Industrial Robot

An Industrial robot is a reprogrammable, multifunctional

manipulator designed to move materials, parts and tools, or
special devices through variable programmed motions for the
performance of a variety of tasks.
 History of Robotics
▪ 1720’s : The first programmable loom controlled by Punch
card was developed in France.
▪ 1960 : The Unimate robot was developed which is first
mobile, two armed manipulator remotely controlled by an
operator to work in radioactive environment.
▪ 1978: Puma robot was built for general motors.
▪ 2000: ASHIMO robot was built by Honda which is a
humanoid robot.
 ▪ PUMA 560 is a six degree of freedom
robot manipulator.
▪ The end-effector of the robot arm can
reach a point within its workspace from
any direction.
▪ The six degrees of freedom are
controlled by six brushed DC servo
motors.

PUMA 560
 Basics components of Robotics system

▪ Manipulator: This is the main body of the robot and

consists of the links, joints and other structural
elements of the robot.
▪ End Effector: This is the part that is connected to the
last joint of a manipulator.
▪ Actuators: Actuators are the muscles of the
manipulator. Stepper motor and servo motor are the
examples of actuator.
▪ Sensors: Sensors are used to collect information about
the internal state of the robot or to communicate with
the outside environment.
▪ Controller: The controller receives its data from the
computer, controls the motions of the actuators and it
coordinates the motions with the sensory feedback
information.
▪ Processor: The processor calculates the motions of the robot’s
joints, determines how much and how fast each joint must
move to achieve the desired location and speeds. The processor
is generally a computer.
▪ Software: There are three groups of software that are used in
robot.
a. Operating system: It operates the computer.
b. Robotic Software: It calculates the necessary motions of the
each joint based on the kinematic equations of the robot.
c. Collections of routines and application programms: It is
developed in order to use the peripheral devices of the robots,
such as vision routines, or to perform specific tasks.