Industry 4.

Module Robotics

Session No. I

Version 1.0
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Material from the published or unpublished work of others which is referred to in the Class
Notes is credited to the author in question in the text. The Class Notes prepared is of 3,607
words in length. Research ethics issues have been considered and handled appropriately within
the Globsyn Business School guidelines and procedures.

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Table of Contents
1. Robots and Robotics .............................................................................................. 5

2. Artificial Intelligence and Robotics – Difference.................................................. 8

2.1. Workings of a Computer or AI Robots ................................................................ 9

2.2. Present day Robots ............................................................................................ 10

2.3. Non-Artificially Intelligent Cobot ....................................................................... 10

2.4. Artificially Intelligent Cobot ............................................................................... 11

3. Different Types of Industrial Robots ................................................................... 12

3.1. Vertically Articulated Robots ............................................................................. 12

3.2. Cartesian Robots .......................................................................................... 13

3.3. Cylindrical Robots ............................................................................................ 14

3.4. Polar Robots .................................................................................................... 15

3.5. SCARA Robots ................................................................................................ 16

3.6. Delta ................................................................................................................. 17

4. Uses of Robots in Medical Industry .................................................................... 18

4.1. Robotic Surgery .................................................................................................. 19

4.2. Advantages for a robotic surgery ........................................................................ 20

4.3. Risk factors ...................................................................................................... 21

References ................................................................................................................... 22

List of Figures
Figure 1.1: Human and a Humanoid .......................................................................................... 5
Figure 1.2: Three robots in a scene from “Rossum’s Universal Robots” ..................................... 6
Figure 1.3: Atlas (2016), a bipedal humanoid robot .................................................................... 7
Figure 2.1: Venn diagram to show the relationship between AI and Robotics ............................ 8
Figure 2.2: Humanoid AI Robot Sophia ...................................................................................... 9

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Figure 2.3: Factory Automation with Industrial Robots in a German bakery ..............................11
Figure 3.1: A six-axis articulated welding robot reaching into a fixture to weld ..........................12
Figure 3.2: Cartesian Robot ......................................................................................................13
Figure 3.3: Cylindrical Robot .....................................................................................................14
Figure 3.4: Mechanism of a Polar Robot ...................................................................................15
Figure 3.5: Scara Robot ............................................................................................................16
Figure 4.1: The operating team with Intuitive Surgical’s da Vinci Xi surgical robot ....................18
Figure 4.2: Robotic Surgery in Progress....................................................................................20

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1. Robots and Robotics

Figure 1.1: Human and a Humanoid

Source: (Mitra)

Robotics is the study of Robots. Robots are the machines which are used to do jobs for the
humans. Robots are often controlled by the humans and some can also work by themselves.

Human beings are always fascinated by the Robots, the machine man, and these obsessions
can be observed in various films in every corners of the world – right from the famous
Hollywood Films, European films, Asian films etc. Machineries and Robots appear in the parallel
world as humans, allowing the men to imagine that someday the technology will take over the
human world and rule by themselves.

Ever since the early days of cinema, even before the term “Robots” was coined, movies were
obsessed with them. The films had robots which looked like robots, with gears, machineries,
spinning doodads, spokes with a head form and antennae. Arnold Schwarzenegger in

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Terminator movie series helped us to realize and sparked our imaginations about the robots to a
different level altogether. The robots in Wall-E simply follow their directives from humans and do
their work flawlessly. Wall-E tells us the love of natural world amongst digitisation, whereas
Robocop creates a partially human robot, a balance is brought between Murphy’s human side
and his robotic brain.

As we have discussed earlier, that robotics involves the study and development of robots, so it
is an interdisciplinary branch of mechanical, electronic, information engineering and computer
science that involves the conception, design, manufacture, operation and use of robots along
with the computer systems for the control, feedback and information processing. (Wikipedia)

Figure 1.2: Three robots in a scene from “Rossum’s Universal Robots”

Source: (Science Friday)

The term robot was first introduced by a Czech dramatist, Karel Capek in his 1921 hit play
“Rossum’s Universal Robots”. He was referring to a perfect tireless worker, “who lacks nothing
but a soul”, and who can perform manual labour jobs for human beings. The Word Robot has
been derived from Old Church Slavonic word, robota, which means “servitude, forced labour, or
drudgery”.

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Figure 1.3: Atlas (2016), a bipedal humanoid robot

Source: (Boston Dynamics)

Isaac Asimov coined the word robotics as the science of the study of robots, in his science
fiction stories about robots in 1940s. Asimov proposed the 3 laws of Robotics in his 1942 short
story “Runaround” and has been widely anticipated in science fictions, films and has now
become a topic for active research and development in the fields of robotics and artificial
intelligence. The three laws are:

a) A robot may not injure a human being or, through inaction, allow a human being to come
to harm.
b) A robot must obey the orders given it by human beings except where such orders would
conflict with the First Law.
c) A robot must protect its own existence as long as such protection does not conflict with
the First or Second Laws. (Asimov)

In short, a robot can be defined as an automatic device that performs function ordinarily
ascribed to human being. It can be programmed by a computer, and is capable of carrying out a
complex series of tasks automatically. Automation refers to the capability of a machine that can
function independently without any human intervention.

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2. Artificial Intelligence and Robotics – Difference

Robotics and Artificial Intelligence is not same thing at all and they serve different purposes.

In fact, the two fields are almost entirely separate. A traditional robot only works based on
instructions and they don’t have the capability to make decisions. (Owen-Hill)

Robotics involves designing and implementation of Robots. Robots aim to complete the work
done by humans in much lesser time, and robots can be automatic and need few instructions
from humans for it to function.

Artificial Intelligence (AI) or machine intelligence is the intelligence demonstrated by machines

against the natural intelligence as demonstrated by the humans. It is a computer science
branch, and it helps in developing software that can do the tasks that needs intelligence,
decision-making on personal discretions. AI helps the machine to learn and perceive
surroundings and adapt its behaviour according to the requirement. AI can also solve different
problems, handle logical reasoning and also learn many languages.

The relationship between Robotics and Artificial Intelligence can be understood through a Venn
diagram as follows:

Figure 2.1: Venn diagram to show the relationship between AI and Robotics

Robots developed with intelligence are known as artificially intelligent robots and here comes
the intersection of robotics and AI. Artificially intelligent robots are the bridge between robotics
and AI. These are robots which are controlled by AI programs.

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The most exciting field in Robotics is Artificial Intelligence (AI), and also it is most controversial.
AI is a recreation of human thought process, so it is a man-made machine with intellectual
abilities. (HARRIS)

Computers have the ability to solve problems in limited territories, and so the basic idea of AI is
also simple, though it has a complicated execution.

2.1. Workings of a Computer or AI Robots

The AI robots or computers gather information of their surroundings through sensors or human
inputs. The collected information is then compared with the stored information and decides
which information is significant in the relevant situation. The computer then explores through the
possible actions, and predicts the one to be most successful in the current situation and all
these are done through logical reasoning, based on the information collected at the beginning.
Both AI robots and computers can solve the problems they are programmed to solve, in general
they may not have the analytical ability to solve an unknown issue.

Figure 2.2: Humanoid AI Robot Sophia

Source: (Wikiquote)

Some modern AI robots have the ability to learn in limited capability. For example, the AI robot
can learn the outcome of the action and store the information in its memory. Next time, when it
sees an obstacle, it can use its hand to remove it like it did before. Some robots can also
interact socially and they try to mimic the human actions, recognise voice and even can display
various facial expressions.

Sophia, a humanoid robot, developed by the Hong Kong based company Hanson Robotics, was
activated on February 14, 2016, and made its first public appearance in the same year. Sophia
uses Artificial Intelligence, visual data processing and facial recognition. It can imitate human

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facial expression and can display more than 60 facial expressions. Sophia uses Voice-to-text
technology from Alphabet Inc. (Google parent Company) and is so designed that it gets smarter
over the days. (BBC Future)

M.I. T’s Artificial Intelligence Lab developed Kismet and other AI robots using an unconventional
operating structure. Instead of directing each and every action using a central computer, the AI
robots control the low-level actions with low-level computers. The real challenge for developing
AI is to understand how natural human intelligence works. We are still yet to know how the
billions of neuron connection add up to the higher level of reasoning and low-level of operations.
Only because of this, AI research is still much theoretical, though the AI robots will play a larger
role in our daily future life. In the coming decades, Robots will move out of the industrial and
scientific worlds and will move into our daily lives.

2.2. Present day Robots

At present days many robots are not artificially intelligent. Up until quite recently, all industrial
robots could only be programmed to carry out a repetitive series of movements. Repetitive
menial movements do not require artificial intelligence and this is where Industrial Robots come
into action. Non-intelligent robots are quite limited in their functionalities and are quite different
form AI robots. Ai robots need AI algorithms which are often necessary to allow the robot to
perform more complex tasks.

The following are the examples where robots are categorised into artificially intelligent and non-
artificially intelligent robots and are used by the humans in a shared working space, so they are
known as Cobots, or Collaborative Robots. Cobots can be used to work safely in close proximity
to humans.

2.3. Non-Artificially Intelligent Cobot

A simple collaborative robot (Cobot) is a perfect example of a non-intelligent robot. Cobots can
have many roles, and also can perform variety of functions. For example, one can easily
program a Cobot to pick up an object and place it elsewhere. The Cobot will then continue to
pick and place objects in exactly the same way until it is turned off. This is an autonomous
function because the robot does not require any human input after it has been programmed.
However, the task does not require any intelligence.

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Figure 2.3: Factory Automation with Industrial Robots in a German bakery

Source: (KUKA Roboter GmbH)

Typical applications of Cobots include welding, painting, assembly, disassembly, pick and place
for printed circuit boards, packaging and labelling, palletizing, product inspection, and testing; all
accomplished with high endurance, speed, and precision. They can also assist in material
handling.

2.4. Artificially Intelligent Cobot

The capabilities of a Cobot can be extended by using Artificial Intelligence. Let us imagine
ourselves to add a camera to the Cobot. Robot vision comes under the category of "perception"
and usually requires AI algorithms. The Cobot can be used to detect the object it was picking up
and place it in a different location depending on the type of object. This would involve training a
specialized vision program to recognize the different types of object. One way to do this is using
an AI algorithm called Template Matching.

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The most popular AI Cobots are the humanoids, and modern day humanoids, as we already
have discussed earlier, are created for solving various purposes. Humanoids move, talk, and
carry out actions through certain features such as sensors and actuators. Humanoids work
through certain features, where they have sensors to aid them in sensing their environments.
The cameras enable them to see clearly, motors placed at strategic points helps the humanoid
to move parts and make gestures. These motors are known as actuators.

3. Different Types of Industrial Robots

An industrial robot is a robot system used for manufacturing in the industrial set up and is
automated, programmable and also capable of movement on three or more axes.

There are six main types of industrial robots for different purposes and they are - Cartesian,
SCARA, Cylindrical, Delta, Polar and Vertically Articulated. Each of the type offers a different
joint configuration, and each joint in the arm are called axes. Apart from these, there are also
additional types of robot configurations. (Robotworx)

3.1. Vertically Articulated Robots

Figure 3.1: A six-axis articulated welding robot reaching into a fixture to weld

Source: (Wikipedia)

This robot design features rotary joints and can range from simple two joint structures to 10 or
more joints. The arm is connected to the base with a twisting joint. The links in the arm are
connected by rotary joints. Each joint is called an axis and provides an additional degree of
freedom, or range of motion. Industrial robots commonly have four or six axes.

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Uses of Articulated Robots

Vertically articulated Robot Application involves screw fastening, soldering and coating, can
change tools between tasks. So the usage of articulated robots can be usually seen in
machinery industry and electronics manufacturer.

Advantages and Disadvantages

Articulated Robots have high speeds, easier to align to multiple plains and have a large working
envelope for the least amount of floor space.

Industrial Application

Vertically Articulated Robots are usually used in the industries like Arc welding, Automotive
assembly, Food packaging, Spot welding, Material handling, Machine tending, Steel bridge
manufacturing, Steel cutting, Glass handling, Foundry and forging application etc.

3.2. Cartesian Robots

Figure 3.2: Cartesian Robot

Cartesian robots are also called rectilinear or gantry robots. These are the most common type to
be used in industrial applications. Cartesian robots have three linear joints that use the
Cartesian coordinate system (X, Y, and Z). They also may have an attached wrist to allow for
rotational movement. The three prismatic joints deliver a linear motion along the axis. Plant
operators often prefer this as this is use to program, use and are highly customisable. Gantry
Robots are often quite large in size. (Marquiss)

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Uses of Cartesian Robots

The linear movements of the Cartesian coordinates give the robot a cube-shaped workspace
and are a best fit for pick-and-place application needs.

A popular application for this type of robot is a CNC machine (computer numerical control
machine) and 3D printing. Industry Gantry type Cartesian is applied to CNC lathes production
line for continuous loading and unloading of products.

Advantages and Disadvantages

Cartesian robots are quite simple to use, and provides high positional accuracy. The robots can
be programmed offline, and are highly customisable. They can handle heavy loads with low
costs. The disadvantages of Cartesian robots are that they require large operational and
installation area, and the movement of the machine is only at one direction at a time. The
assembly of the robot is also quite complex.

Industrial Application

The industrial application of these robots includes the tasks like adhesive application, nuclear
material handling, assembly and sub-assembly, material handling, loading and unloading, pick
and place operations in different industries.

3.3. Cylindrical Robots

Figure 3.3: Cylindrical Robot

The robot has at least one rotary joint at the base and at least one prismatic joint to connect the
links. The rotary joint uses a rotational motion along the joint axis, while the prismatic joint
moves in a linear motion. Cylindrical robots operate within a cylindrical-shaped work envelope.

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Cylindrical Coordinate robots are the ones whose axes form a cylindrical coordinate system and
is usually used for assembly operations, spot welding, handling at die casting and at machine
tools etc. Cylindrical Robots have three axes of movement – two of which are linear and one
circular.

Uses of Cylindrical Robots

These types of robots are usually used in simple applications to pick up the materials, rotate
and placed in positions.

Advantages and Disadvantages

The advantages of a cylindrical robots include that it is simple to install and operate, it requires
minimal assembly, it can reach all around itself, it requires less floor space, and able to carry
large payloads.

There are also a few disadvantages for this cylindrical type robots like it cannot reach around
obstacles, so fallen out of favour from modern industrialists, as it has low accuracy in direction
of rotary motion.

Industrial Applications

Industrial Applications include in the transport of LCD panels, assembly and coating
applications, die casting, foundry and forging application, machine loading and unloading.

3.4. Polar Robots

Figure 3.4: Mechanism of a Polar Robot

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Polar Robots are also called spherical robots, where it has a combined rotational joint, in this
configuration the arm is connected to the base with a twisting joint and a combination of two
rotary joints and one linear joint. The axes form a polar coordinate system and create a
spherical-shaped work envelope.

Advantages and Disadvantages

The advantages of this type of spherical robots are – it can reach all around, can reach above or
below obstacles, requires less amount of floor space and can complete a large volume of work.

The various disadvantages as shown by polar robots are that they cannot reach above itself,
they have a short vertical reach, requires sophisticated control system, low accuracy and
repeatability in direction of rotary motion, and it has fallen out of favour and not common in new
industrial robot design. (Tachnavio)

Industrial Applications

Polar Robots are used for handling machine tools, die casting, spot welding, fettling machines,
gas and arc welding, forging and injection moulding.

3.5. SCARA Robots

Figure 3.5: Scara Robot

Scara robots offer a more complete solution than Cartesian, cylindrical or polar robots. A Scara
robot is commonly used in assembly applications, as it has a selectively compliant arm for
robotic assembly is primarily cylindrical in design, and is used for jobs that require drilling or
tapping assemblies. It features two parallel joints that provide compliance in one selected plane.

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The applications of Scara robot is similar to cylindrical or Cartesian, but is more efficient and
can move quicker than the other two.

Advantages and Disadvantages

The advantages of Scara robots are – it is very quick, has excellent repeatability, and can work
in a large workspace. The cons include that it needs dedicated robot controller, it is limited to
planer surfaces, and is quite difficult to program offline.

Industrial Applications

The robot finds its application in Machine loading, Palletizing, Packaging, Biomed applications,
Semiconductor wafers handling and assembly applications, stacking and unstacking, injection
molding, forging, welding and material handling industries.

3.6. Delta
Delta Robots are types of parallel robots, consists of three arms or jointed parallelograms
connected to a universal joint at the base. The parallelograms of this spider-like robots move a
single End of arm tooling (EOAT) in a dome-shaped work area.

Fgure 3.6: Parts of a Delta Robot

EOAT is a crucial element in robotic technology; it refers to the end of the robotic arm that
interacts with different machinery parts and components.

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Each joint in a Delta Robot has a direct control over the end effector, the positioning of the end
effector can be easily controlled with its arms that results in high speed operation. Delta robots
have a dome shaped work envelope. (Tachnavio)

Advantages and Disadvantages

This Delta Robot is advantageous because of its high speed, and high operational accuracy,
whereas it is also disadvantageous as it has complex operation, and requires a dedicated robot
controller.

Industrial Applications

Heavily used in the pick-and-place operations in food, pharmaceutical, and electronic industries,
this robot configuration is capable of delicate, precise movement. This type of robot is also used
in flight and automobile stimulator, optical fibre alignment etc.

4. Uses of Robots in Medical Industry

Figure 4.1: The operating team with Intuitive Surgical’s da Vinci Xi surgical robot
(with the console at the right side)

Source: (JPA Health Communications)

Robots are used not only in industrial mass manufacturing process, but they are being used
extensively in healthcare industry as well. In medicine, robots help by relieving medical
personnel from routine tasks, and by making medical procedures safer and less costly for

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patients. Robots can also perform accurate surgery in tiny places and transport dangerous
substances without human intervention. (HADP)

Credence Research published a report which says that by 2023, the medical robotics market
will grow to $20 billion, and the key driver for this growth will be the huge demands of robots in
minimally non-invasive surgeries like orthopaedic, neurologic and laparoscopic procedures.

For this, a wide range of robots are being developed to meet the demands to serve the various
roles in the medical industries. The two most common types of robots are in use in medical
fields are – rehabilitation and surgical robots. Demands for assistive and therapeutic robotic
devices are also increasing over time. These include robots that help patients rehabilitate after a
major surgery or serious medical conditions like strokes, also there are empathetic robots that
assists in the care of elder or mentally/physically challenged patients. Industrial robots are also
use in various routine tasks like sterilizing rooms and delivering medical supplies, equipment
and medications.

Researchers are also hard at work with the Nanobots, which are cell sized robots that can flow
through human blood streams to carry out life-saving tasks like destroying cancer cells with
payloads of anti-cancer drugs, artery blockages and also help in tissue biopsies.

We will discuss in details how the robots help the doctors in performing the detailed surgical
operations with flawlessness and precision.

4.1. Robotic Surgery

Robotic Surgery or Robot assisted surgery allows doctors to perform many complex surgeries
with more precision, control and flexibility than the conventional procedures. Robotic Surgery is
usually associated with minimally invasive surgery – procedures performed through tiny
incisions. Sometimes, the robots also help the doctors in traditional open surgical procedures.

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Figure 4.2: Robotic Surgery in Progress

Image source: WPA Pool / Getty Images

Robotic surgery with the help of da Vinci Surgical System was approved by the Food and Drug
Administration in the year 2000. This robotic surgical system was developed by the American
company Intuitive Surgical. It is controlled by a surgeon from a separate console and is
designed to facilitate minimally invasive approach surgery. The technique has been rapidly
adopted by hospitals across the world and is in use for the treatment of a wide range of medical
conditions.

This widely used clinical robotic da Vinci surgical system includes a camera arm and few
mechanical arms with required surgical instruments attached to them. The surgeon, while
seated at the console near the operating table, controls the robotic arms with the surgical
instruments. Through the console, the surgeon can have a high-definition, magnified, 3-D view
of the surgical site. He leads other team members, like the surgical assistants, technicians,
nurses, radiographer, anaesthesiologist etc. who assist him during the surgical procedure.

4.2. Advantages for a robotic surgery

Surgeons around the world use robotic system for surgery as it provides them precision,
flexibility and control during the surgical procedure. The console with the images for the camera
fitted to the robotic arm allows the surgeon to see the operating site in a better and well defined
way, as compared to the traditional method. Robotic surgery allows the surgeons to perform

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delicate and complex procedures in an efficient way that might have been complex or difficult in
other ways.

Robotic surgery is minimally invasive surgery possible with fewer complications like surgical site
infection, with lesser pain and blood loss, quicker recovery, smaller and less noticeable scars.

4.3. Risk factors

Robotic surgery also involves the risk as the traditional open surgeries, like little infections and
other complications. (Mayo Clinic)

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References
Asimov, Isaac. I, Robot. 1st. US: Gnome Press, 1950.

BBC Future. How it feels to meet Sophia, a machine with a human face. 2017. 09 12 2019
<https://www.bbc.com/future/article/20170906-how-it-feels-to-meet-sophia-a-machine-
with-a-human-face?referer=https%3A%2F%2Fen.wikipedia.org%2F>.

Boston Dynamics. ATLAS. 2019. 15 01 2020 <https://www.bostondynamics.com/atlas>.

HADP. How are Robots Changing Healthcare? 2019. 11 12 2019 <https://www.healthcare-

administration-degree.net/faq/how-are-robots-changing-
healthcare/#:~:targetText=Robots%20in%20medicine%20help%20by,places%20and%2
0transport%20dangerous%20substances.>.

HARRIS, TOM. How Robots Work. 2019. 09 12 2019

<https://science.howstuffworks.com/robot6.htm>.

JPA Health Communications. JPA HEalth Communications. 2019. 11 12 2019

<https://www.jpa.com/>.

KUKA Roboter GmbH. Factory Automation with industrial robots for palletizing food products
like bread and toast at a bakery in Germany, robotics. 2005. 15 1 2020
<http://www.kuka-robotics.com>.

Marquiss, Ray. Five Types of Industrial Robots And How To Choose The Best Fit. 2018. 02 12
2019 <https://www.valin.com/resources/articles/five-types-of-industrial-robots-and-how-
to-choose-the-best-fit>.

Mayo Clinic. Robotic surgery. 2019. 11 12 2019 <https://www.mayoclinic.org/tests-

procedures/robotic-surgery/about/pac-20394974>.

Mitra, Raja. Robotics in the Era of Artificial Intelligence. 2018. 06 12 2019

<https://medium.com/@montouche/robotics-in-the-era-of-artificial-intelligence-
6747f0d9ede2>.

Owen-Hill, Alex. What's the Difference Between Robotics and Artificial Intelligence? 2019. 06 12
2019 <https://blog.robotiq.com/whats-the-difference-between-robotics-and-artificial-
intelligence>.

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Robotworx. What Are The Main Types Of Robots? 2019. 09 12 2019

<https://www.robots.com/faq/what-are-the-main-types-of-
robots#:~:targetText=There%20are%20six%20main%20types,offers%20a%20different%
20joint%20configuration.>.

Science Friday. The Origin Of The Word ‘Robot’. 2011. 06 12 2019

<https://www.sciencefriday.com/segments/the-origin-of-the-word-robot/>.

Tachnavio. 6 Major Types of Industrial Robots Used in the Global Manufacturing 2018. 2018. 09
12 2019 <https://blog.technavio.com/blog/major-types-of-industrial-robots>.

Wikipedia. Articulated robot. n.d. 15 01 2020 <https://en.wikipedia.org/wiki/Articulated_robot>.

—. Robotics. 2019. 06 12 2019 <https://en.wikipedia.org/wiki/Robotics>.

Wikiquote. Sophia(Robot). 2015. 15 01 2020 <https://en.wikiquote.org/wiki/Sophia_(robot)>.

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