robotics:
Brief History, Basic
Concepts of Robotics q Sketch following manipulator configurations
such as Definition,
Three laws, Elements of q TRT:R,
Robotic Systems i.e. q TVR:TR
Robot anatomy, DOF,
Misunderstood devices q RR:T
etc., Classification of
Robotic systems on the
basis of various
parameters such as work R
volume, type of drive, R
etc., Associated T T R
parameters i.e. R T
resolution, accuracy, R
repeatability, dexterity, R V
compliance, RCC device
etc., Introduction to
Principles & Strategies of
Automation, Types &
Levels of Automations, T T
Need of automation,
Industrial applications of
robot. (a) TRT:R (b) TVR:TR (c) RR:T
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Joint Drive Systems

Introduction to robotics:
Brief History, Basic
Concepts of Robotics
such as Definition,
q Electric
Three laws, Elements of Uses electric motors to actuate
Robotic Systems i.e.
Robot anatomy, DOF, individual joints
Misunderstood devices
etc., Classification of Preferred drive system in today's
Robotic systems on the
basis of various
robots
parameters such as work q Hydraulic
volume, type of drive,
etc., Associated Uses hydraulic pistons and rotary vane
parameters i.e.
resolution, accuracy, actuators
repeatability, dexterity,
compliance, RCC device Noted for their high power and lift
etc., Introduction to
Principles & Strategies of
capacity
Automation, Types & q Pneumatic
Levels of Automations,
Need of automation, Typically limited to smaller robots and
Industrial applications of
robot. simple material transfer applications
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Robot Control Systems

Introduction to robotics:
Brief History, Basic
Concepts of Robotics q Limited sequence control – pick-and-place
such as Definition, operations using mechanical stops to set
Three laws, Elements of
Robotic Systems i.e.
positions
Robot anatomy, DOF, q Playback with point-to-point control –
Misunderstood devices records work cycle as a sequence of points,
etc., Classification of
Robotic systems on the then plays back the sequence during program
basis of various execution
parameters such as work
volume, type of drive,
q Playback with continuous path control –
etc., Associated greater memory capacity and/or
parameters i.e. interpolation capability to execute paths (in
resolution, accuracy,
repeatability, dexterity, addition to points)
compliance, RCC device q Intelligent control – exhibits behavior that
etc., Introduction to
Principles & Strategies of
makes it seem intelligent, e.g., responds to
Automation, Types & sensor inputs, makes decisions,
Levels of Automations, communicates with humans
Need of automation,
Industrial applications of
robot.

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Robot Control Systems

Introduction to robotics:
Brief History, Basic
Concepts of Robotics
such as Definition,
Three laws, Elements of
Robotic Systems i.e.
Robot anatomy, DOF,
Misunderstood devices Cell Level 2
etc., Classification of Supervisor
Robotic systems on the
basis of various
parameters such as work
volume, type of drive, Controller Level 1
etc., Associated & Program
parameters i.e.
resolution, accuracy,
repeatability, dexterity,
compliance, RCC device
etc., Introduction to Joint 1 Joint 2 Joint 3 Joint 4 Joint 5 Joint 6 Sensors Level 0
Principles & Strategies of
Automation, Types &
Levels of Automations,
Need of automation,
Industrial applications of
robot.

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End Effectors
Introduction to robotics:
Brief History, Basic
Concepts of Robotics
such as Definition, The special tooling for a robot that
Three laws, Elements of
Robotic Systems i.e. enables it to perform a specific task
Robot anatomy, DOF,
Misunderstood devices q Two types:
etc., Classification of
Robotic systems on the
q Grippers – to grasp and
basis of various manipulate objects (e.g., parts)
parameters such as work
volume, type of drive, during work cycle
etc., Associated
parameters i.e. q Tools – to perform a process,
resolution, accuracy,
repeatability, dexterity, e.g., spot welding, spray
compliance, RCC device
etc., Introduction to
painting
Principles & Strategies of
Automation, Types &
Levels of Automations,
Need of automation,
Industrial applications of
robot.

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Gripper and Tools

Introduction to robotics:
Brief History, Basic
Concepts of Robotics
such as Definition,
Three laws, Elements of
Robotic Systems i.e.
Robot anatomy, DOF,
Misunderstood devices
etc., Classification of
Robotic systems on the
basis of various
parameters such as work
volume, type of drive,
etc., Associated
parameters i.e.
resolution, accuracy,
repeatability, dexterity,
compliance, RCC device
etc., Introduction to
Principles & Strategies of
Automation, Types &
Levels of Automations,
Need of automation,
Industrial applications of
robot.

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Degree Of Freedom
Introduction to robotics:
Brief History, Basic
Concepts of Robotics
such as Definition,
Three laws, Elements of
Robotic Systems i.e.
Robot anatomy, DOF,
Misunderstood devices
etc., Classification of
Robotic systems on the
basis of various
parameters such as work
volume, type of drive,
etc., Associated
parameters i.e.
resolution, accuracy,
repeatability, dexterity,
compliance, RCC device
etc., Introduction to
Principles & Strategies of
Automation, Types &
Levels of Automations,
Need of automation,
Industrial applications of
robot.

32

Misunderstood Devices
Introduction to robotics:
Brief History, Basic
Concepts of Robotics Misunderstood Devices often refers to components or systems
such as Definition,
Three laws, Elements of
that are frequently misused, misinterpreted, or
Robotic Systems i.e. misunderstood in their application or functionality. Here are
Robot anatomy, DOF,
Misunderstood devices
some examples:
etc., Classification of
Robotic systems on the
basis of various 1. Encoders: Often misunderstood as just providing position
parameters such as work
volume, type of drive,
feedback, encoders can also offer velocity, direction, and
etc., Associated acceleration data.
parameters i.e.
resolution, accuracy,
repeatability, dexterity, 2. Servomotors: Frequently misused due to incorrect tuning or
compliance, RCC device
etc., Introduction to insufficient understanding of their feedback mechanisms.
Principles & Strategies of
Automation, Types &
Levels of Automations, 3. Gearboxes: Misunderstood regarding their gear ratios,
Need of automation,
Industrial applications of
torque, and speed limitations.
robot.

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Misunderstood Devices
Introduction to robotics:
Brief History, Basic
Concepts of Robotics 4. Sensors: Misused or misinterpreted due to inadequate
such as Definition,
Three laws, Elements of
understanding of their accuracy, resolution, or noise
Robotic Systems i.e. characteristics.
Robot anatomy, DOF,
Misunderstood devices
etc., Classification of 5. Actuators: Misunderstood regarding their force, speed, or
Robotic systems on the
basis of various precision capabilities.
parameters such as work
volume, type of drive,
etc., Associated 6. Power Supplies: Frequently misused due to incorrect
parameters i.e.
resolution, accuracy, voltage, current, or power ratings.
repeatability, dexterity,
compliance, RCC device
etc., Introduction to 7. Control Systems: Misunderstood regarding their stability,
Principles & Strategies of
Automation, Types &
gain, or feedback mechanisms.
Levels of Automations,
Need of automation,
Industrial applications of
robot.

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Misunderstood Devices
Introduction to robotics:
Brief History, Basic
8. Communication Protocols: Misused or misinterpreted due to
Concepts of Robotics inadequate understanding of their data transfer rates,
such as Definition,
Three laws, Elements of protocols, or compatibility.
Robotic Systems i.e.
Robot anatomy, DOF,
Misunderstood devices 9. Safety Systems: Misunderstood regarding their
etc., Classification of
Robotic systems on the
functionality, limitations, or compliance with safety
basis of various standards.
parameters such as work
volume, type of drive,
etc., Associated 10. Robot Operating Systems (ROS): Frequently misused due
parameters i.e.
resolution, accuracy, to inadequate understanding of their architecture, nodes, or
repeatability, dexterity,
compliance, RCC device
communication mechanisms.
etc., Introduction to
Principles & Strategies of
Automation, Types & Understanding these devices and systems correctly is
Levels of Automations,
Need of automation, crucial for designing, building, and operating reliable,
Industrial applications of
robot.
efficient, and safe robotic systems.

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Misunderstood Devices
Introduction to robotics:
Brief History, Basic In robotics, some devices that are often misunderstood
Concepts of Robotics
such as Definition, include: "simple" sensors like proximity sensors which can be
Three laws, Elements of surprisingly complex in application, end-effectors that are not
Robotic Systems i.e.
Robot anatomy, DOF, just "grippers" but can be highly specialized tools, and the
Misunderstood devices
etc., Classification of
robot controller itself, which is often seen as a black box but
Robotic systems on the involves intricate calculations and decision-making
basis of various
parameters such as work processes; leading to a perception that robots are more
volume, type of drive, "automatic" than they truly are in their functionality.
etc., Associated
parameters i.e.
resolution, accuracy,
repeatability, dexterity,
compliance, RCC device
etc., Introduction to
Principles & Strategies of
Automation, Types &
Levels of Automations,
Need of automation,
Industrial applications of
robot.

36

Misunderstood Devices
Introduction to robotics:
Brief History, Basic
•Sensors:
Concepts of Robotics •Proximity sensors: While seemingly basic, their accuracy and
such as Definition,
Three laws, Elements of range can be affected by factors like surface material,
Robotic Systems
Robot anatomy, DOF,
i.e. environmental conditions, and need careful calibration for
Misunderstood devices effective use.
etc., Classification of
Robotic systems on the
•Vision systems: Often considered just "seeing," but require
basis of various complex image processing algorithms to interpret visual data
parameters such as work
volume, type of drive, accurately, especially in dynamic environments.
etc., Associated •End-effectors:
parameters i.e.
resolution, accuracy, •Grippers: Not just simple "clamping hands," they can have
repeatability, dexterity,
compliance, RCC device
specialized designs for delicate objects, different grip types
etc., Introduction to (e.g., vacuum, magnetic), and need precise control for
Principles & Strategies of
Automation, Types & manipulation.
Levels of Automations,
Need of automation,
Industrial applications of
robot.

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Misunderstood Devices
Introduction to robotics:
Brief History, Basic
•Specialized tools: Beyond gripping, end-effectors can be
Concepts of Robotics adapted for tasks like drilling, welding, painting, or even
such as Definition,
Three laws, Elements of precise micro-manipulation depending on the application.
Robotic Systems i.e. •Robot Controller:
Robot anatomy, DOF,
Misunderstood devices •Complex calculations: The controller performs intricate
etc., Classification of
Robotic systems on the
calculations for motion planning, joint control, sensor fusion,
basis of various and real-time decision-making, going beyond just "following a
parameters such as work
volume, type of drive, pre-programmed path".
etc., Associated •Adaptive behaviour: Advanced controllers can incorporate
parameters i.e.
resolution, accuracy, feedback from sensors to adjust movements dynamically,
repeatability, dexterity,
compliance, RCC device
allowing for some level of autonomy and response to
etc., Introduction to unexpected situations.
Principles & Strategies of
Automation, Types &
Levels of Automations,
Need of automation,
Industrial applications of
robot.

38

Classification of Robots
Introduction to robotics:
Brief History, Basic
Classification by Work Volume:
Concepts of Robotics q Small Work Volume:
such as Definition,
Three laws, Elements of
q Used for precise micro-manipulation tasks like micro-assembly or
Robotic Systems i.e. surgery, requiring high resolution and dexterity.
Robot anatomy, DOF,
Misunderstood devices
q Medium Work Volume:
etc., Classification of q Common for general industrial applications like pick-and-place,
Robotic systems on the material handling, where a balance between reach and precision is
basis of various
parameters such as work needed.
volume, type of drive, q Large Work Volume:
etc., Associated
parameters i.e. q Used for large-scale operations like painting, welding, or material
resolution, accuracy, handling in expansive spaces, prioritizing reach over fine
repeatability, dexterity,
compliance, RCC device
manipulation.
etc., Introduction to
Principles & Strategies of
Automation, Types &
Levels of Automations,
Need of automation,
Industrial applications of
robot.

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Classification of Robots
Introduction to robotics:
Brief History, Basic
Classification by Drive Type:
Concepts of Robotics q Electric Drive:
such as Definition,
Three laws, Elements of
q Most common, with high precision and repeatability, suitable for
Robotic Systems i.e. applications requiring fine movements like assembly or pick-and-
Robot anatomy, DOF, place.
Misunderstood devices
etc., Classification of q Hydraulic Drive:
Robotic systems on the q Offers high power and force, used for heavy-duty tasks like robotic
basis of various
parameters such as work arms in manufacturing or construction, but may have lower
volume, type of drive, precision.
etc., Associated
parameters i.e. q Pneumatic Drive:
resolution, accuracy, q Suitable for lighter applications where fast movements are needed,
repeatability, dexterity,
compliance, RCC device
like simple pick-and-place operations, but can be less precise.
etc., Introduction to
Principles & Strategies of
Automation, Types &
Levels of Automations,
Need of automation,
Industrial applications of
robot.

40

Classification of Robots
Introduction to robotics:
Brief History, Basic
Associated Parameters:
Concepts of Robotics q Resolution:
such as Definition,
Three laws, Elements of
q The smallest incremental movement a robot can make, impacting
Robotic Systems i.e. precision in tasks like fine positioning.
Robot anatomy, DOF,
Misunderstood devices
q Accuracy:
etc., Classification of q The closeness of a robot's actual position to its programmed
Robotic systems on the position, ensuring consistency in movement.
basis of various
parameters such as work q Repeatability:
volume, type of drive, q The ability of a robot to consistently return to the same position
etc., Associated
parameters i.e. under identical conditions, crucial for tasks requiring high
resolution, accuracy, precision.
repeatability, dexterity,
compliance, RCC device q Dexterity:
etc., Introduction to q A robot's ability to perform complex movements with multiple
Principles & Strategies of
Automation, Types &
degrees of freedom, important for tasks like grasping delicate objects
Levels of Automations, or manipulating tools.
Need of automation,
Industrial applications of
robot.

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Classification of Robots
Introduction to robotics:
Brief History, Basic
Associated Parameters:
Concepts of Robotics q Compliance:
such as Definition,
Three laws, Elements of
q The ability of a robot to yield slightly to external forces, preventing
Robotic Systems i.e. damage during collisions and enabling adaptation to unpredictable
Robot anatomy, DOF, environments.
Misunderstood devices
etc., Classification of q RCC Device:
Robotic systems on the q The control system that manages the robot's motion, including
basis of various
parameters such as work trajectory planning, speed control, and error detection, impacting
volume, type of drive, overall functionality and performance.
etc., Associated
parameters i.e.
resolution, accuracy,
repeatability, dexterity,
compliance, RCC device
etc., Introduction to
Principles & Strategies of
Automation, Types &
Levels of Automations,
Need of automation,
Industrial applications of
robot.

42

Classification of Robots
Introduction to robotics:
Brief History, Basic
Example Applications:
Concepts of Robotics q High Precision Assembly:
such as Definition,
Three laws, Elements of q Requires a robot with a small work volume, electric drive,
Robotic Systems i.e. high resolution, accuracy, repeatability, and dexterity,
Robot anatomy, DOF,
Misunderstood devices suitable for delicate electronic component placement.
etc., Classification of
Robotic systems on the
q Heavy Duty Material Handling:
basis of various q May utilize a robot with a large work volume, hydraulic drive,
parameters such as work prioritizing force and reach over fine precision.
volume, type of drive,
etc., Associated q Surgical Robotics:
parameters i.e. q Needs a small work volume, high resolution, dexterity, and
resolution, accuracy,
repeatability, dexterity, compliance for precise tissue manipulation.
compliance, RCC device
etc., Introduction to
Principles & Strategies of
Automation, Types &
Levels of Automations,
Need of automation,
Industrial applications of
robot.

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Automation
Introduction to robotics:
Brief History,
Concepts of Robotics
Basic
USA Principle
such as Definition,
Three laws, Elements of
Robotic Systems i.e. U - Universality : Design automation systems to be
Robot anatomy, DOF,
Misunderstood devices versatile and adaptable.
etc., Classification of
Robotic systems on the S - Simplification : Simplify processes and systems
basis of various
parameters such as work
before automating.
volume, type of drive,
etc., Associated
A - Accessibility : Ensure automation systems are
parameters i.e. accessible and easy to use.
resolution, accuracy,
repeatability, dexterity,
compliance, RCC device
etc., Introduction to
Principles & Strategies
of Automation, Types &
Levels of Automations,
Need of automation,
Industrial applications of
robot.

44

Automation
Introduction to robotics:
Brief History,
Concepts of Robotics
Basic
Strategies for Automation
such as Definition,
Three laws, Elements of
Robotic Systems i.e. 1. Automate the Worst-Case Scenario: Automate the
Robot anatomy, DOF,
Misunderstood devices most challenging or labor-intensive tasks first.
etc., Classification of
Robotic systems on the
basis of various
parameters such as work
2. Simplify Before Automating: Simplify processes
volume, type of drive,
etc., Associated
before automating to reduce complexity.
parameters i.e.
resolution, accuracy,
repeatability, dexterity, 3. Use Existing Technology: Leverage existing technology
compliance, RCC device
etc., Introduction to and infrastructure when possible.
Principles & Strategies
of Automation, Types &
Levels of Automations,
Need of automation,
4. Implement Incrementally: Implement automation
Industrial applications of incrementally, starting with small pilot projects.
robot.

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Automation
Introduction to robotics:
Brief History,
Concepts of Robotics
Basic
Strategies for Automation
such as Definition,
Three laws, Elements of
Robotic Systems i.e. Focus on High-Impact Areas: Focus automation efforts
Robot anatomy, DOF,
Misunderstood devices on high-impact areas, such as bottlenecks or high-
etc., Classification of
Robotic systems on the volume processes.
basis of various
parameters such as work
volume, type of drive,
etc., Associated
Design for Flexibility: Design automation systems to be
parameters i.e. flexible and adaptable to changing requirements.
resolution, accuracy,
repeatability, dexterity,
compliance, RCC device
etc., Introduction to Consider Total Cost of Ownership: Consider the total
Principles & Strategies
of Automation, Types &
cost of ownership, including maintenance, training, and
Levels of Automations,
Need of automation,
upgrades.
Industrial applications of
robot.

46

Automation
Introduction to robotics:
Brief History,
Concepts of Robotics
Basic
Strategies for Automation
such as Definition,
Three laws, Elements of
Robotic Systems i.e. Ensure Operator Buy-In: Ensure operators understand
Robot anatomy, DOF,
Misunderstood devices and support automation efforts to minimize resistance.
etc., Classification of
Robotic systems on the
basis of various
parameters such as work
Provide Training and Support: Provide adequate
volume, type of drive,
etc., Associated
training and support for operators and maintenance
parameters i.e. personnel.
resolution, accuracy,
repeatability, dexterity,
compliance, RCC device
etc., Introduction to Continuously Monitor and Improve: Continuously
Principles & Strategies
of Automation, Types &
monitor and improve automation systems to ensure
Levels of Automations,
Need of automation,
optimal performance and efficiency.
Industrial applications of
robot.

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Automation
Introduction to robotics:
Brief History, Basic
The principle of automation involves using technology
Concepts of Robotics
such as Definition,
to automate repetitive, mundane, or complex tasks to:
Three laws, Elements of
Robotic Systems i.e.
Robot anatomy, DOF, 1. Increase efficiency: Automate tasks to reduce manual labor,
Misunderstood devices saving time and resources.
etc., Classification of
Robotic systems on the 2. Improve accuracy: Minimize human error by using
basis of various
parameters such as work
machines or software to perform tasks.
volume, type of drive, 3. Enhance productivity: Free up human resources to focus on
etc., Associated
parameters i.e. higher-value tasks that require creativity, problem-solving,
resolution, accuracy, and decision-making.
repeatability, dexterity,
compliance, RCC device 4. Reduce costs: Decrease labor costs, energy consumption, and
etc., Introduction
Principles & Strategies
to
other expenses associated with manual processes.
of Automation, Types & 5. Improve consistency: Ensure consistent results and quality
Levels of Automations,
Need of automation, by automating tasks.
Industrial applications of
robot.

48

Automation
Introduction to robotics:
Brief History,
Concepts of Robotics
Basic
Automation principles are applied in various fields,
such as Definition,
Three laws, Elements of
including:
Robotic Systems i.e.
Robot anatomy, DOF,
Misunderstood devices
1. Manufacturing: Automate production processes using
etc., Classification of robotics, CNC machines, and computer-aided manufacturing
Robotic systems on the
basis of various (CAM).
parameters such as work
volume, type of drive,
2. Information Technology: Automate tasks using software,
etc., Associated such as workflow automation, chatbots, and artificial
parameters i.e.
resolution, accuracy, intelligence (AI).
repeatability, dexterity, 3. Transportation: Automate logistics, traffic management,
compliance, RCC device
etc., Introduction to and vehicle systems using technologies like GPS, sensors, and
Principles & Strategies
of Automation, Types &
AI.
Levels of Automations,
Need of automation,
Industrial applications of
robot.

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Automation
Introduction to robotics:
Brief History,
Concepts of Robotics
Basic
By applying automation principles, organizations can:
such as Definition,
Three laws, Elements of
Robotic Systems i.e. 1. Streamline processes
Robot anatomy, DOF,
Misunderstood devices
2. Increase competitiveness
etc., Classification of 3. Improve customer satisfaction
Robotic systems on the
basis of various
4. Enhance innovation
parameters such as work
volume, type of drive,
etc.,
parameters
Associated
i.e.
Automation is a key driver of digital
resolution, accuracy,
repeatability, dexterity, transformation, enabling businesses to
compliance, RCC device
etc., Introduction
Principles & Strategies
to
adapt to changing market conditions,
of Automation, Types &
Levels of Automations, improve operational efficiency, and drive
growth.
Need of automation,
Industrial applications of
robot.

50

Automation-Types & Levels

Introduction to robotics:
Brief History, Basic
Automation can be categorized into different types and
Concepts of Robotics
such as Definition,
levels, which help organizations determine the best
Three laws, Elements of approach for their specific needs.
Robotic Systems i.e.
Robot anatomy, DOF, Types of Automation
Misunderstood devices
etc., Classification of
Robotic systems on the
basis of various
1. Fixed Automation: Uses dedicated equipment or machinery to
parameters such as work perform a specific task, such as assembly line robots.
volume, type of drive,
etc., Associated 2. Programmable Automation: Uses equipment or software
parameters i.e. that can be programmed to perform a variety of tasks, such as
resolution, accuracy,
repeatability, dexterity, CNC machines or industrial robots.
compliance, RCC device
etc., Introduction to
3. Flexible Automation: Combines the benefits of fixed and
Principles & Strategies of programmable automation, allowing for quick changes in
Automation, Types &
Levels of Automations, production or processes.
Need of automation, 4. Soft Automation: Uses software to automate tasks, such as
Industrial applications of
robot. workflow automation or business process automation.

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Automation-Types & Levels

Introduction to robotics:
Brief History, Basic
Levels of Automation
Concepts of Robotics
such as Definition,
Three laws, Elements of 1. Level 0: Manual: No automation; tasks are performed
Robotic Systems i.e.
Robot anatomy, DOF, manually.
Misunderstood devices 2. Level 1: Elementary Automation: Simple automation, such as
etc., Classification of
Robotic systems on the sensors or basic control systems.
basis of various
parameters such as work
3. Level 2: Local Automation: Automation of individual
volume, type of drive, machines or processes.
etc., Associated
parameters i.e. 4. Level 3: Supervisory Automation: Automation of multiple
resolution, accuracy, machines or processes, with human oversight.
repeatability, dexterity,
compliance, RCC device 5. Level 4: Integrated Automation: Full integration of
etc., Introduction to
Principles & Strategies of
automation systems across an organization.
Automation, Types & 6. Level 5: Intelligent Automation: Use of artificial intelligence
Levels of Automations,
Need of automation, (AI) and machine learning (ML) to automate complex tasks
Industrial applications of and decision-making processes.
robot.

52

Automation-Types & Levels

Introduction to robotics:
Brief History, Basic
Other Levels of Automation
Concepts of Robotics
such as Definition,
Three laws, Elements of 1. Autonomous Automation: Systems that can operate
Robotic Systems i.e.
Robot anatomy, DOF, independently without human intervention.
Misunderstood devices
etc., Classification of
2. Cognitive Automation: Use of AI and ML to automate tasks
Robotic systems on the that require human-like intelligence and decision-making.
basis of various
parameters such as work 3. Hybrid Automation: Combination of different automation
volume, type of drive, technologies, such as robotics and computer vision.
etc., Associated
parameters i.e.

Understanding the types and levels of

resolution, accuracy,
repeatability, dexterity,
compliance, RCC device
etc., Introduction to
Principles & Strategies of
automation helps organizations
Automation, Types &
Levels of Automations, determine the best approach for their
specific needs and goals.
Need of automation,
Industrial applications of
robot.

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Automation-Need
Introduction to robotics: The need for automation arises from various factors
Brief History, Basic
Concepts of Robotics that drive organizations to seek efficiency, productivity,
such as Definition,
Three laws, Elements of and innovation.
Robotic Systems
Robot anatomy, DOF,
i.e.
Some of the key reasons that highlight the need for
Misunderstood devices
etc., Classification of
automation include:
Robotic systems on the
basis of various
parameters such as work 1. Increased Efficiency and Productivity
volume, type of drive,
etc., Associated Automation helps streamline processes, reducing manual labor
parameters i.e. and minimizing errors. This leads to significant gains in
resolution, accuracy,
repeatability, dexterity, efficiency and productivity.
compliance, RCC device
etc., Introduction to
Principles & Strategies of 2. Cost Savings
Automation, Types &
Levels of Automations, By automating repetitive, mundane, or complex tasks,
Need of automation, organizations can reduce labor costs, energy consumption, and
Industrial applications of
robot. other expenses associated with manual processes.

54

Automation-Need
Introduction to robotics:
Brief History, Basic
3. Improved Accuracy and Quality
Concepts of Robotics Automation minimizes human error, ensuring consistent
such as Definition,
Three laws, Elements of results and high-quality outputs. This is particularly crucial in
Robotic Systems i.e. industries where precision and accuracy are paramount.
Robot anatomy, DOF,
Misunderstood devices
etc., Classification of
Robotic systems on the
4. Enhanced Customer Experience
basis of various Automation enables organizations to provide faster, more
parameters such as work
volume, type of drive, personalized, and efficient services to customers, leading to
etc., Associated increased satisfaction and loyalty.
parameters i.e.
resolution, accuracy,
repeatability, dexterity,
compliance, RCC device
5. Scalability and Flexibility
etc., Introduction to Automation allows organizations to quickly adapt to changing
Principles & Strategies of
Automation, Types & market conditions, customer demands, and production
Levels of Automations, requirements. This scalability and flexibility are essential for
Need of automation,
Industrial applications of staying competitive in today's fast-paced business
robot.
environment.
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Automation-Need
Introduction to robotics:
Brief History, Basic
6. Reduced Risk and Compliance
Concepts of Robotics Automation helps mitigate risks associated with manual
such as Definition,
Three laws, Elements of processes, such as data breaches, errors, and non-compliance
Robotic Systems i.e. with regulatory requirements.
Robot anatomy, DOF,
Misunderstood devices
etc., Classification of
Robotic systems on the
7. Improved Data Analysis and Decision-Making
basis of various Automation provides organizations with real-time data and
parameters such as work
volume, type of drive, insights, enabling informed decision-making and strategic
etc., Associated planning.
parameters i.e.
resolution, accuracy,
repeatability, dexterity,
compliance, RCC device
8. Talent Attraction and Retention
etc., Introduction to Automation helps organizations attract and retain top talent by
Principles & Strategies of
Automation, Types & providing employees with more engaging, challenging, and
Levels of Automations, meaningful work.
Need of automation,
Industrial applications of
robot.

56

Automation-Need
Introduction to robotics:
Brief History, Basic
9. Environmental Sustainability
Concepts of Robotics Automation can help reduce energy consumption, waste, and
such as Definition,
Three laws, Elements of emissions, contributing to a more sustainable and
Robotic Systems i.e. environmentally friendly business model.
Robot anatomy, DOF,
Misunderstood devices
etc., Classification of
Robotic systems on the
10. Competitive Advantage
basis of various In today's digital landscape, automation is no longer a luxury
parameters such as work
volume, type of drive, but a necessity. Organizations that adopt automation
etc., Associated technologies can gain a significant competitive advantage in
parameters i.e.
resolution, accuracy, their respective markets.
repeatability, dexterity,
compliance, RCC device
etc., Introduction to
Principles & Strategies of By understanding the need for automation,
Automation, Types &
Levels of Automations, organizations can identify areas where
Need of automation,
Industrial applications of automation can bring significant benefits and
robot.
drive business success.
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Industrial Robot Applications

Introduction to robotics:
Brief History, Basic
Concepts of Robotics
such as Definition,
Three laws, Elements of
Robotic Systems i.e.
Robot anatomy, DOF,
Misunderstood devices
etc., Classification of
Robotic systems on the
basis of various
parameters such as work
volume, type of drive,
etc., Associated
parameters i.e.
resolution, accuracy,
repeatability, dexterity,
compliance, RCC device
etc., Introduction to
Principles & Strategies of
Automation, Types &
Levels of Automations,
Need of automation,
Industrial applications of
robot.

58

Industrial Robot Applications

Introduction to robotics:
Brief History, Basic
Concepts of Robotics
such as Definition,
Three laws, Elements of
Robotic Systems i.e.
Robot anatomy, DOF,
Misunderstood devices
etc., Classification of
Robotic systems on the
basis of various
parameters such as work
volume, type of drive,
etc., Associated
parameters i.e.
resolution, accuracy,
repeatability, dexterity,
compliance, RCC device
etc., Introduction to
Principles & Strategies of
Automation, Types &
Levels of Automations,
Need of automation,
Industrial applications of
robot.

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Industrial Robot Applications

Introduction to robotics:
Brief History, Basic
1. Machine Loading
Concepts of Robotics 2. Pick and Place
such as Definition,
Three laws, Elements of 3. Welding
Robotic Systems i.e. 4. Painting
Robot anatomy, DOF,
Misunderstood devices 5. Inspection
etc., Classification of
Robotic systems on the
6. Assembly Operation
basis of various 7. Manufacturing
parameters such as work
volume, type of drive, 8. Surveillance
etc., Associated 9. Medical Applications
parameters i.e.
resolution, accuracy, 10. Assisting Disabled Individuals
repeatability, dexterity,
compliance, RCC device
11. Hazardous Environments
etc., Introduction to 12. Underwater, space and remote locations
Principles & Strategies of
Automation, Types &
Levels of Automations,
Need of automation,
Industrial applications of
robot.

60

Industrial Robot Applications

Introduction to robotics:
Brief History, Basic
1. Material handling
Concepts of Robotics applications
such as Definition,
Three laws, Elements of Material transfer – pick-
Robotic Systems i.e. and-place, palletizing
Robot anatomy, DOF,
Misunderstood devices Machine loading and/or
etc., Classification of
Robotic systems on the
unloading
basis of various 2. Processing operations
parameters such as work
volume, type of drive, Welding
etc., Associated Spray coating
parameters i.e.
resolution, accuracy, Cutting and grinding
repeatability, dexterity,
compliance, RCC device
3. Assembly and inspection
etc., Introduction to
Principles & Strategies of
Automation, Types &
Levels of Automations,
Need of automation,
Industrial applications of
robot.

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Robotic Arc-Welding Cell

Introduction to robotics:
Brief History, Basic
Concepts of Robotics
such as Definition,
Robot performs
Three laws, Elements of flux-cored arc
Robotic Systems i.e.
Robot anatomy, DOF, welding (FCAW)
Misunderstood devices operation at one
etc., Classification of
Robotic systems on the workstation while
basis of various
parameters such as work
fitter changes
volume, type of drive, parts at the other
etc., Associated
parameters i.e. workstation
resolution, accuracy,
repeatability, dexterity,
compliance, RCC device
etc., Introduction to
Principles & Strategies of
Automation, Types &
Levels of Automations,
Need of automation,
Industrial applications of
robot.

62

Working Envelope
Introduction to robotics:
Brief History, Basic
Concepts of Robotics
such as Definition,
Three laws, Elements of
Robotic Systems i.e.
Robot anatomy, DOF,
Misunderstood devices
etc., Classification of
Robotic systems on the
basis of various
parameters such as work
volume, type of drive,
etc., Associated
parameters i.e.
resolution, accuracy,
repeatability, dexterity,
compliance, RCC device
etc., Introduction to
Principles & Strategies of
Automation, Types &
Levels of Automations,
Need of automation,
Industrial applications of
robot.

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