Ahmedabad University

Basic Terms of Robotics

One machine can do the work of a hundred ordinary men,
Degrees of Freedom:
but no machine can do the work of one extraordinary man
“The number of coordinates that it takes to uniquely specify the position of a system”
-Elbert Hubbard, American philosopher

Introduction to ROBOTICS From Statistical point of view:

The maximum number of logically

independent values
- Dr. Keyur Dineshchandra Joshi
which are values that have the
freedom to vary, in the data sample.

Source: dragonflycv.com and blog.minitb.com

Basic Terms of Robotics Basic Terms of Robotics

Resolution: Accuracy:
“The smallest incremental change in position that a robot/instrument can make/detect” “Robot’s ability to position the end effector at a specified point in space upon receiving a control command
For example, selecting a suitable range can provide hi resolution in measurement without previously having attained that position”
“Smaller the better” ! (Note: smaller the change means higher the resolution!) “How close the end effector goes to the actual desired position”
Yellow circle = Actual desired position (see below)

Source: instrumentationtools.com Source: instrumentationtools.com

Basic Terms of Robotics Basic Terms of Robotics

Accuracy and Resolution: Precision/Repeatability:
An example of temperature measurement “The ability of a robot to return consistently to a previously defined and achieved location”

Source: opto22.com Source: instrumentationtools.com

Keyur D. Joshi 1
Ahmedabad University

Basic Terms of Robotics Basic Terms of Robotics

Payload:
Working Envelope/Robot Reach:
“Carrying Capacity in terms of weight at given speed”
“The region of a space where a robot can reach”
This includes the weight of the end effector and workpiece that needs lifting

Source: Canadianmetalworking.com and roboticsandautomationnews.com Source: thnet.co.uk

Basic Terms of Robotics Robot Control System

Compliance: 1. Limited Sequence Control:
“The displacement of the wrist end in response to a force or a torque exerted against it”
A high compliance means the robot moves an observable distance (robot is springy or spongy). Simple cycles, not require microprocessor and usually be implemented
Low compliance robot is known as stiff system. using limit switches and mechanical stops. Often pneumatically actuated.

2. Playback with Point-to Point (PTP) Control:

Points recorded into memory and played back during execution of the
program. The path is not controlled.

3. Playback with Continuous Path (CP) Control:

Similar to PTP, instead of points, paths are stored in the memory.

4. Inteligent Control:

Sensors and machine vision make decisions when things go wrong.

The compliance control function protects workpiece
Need powerfull micro processeors.
from excessive load by adjusting the pressing force. Source: denso-wave.com

Robot Control System Latest News about Robots

Open loop control system
vs
Closed loop control system

Signals of Control system

1. Reference signal,
2. Error signal,
3. Control signal,
4. Actual output signal,
5. Feedback signal

Source: robots.ieee.org/news

Keyur D. Joshi 2
Ahmedabad University

Robots in Market Cobots Introduction

Categories
Website: robots.ieee.org
Robots for classroom
Robot Rankings Sort Robots Cobots are Collaborative Robots
Robots that can dance
1. Based on Top rated 1. Based on Country Subset of industrial robots that can work
Baby Robots
2. Based on Most Wanted 2. Based on Types in collaboration with humans.
Robot Helpers
3. Based on Creepiness 3. Based on Size Fast growing robotic technology
Interactive Robots
Bio-Inspired Machines The market of Cobots is expected to reach
Robots you can hug $ 7.5 billion (₹ 60,000 Cr, 1$ of 82 ₹) by
the year of 2027; accounting approximately
Robots for your home 30% of the entire industrial market.
Space Robots
Factory Workers
Source: robots.ieee.org Source: universal-robots.com and automate.org

Cobots: 2016 paper by Bauer et al Need of Cobots and its advantages

• Shortage of qualified workers
• Increasing labour costs
• Higher product mixes with
shorter cycle times
• Greater need for flexibility in
automation
• Stricter demands for faster
return on investment or ROI
and profitability
• Safety: Minimizes accidents and injury
by sensors to avoid collision, force
limitations, smooth designs, and
overcurrent protection
• Flexibility: Easily programmed, no
skilled labour is required
• Low cost deployment: No fencing
required, no industrial safety equipment
is required
• Fast ROI: lower upfront costs, just a
few months ROI
Source: automate.org

Markets where Cobots are useful
• Collaborative robots can be used in environments where an industrial
robots would unsafe or unproductive.
• Cobots are most popular among Small and Medium sized Businesses (SMBs).
• Expected largest users of Cobots: Automotive and Electronics industries
Types of Cobots (ISO 10218: 2011 part 1 & 2)
Four types of Cobots
Type 1. Safety monitored stop: Intended for minimal interaction between
the robots and human workers. Cobot stops when human enters work envelop.
Type 2. Speed and Separation: Advanced vision slow operations down when
a human worker approaches, and stop operation when the operator is too close.

• Other Industries include but are not limited to:
• General manufacturing, Metal fabrication, Packaging and Co-packing,
Plastics, Food and Agriculture, Furniture and Equipment,
Pharmaceutical and Chemical, and Scientific Research.
Source: automate.org
Type 3. Power and Force limiting: Cobots have rounded corners, and a
series of intelligent collision tracking sensors to quickly detect the contact with
human and stop the operation. Force limitation ensure collisions are not
converted in injury.
Type 4. Hand guiding: Operator directly controls the motion of robot during
automatic mode.
Source: automate.org

Keyur D. Joshi 3
Ahmedabad University

ISO and Cobots Innovations Automation

ISO/TS (technical specifications) 15066:2016 “Technology by which a process is completed without human assistance”

• Provides safety requirement for collaborative industrial robot systems. Hard Automation:
Conventional Machinery.
• Effective use of ISO/TS 15066:2016 assumes that the robot system under e.g. Sewing, manufacturing small parts, etc.
consideration is in compliance with part 1 and part 2 of ISO 10218:2011 Mass Production. Cannot handle product design Variations.

Cobot innovations: Programmable Automation:

Flexible because of Computer control.
• New gripper tech.: soft gripper handle heavy, durable, light, and soft parts.
Can handle variations. Batch Production.
• Vision: with no fence required, Cobots support embedded vision
Fully Autonomous:
• Artificial intelligence and Machine learning: one shot learning and others
Decision making capability using sensors

Source: automate.org

Thank You !

Query?

Keyur D. Joshi 4