Introduction to Robotics

(UME 805)
3L-1T-0P 3.5 Credit
• Course Objectives: This course introduces the basic concepts, standard
terminologies, applications, design specifications, and the mechanical design aspects
of robotics related to kinematics, trajectory planning, dynamics, control and
simulation of serial industrial robotic manipulators.
 Syllabus
• Introduction: Definition of robot, types and classifications, standard terminologies
related to robotics, key design specifications used for selection of serial robotic
manipulators for various applications, robotic applications in modern automated
industries, research and non-industrial environments.
• Robot Kinematics: Homogeneous co-ordinates and co-ordinate transformations,
Forward and inverse kinematics for serial robotic manipulators, the concept of
Jacobian, kinematics simulation in MATLAB environment and using Robo
Analyser.
• Robot Dynamics: Introduction to Lagrangian formulations for serial robotic
manipulators, actuator dynamics.
• Trajectory Generation: Joint-Space trajectory generation, Cartesian space
trajectory generation, Path generation at run time, simulation of trajectory-related
problems.
• Robot Control: Open-loop and Closed-loop control, Model-based control,
Trajectory following control.
Sessional:
4 Marks Quiz
5 Marks Tutorial
6 Marks Assignment
10 Marks Project
Introduction to Robotics
Agenda
• Introduction to Robotics
• Classification of Robots
• Robot accessories
• Robot coordinates
• Work volumes and Reference Frames
• Robot Programming
• Robot Applications in manufacturing application.
Robotics Timeline
• 1922 Czech author Karel Capek wrote a story called Rossum’s Universal
Robots and introduced the word “Rabota”(meaning worker)
• 1954 George Devol developed the first programmable Robot.
• 1955 Denavit and Hartenberg developed the homogenous transformation
matrices
• 1962 Unimation was formed, first industrial Robots appeared.
• 1973 Cincinnati Milacron introduced the T3 model robot, which became very
popular in industry.
• 1990 Cincinnati Milacron was acquired by ABB
What is a Robot?
A mechanical device programmed to perform a wide variety of
applications.

Or

A robot is a machine—especially one programmable by

a computer— capable of carrying out a complex series of actions
automatically. Robots can be guided by an external control device
or the control may be embedded within.
Robots all have some kind of mechanical construction, a frame, form or shape
designed to achieve a particular task. For example, a robot designed to travel
across heavy dirt or mud, might use caterpillar tracks. The mechanical aspect is
mostly the creator's solution to completing the assigned task and dealing with
the physics of the environment around it. Form follows function.
Robots have electrical components which power and control the machinery. For
example, the robot with caterpillar tracks would need some kind of power to
move the tracker treads. That power comes in the form of electricity, which will
have to travel through a wire and originate from a battery, a basic electrical
circuit. Even petrol powered machines that get their power mainly from petrol
still require an electric current to start the combustion process which is why most
petrol powered machines like cars, have batteries. The electrical aspect of robots
is used for movement (through motors), sensing (where electrical signals are
used to measure things like heat, sound, position, and energy status) and
operation (robots need some level of electrical energy supplied to their motors
and sensors in order to activate and perform basic operations)
All robots contain some level of computer programming code. There are three different types
of robotic programs: remote control, artificial intelligence and hybrid. A robot with remote
control programing has a preexisting set of commands that it will only perform if and when
it receives a signal from a control source, typically a human being with a remote control. It is
perhaps more appropriate to view devices controlled primarily by human commands as
falling in the discipline of automation rather than robotics. Robots that use artificial
intelligence interact with their environment on their own without a control source, and can
determine reactions to objects and problems they encounter using their preexisting
programming. Hybrid is a form of programming that incorporates both AI and RC functions.
Robot Classification
The following is the classification of Robots according to the Robotics Institute of
America
• Manual handling device: This type of robot has multiple degrees of freedom, but all
of its actions are performed under the direct control of an operator. Certain devices in
this class may be referred to as co-bots (cooperative robots).
• Fixed sequence robot: This type of robot repeats a fixed sequence of actions without
needing to be controlled by an operator. However, the sequence of actions it performs
cannot be modified (i.e. it is not programmable).
• Variable-Sequence Robot: This type of robot is similar to class 2, except that the
sequence of actions can be reprogrammed easily allowing it to be quickly adapted to
perform new tasks.
• Playback Robot: This type of robot is first guided through a sequence of actions by an
operator, then repeats the same actions automatically.
• Intelligent Robot: A robot with the means to understand its environment and the
ability to successfully complete a task despite changes to the environment.
ROBOT
• Defined by Robotics Industry Association (RIA) as
• a re-programmable, multifunctional manipulator designed to move
material, parts, tools or specialized devices through variable programmed
motion for a variety of tasks
• possess certain anthropomorphic characteristics
• mechanical arm
• sensors to respond to input
• Intelligence to make decisions
Robot Accessories
A Robot is a system, consists of the following elements,
which are integrated to form a whole:
• Manipulator / Rover : This is the main body of the
Robot and consists of links, joints and structural
elements of the Robot.

• End Effector : This is the part that generally handles

objects, makes connection to other machines, or
performs the required tasks. It can vary in size and
complexity from a endeffector on the space shuttle to a
small gripper
Accessories
• Acutators : Actuators are the muscles of the manipulators.
Common types of actuators are servomotors, stepper motors,
pneumatic cylinders etc.

• Sensors : Sensors are used to collect information about the

internal state of the robot or to communicate with the outside
environment. Robots are often equipped with external sensory
devices such as a vision system, touch and tactile sensors etc
which help to communicate with the environment

• Controller : The controller receives data from the computer,

controls the motions of the actuator and coordinates these
motions with the sensory feedback information.
 Robot Configurations
Cartesian coordinate Robots (3P):
These Robots are made of 3
Linear joints that orient the end
effector, which are usually
followed by additional revolute
joints.

A prismatic joint provides a linear sliding movement between two bodies, and is
often called a slider. A prismatic pair is also called as sliding pair.
Cartesian Robot - Work Envelope
Robot Configurations (cont’d)
• Cylindrical (R2P): Cylindrical coordinate Robots have 2 prismatic joints and one revolute joint.
Cylindrical Robot - Work Envelope
Robot Configurations (cont’d)
• Spherical joint (2RP): They follow a spherical coordinate system.
Spherical Robot - Work Envelope
Robot Configurations (cont’d)
• Articulated/anthropomorphic(3R) :An articulated robot’s joints are all revolute, similar to a
human’s arm.
Robot Configurations (cont’d)
• Selective Compliance Assembly Robot Arm (SCARA) (2R1P): They have two revolute joints that
are parallel and allow the Robot to move in a horizontal plane, plus an additional prismatic joint
that moves vertically
Robot Configurations
Robot Configurations
 Robotics terms
•Robot workspace or workspace envelope: It denotes the set of all points the robot can reach. The
dexterous workspace is the subset of these points at which the end effector can be positioned with any desired
orientation.
•Reach: Maximum distance a robot can reach within its workspace envelope. The dexterous reach is the
maximum distance the robot can reach with its end effector in any desired orientation.
•Payload: A robot’s payload is the maximum weight it can carry.
•Spatial resolution (generally known as precision): This describes how precisely the end effector can be
positioned at a specified point. It depends on several factors including gearing, the resolution of its actuators,
and the resolution of its position feedback sensors. In some ways, this is reminiscent of the rounding error that
is introduced into a mathematical calculation when you limit your values to a fixed number of decimal places.
•Repeatability (aka variability): This describes how accurately the end effector can be positioned at the
same point many times. When a robot which has high repeatability and low precision is directed to a specific
point, there may be a significant error, but the same error will be present each time the robot is directed back to
the same point. Conversely, when a robot with low repeatability is directed to the same point over and over
again, it may exhibit a different error each time.
•Forward kinematics: It provide expressions for the Cartesian coordinates of the end effector in terms of
the joint angles (for revolute joints) and lengths (for prismatic joints).
•Inverse kinematics: It provide expressions for each of the joint angles in terms of the desired Cartesian
coordinates of the end effector. When a desired end effector position is specified in x,y,z terms, the inverse
kinematic equations can therefore be used to determine the required setting for each joint.
 Precision, Accuracy and Repeatability of movement
The precision of movement is basically a function of three features:
spatial resolution, accuracy, And repeatability
 Accuracy relates to the robot's capacity to be programmed to achieve a given target point.
 Programmed point may be different from the target point due to limitation of control resolution.
 Repeatability
 Repeatability is the measure of the ability of the robot to position the tool
tip at same position repeatedly.
 There is always some repeatability error associated because of backlash
in gears, flexibility of the mechanical linkages and drive systems.
 The repeatability errors are very small in magnitude for well designed
robotic manipulators.
 Repeatability and accuracy refer to two different aspects.
 A robot that is repeatable may not be very accurate, and visa versa.

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 Let T be the desired target point to where the robot is commanded to
move, but due to limitations on its accuracy, the programmed position
becomes point P. The distance between points T and P is robot's accuracy.
 When, the robot wrist is commanded to the programmed point P again , it does
not return to the exact same position. Instead, it returns to position R. The
difference between P and R is limitations on the robot's repeatability.
 The robot will not always return to the same position R on subsequent
repetitions of the motion cycle. Instead, it will form a cluster of points on both
sides of the position P.
 Precision
It is closely related to repeatability. It is measure of spatial resolution with which
tool can be positioned within work envelope.

A B

If tool tip is positioned at A then next closest position that it moves is B. Then
distance between A and B is precision.
Tool tip might be positioned anywhere on 3 dimensional grid of points within work
space. Overall precision is maximum distance between neighboring points in
grid.
Robot type Horizontal precision Vertical precision

Cartesian Uniform Uniform

Cylindrical Decreases radially Uniform

Spherical Decreases radially Decreases radially

SCARA varies Uniform

articulated varies varies

cartesian

Cylindrical robot
Reference Frames
• World Reference Frame which is a universal coordinate frame, as defined by the x-y-z axes. In this
case the joints of the robot move simultaneously so as to create motions along the three major
axes.

• Joint Reference Frame which is used to specify movements of each individual joint of the Robot.
In this case each joint may be accessed individually and thus only one joint moves at a time.

• Tool Reference Frame which specifies the movements of the Robots hand relative to the frame
attached to the hand. The x’,y’and z’ axes attached to the hand define the motions of the hand
relative to this local frame. All joints of the Robot move simultaneously to create coordinated
motions about the Tool frame.
Robot Reference Frames
Work space
WRIST
• typically has 3 degrees of freedom
• Roll involves rotating the wrist about the arm axis
• Pitch up-down rotation of the wrist
• Yaw left-right rotation of the wrist
• End effector is mounted on the wrist
WRIST MOTIONS
CONTROL METHODS
• Non Servo Control
• implemented by setting limits or mechanical stops for each joint and
sequencing the actuation of each joint to accomplish the cycle
• No control over the motion at the intermediate points, only end points are
known

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• Programming accomplished by
• setting desired sequence of moves
• adjusting end stops for each axis accordingly
• the sequence of moves is controlled by a “squencer”,
which uses feedback received from the end stops to
index to next step in the program
• Low cost and easy to maintain, reliable
• relatively high speed
• limited flexibility
• typically hydraulic, pneumatic drives
• Servo Control
• Point to point Control
• Continuous Path Control
• Closed Loop control used to monitor position,
velocity (other variables) of each joint
Point-to-Point Control
• Only the end points are programmed, the path used to connect the
end points are computed by the controller
• user can control velocity, and may permit linear or piece wise linear
motion
• Feedback control is used during motion to ascertain that individual
joints have achieved desired location
• Often used hydraulic drives, recent trend towards servomotors
• Applications
• pick and place type operations
• palletizing
• machine loading
Continuous Path Controlled
• in addition to the control over the endpoints, the path taken by the
end effector can be controlled
• Path is controlled by manipulating the joints throughout the entire
motion, via closed loop control
• Applications:
• spray painting, polishing, grinding, arc welding
In-class Exercise
• As a group, discuss an activity that you think could be automated by
using a robot.
• Define the tasks that the robot will perform.
• What kind of special tooling is required? Sketch if you will use any.
• Can the activity be justified economically? Show your development –
do not simply say yes or no.
Robot Applications
Robots can be used in many situations and for lots of purposes, but today many
are used in dangerous environments (including bomb
detection and deactivation), manufacturing processes, or where humans cannot
survive (e.g. in space, under water, in high heat, and clean up and containment
of hazardous materials and radiation).

Robots can take on any form but some are made to resemble humans in
appearance. This is said to help in the acceptance of a robot in certain
replicative behaviors usually performed by people. Such robots attempt to
replicate walking, lifting, speech, cognition, or any other human activity.

Many of today's robots are inspired by nature, contributing to the field of bio-
inspired robotics.
Robot Applications in manufacturing application

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

•Continuous arc welding

•Spray coating
•Assembly
•Inspection

Spot Welding Manipulator Assembly Manipulator

Loading/unloading parts to/from the machines

(i)Unloading parts from die-casting machines

(ii)Loading a raw hot billet into a die, holding it during forging and unloading it from die
(iii)Loading sheet blanks into automatic presses
(iv)Unloading molded parts formed in injection molding machines
(v)Loading raw blanks into NC machine tools and unloading the finished parts

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Palletizing and Depalletizing:
Many products are packaged in boxes of
regular shape and stacked on standard
pallets for shipping.

Robots are commonly used to palletize and

depalletize boxes because they can be
programme to move through the array of box
positions layer after layer.

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Drilling
Hole drilling is a precision
machining process.

Drilling robots use special drilling end

effectors which locate and dock onto the work
piece or a fixture.

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Spot Welding
Spot welding is the most common welding
application found in the manufacturing field.

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Fastening

Robots are commonly used for applying

threaded fasteners in the automobile industry
for fastening wheels,

in the electronics industry for screwing

components to circuit boards and circuit
boards into chassis.

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Paint and Compound Spraying

Robots provide a consistency in paint quality

and widely used in automobile industry for
medium batch production.

Painting booths are hazardous because the

paint material is often toxic, and flammable.

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Arc Welding
Ship building, aerospace, construction industries
are among the many areas of application

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Interesting Video

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Robot joints and D.O.F.
Redundant manipulator
Spatial manipulator with more than 6 dof
Planer manipulator with more than 3 dof

Under actuated manipulator

Spatial manipulator with less than 6 dof
Planer manipulator with less than 3 dof
 Very imp

Mechanism: Fix one link of a kinematic chain.

Inversion of mechanism: Fixing different link. Total 3 types: The four bar chain,
single slider crank-chain, double slider crank-chain.
Very imp