MIRZA HASAN BAIG BEE-8B 02-133162-128

Bahria University
(Karachi Campus)
Department of Electrical Engineering

Introduction to Mechatronics
(EEA-430)

Instructor: Dr. Abdul Attayyab Khan Assignment 2

Q1. Briefly define each of the following terms:

 forward kinematics
Forward kinematics (for a robot arm) takes as input joint angles and assesses the Cartesian
location and orientation of the end effector. It refers to the process of obtaining the position
and velocity of the end effector.

 inverse kinematics
Inverse kinematics takes as input the Cartesian end-effector point and orientation and
anticipates joint angles. It is used for trajectory preparation.

 trajectory planning
Trajectory planning is a vital area in robotics as it gives way to autonomous vehicles. It is
sometimes referred to as motion planning and improperly as path planning. It gives a path from
an origin configuration X to a goal configuration Y avoiding crashes in a 2D or 3D space. A
configuration is the act of a robot representing its position.
MIRZA HASAN BAIG BEE-8B 02-133162-128
 workspace
The workspace of a robot manipulator is defined as the set of points that can be reached by its end‐effector.
Basically, the workspace of a robot is the space in which the mechanism is working. A large workspace robot
is a robot that is determined by particularly large workspaces compared to special attributes like weight, or
bulk size of the robots itself.

 accuracy
Accuracy describes the difference between the measurement results and the actual value
results. It is used to express the closeness of a measurement to the true value.

Accuracy is the strength of a robot to move its end effector to a desired position and
adjustment that has never been attained before. Practically, no robots or manufacturing
process is 100% accurate.

 repeatability
The term repeatability of a transducer are used to describe its ability to give the same output
for repeated applications of the same input values.

 resolution
When the input changes continuously over the range the output signals or results for some
sensors may change in small steps.

 joint variable
The joint variables determine the configuration of the manipulator by defining the position of a
particular joint. It describes a situation where one variable depends on two or more other
variables.
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 spherical wrist
The spherical wrist robot arm is the most basic type of automated robot. It is based on the
breakdown of the inverse kinematic queries to two less complex problems, one concerns the
robot arm basic structure, and the other concerns its hand.

 end effector
In robotics, an end effector is a device that is connected to the end of a robot arm where the
hand would be. The end effector is the character of the robot that cooperates with the
environment.

Q2. List several applications for non-servo robots; for point-to-point robots, for continuous path robots.

NON-SERVO ROBOTS

 They implemented by setting limits or mechanical stops for each joint and sequencing the
actuation of each joint to achieve the cycle.

 Limited sequence control robot – pick-and-place operations using mechanical stops to set positions.

 They have no control over the motion at the intermediate points, only end points are known.
 Bang-Bang robots- Bang-bang controllers are used to switch between two states abruptly. They are
widely used in systems that accept binary inputs.

POINT-TO-PONT ROBOTS
 Point to point robots are used fabrication process in industries.
 Point to point robots are also used in path planning.
 Point to point robots are used in automatic lubrication systems.
 Point to point robots are used in spot welding process.
 Point to point robots are used in pick-and-point.
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CONTINUOUS PATH ROBOTS
 The continuous path robots are used for spray paintings.

 The continuous path robots also can used in a gluing process.

 The continuous path robots are used in arc welding also.