ROBOTICS MIDTERMS REVIEWER

TOPIC 02: Major Parts of Industrial Robots

Controller
Industrial Robot Arm
End Effector
Drive
Sensor

Controller
 “BRAIN" of the industrial robotic arm
 allows the parts of the robot to operate together. 
 works as a computer and allows the robot to also be connected to other systems
 The  robotic arm controller runs a set of instructions written in code called a program.
The program is inputted with a teach pendant. Many of today's industrial robot arms use
an interface that resembles or is built on the Windows operating system.

Industrial Robot Arm

 Varies in size and shape. 
 It is the part that positions the end effector:

 with the robot arm, the shoulder, elbow, and wrist move and twist to position the
end effector in the exact right spot wherein each of these joints gives the robot
another degree of freedom
 A simple robot with three degrees of freedom can move in three ways: 
 up & down
 left & right
 forward & backward. 
 Many industrial robots in factories today are six axis robots.

End Effector
 connects to the robot's arm and functions as a hand
 has direct contact with the material the robot is manipulating
 Some variations of an effector are a gripper, a vacuum pump, magnets, and welding
torches. Some robots are capable of changing end effectors and can be programmed for
different sets of tasks.
 End Effector – Clamp Style
General purpose mechanical tool capable of handling a wide variety of products by
clamping the sides of the package.
 This tool is capable of picking up and placing multiple packages at once when products
are in the same orientation.
 This mechanical clamp-style tool works well on cases in a wide range of palletizing
applications. Picking single cases, multiple cases, or rows of products is possible with this
tool.

End Effector – Fork Style

 General purpose mechanical tool suitable for rigid, semi-rigid and non-rigid products that
require support from beneath. 
 This tool is capable of picking up and placing multiple packages at once when products
are in the same orientation.
 Used for handling unique packages with gentle handling requirements.

End Effector – Finger Style

 Generally used when you are grasping parts by two parallel, flat surfaces. 
 A pneumatic, electric and hydraulic versions come in a large variety of sizes, forces,
weights, and stroke ranges. 
 Used to grip a part by either the gripper’s closing or opening motion. 
 The angular two-jaw grippers with 90-degree pivoting fingers that can completely retract
and provide extra clearance that is beneficial for certain applications.

 The multi-finger and adaptive gripper enabling robots to grip a wide variety of products
that were previously impossible to manipulate reliably. It provide force feedback to the
controller and can also grasp irregularly shaped, soft or spherical objects.

End Effector – Vacuum Style

 Uses a vacuum system to pick product from the top. 
 There are two primary types of vacuum heads: A full surface pad or individual vacuum
cups arranged in a way to accommodate the needs of the palletizing system. 
 The full surface pad is more universal and the vacuum cup type is more product specific.
 Ideal for loads that require a softer touch or where fragile loads cannot be clamped.
 End Effector – Custom Design

 Custom designed end effectors are the norm for most robotic palletizing integrators. 
 However, “customized” standard tooling allows for better long term part support.

Sensor
 allows the industrial robotic arm to receive feedback about its environment

 they can give the robot a limited sense of sight and sound
  the sensor collects information and sends it electronically to the robot controlled

One use of these sensors is to keep two robots that work closely together from bumping into each
other. Sensors can also assist end effectors by adjusting for part variances. 
Vision sensors allow a pick and place robot to differentiate between items to choose and items to
ignore.

Degrees of Freedom
 Degrees of Freedom (6DOF) refers to the specific number of axes that a rigid body is able
to freely move in three-dimensional space. 
 It defines the number of independent parameters that define the configuration of a
mechanical system. 

 Specifically, the body can move in three dimensions, on the X, Y and Z axes, as well as
change orientation between those axes though rotation usually called pitch, yaw and roll.
Translation – Moving along the different axes X, Y and Z
 Moving up and down along the Y axis is called heaving.
 Moving forwards and backwards along the X axis is called surging.
 Moving left and right along the Z axis is called swaying.

Rotation – Turning in order to face a different axis

 Moving between X and Y is called pitch.
 Moving between X and Z is called yaw.
 Moving between Z and Y is called roll.

Types of robots based on Application

 Articulated
 Cartesian
 Cylindrical and Polar
 SCARA
 Delta

 Articulated
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.

Cartesian
 These are also called rectilinear or gantry robots. 
 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.

Cylindrical
 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.

 Polar
Also called spherical robots.
 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.
 SCARA (Selective Compliance Assembly Robot Arm)
 Commonly used in assembly applications, this selectively compliant arm for robotic
assembly is primarily cylindrical in design. 
 It features two parallel joints that provide compliance in one selected plane.

 Delta
 These spider-like robots are built from jointed parallelograms connected to a common
base. 
 The parallelograms move a single EOAT in a dome-shaped work area. 
 Heavily used in the food, pharmaceutical, and electronic industries, this robot
configuration is capable of delicate, precise movement.

TOPIC 03 Purpose of Robots

Industrial Manufacturing
 Robots have numerous roles in manufacturing needs such as high-volume and repetitive
processes with unparalleled advantages in speed, accuracy and durability.
 Some reasons robots are used in manufacturing:
  create efficiencies all the way from raw material handling to finished product
packing

 can be programmed to operate 24/7 in lights-out situations for continuous

production

 highly flexible and can be customized to perform even complex functions.

 embrace automation to stay competitive

 help to create jobs by reshoring more manufacturing work

 protect workers from repetitive, mundane and dangerous tasks

Household
Home robots also known as domestic robots has a typical features such movable physical
structure, a mechanical system, a sensor system, a power supply and a computer "brain" that
controls all of these elements.
 There robots provide can provide home security, interact and communicate with human,
perform housekeeping duties, yard maintenance and social interaction.
 Most domestic robots are connected to Wi-Fi home networks are perform autonomous
functions.

Military and Emergency Response

 Military robots are no more restricted to science-fiction novels or to a distant future but
have become a concrete reality. Autonomous aerial robots – or drones – are for instance
currently deployed.
 Robots and drones provide numerous benefits for military and emergency response: 

 fit into places humans can’t operate in environments humans can’t

 operate continuously without sleep

 outperform humans in certain tasks, and most importantly they are replaceable

 can be sent places which are too dangerous for human rescue workers, which is
often needed in disaster areas.
Some areas of implementation:
 Mapping and maneuvering of disaster areas after natural calamities, terror attacks,
accidents, explosions, etc.
 Robots are also providing assistance to firefighters worldwide
 Bomb squads are using AI to aid in defusal and disposal missions
  AI is being developed to detect signs of life, such as heart beats and breathing, of victims
trapped in the aftermath of natural disasters
 Drones are being used to distribute water, food, medicines and other supplies

Medical Field
 Robots in medicine help by relieving medical personnel from routine tasks, that take their
time away from more pressing responsibilities, and by making medical procedures safer
and less costly for patients. 
 It can also perform accurate surgery in tiny places and transport dangerous substances.
 It can transcribe and store crucial medical information minimizing the possibility of error
as well as helping doctors and nurses to diagnose patients and even assisting lower-
skilled health workers to administer treatment to patients with less input from doctors or
other higher-skilled professionals.
SERVICE
 Service robots use to do jobs that are dirty, dull, or dangerous.. These robots are
autonomously operated by an internal control system with the option to manually override
the operation. 
 The International Organization for Standardization (ISO) defines a “service robot” as a
robot “that performs useful tasks for humans.”
 Service robots are automate menial, dangerous, time-consuming, or repetitive tasks,
thereby releasing human workers to accomplish more intellectual.

SECURITY
 Security is a vitally important aspect to consider when developing a robot for any service
or application in different environments, whether nuclear, space, agriculture, inspection
and maintenance, security and defense, etc. (https://wpo-altertechnology.com/security-in-
robotics/)
 Security robotics are smart which can track people and assets, patrol physical areas, record
data and much more. They have capability to pinpoint problems that may be undetectable
to humans, and it never sleep.
 But security robots will not replace humans but instead it is only a mobile surveillance
device which will be an additional eyes and ears.

SCIENCE AND EXPLORATION

 Robotic exploration is necessary to enable human exploration by setting the context,
providing critical information, and reducing the risk to humans. (https://www.ucf.edu/)
 There are many limitation in range of human exploration. To enable manned missions,
robotics exploration is essential and very vital especially in critical mission activity.
 With increasing threats facing the marine environment, scientists desperately need more
information about what inhabits the seabed in order to inform conservation and
biodiversity management. Autonomous underwater vehicles (AUV) mounted with the
latest cameras are now able to collect vast amounts of data.
(https://www.sciencedaily.com/)
  Scientists are using modern robotic and sensing technology to develop new tools for
studying the ocean, predicting its future behavior and health.
Advantages
Consistency
Safety
Speed
Perfection
Job creation
Productivity
Happier employees

Disadvantages
Lack of empathy
Lack of conscience or emotions
Fosters an atmosphere of complacency resulting into increased safety hazards

Limitations
Limited adaptability
Still requires human intervention for maintenance
Limited self-awareness
Limited creativity and ingenuity

Future of Robotics
Reduced human workforce
Reduced human exposure to inhospitable and hazardous environments
Increased productivity
Augmentation of human disabilities

TOPIC 4: Electronic  Control Equipment

Relay Circuit Unit

 A control relay allows electrical current to flow through a conducting coil that opens
or closes a switch. It also protects the circuit current. With a control relay, users do not
need to manually turn the switch to isolate or change the state of an electric circuit.

Sequential Logic Circuit

 Robot moves in straight line, encounters obstacle and turns right or left until path is clear;
on successive obstacles right and left turn strategies are used. Define input: One bit X = 0,
 no obstacle X = 1, an obstacle encountered Define outputs: Two bits to represent three
possible actions. 

 Z1, Z2 = 00 no turn 
 Z1, Z2 = 01 turn left by a predetermined angle 
 Z1, Z2 = 10 turn right by a predetermined angle 
 Z1, Z2 = 11 output not used

 Because turning strategy depends on the action for the previous obstacle, the robot must
remember the past.

Programmable Logic Controller (PLC)

A computer control system that continuously monitors the state of input devices and makes
decisions based upon a custom program to control the state of output devices.
The biggest benefit in using a PLC is the ability to change and replicate the operation or process
while collecting and communicating vital information.
They are industrial computers used to control different electro-mechanical processes for use in
manufacturing, plants, or other automation environments.

Analog/digital/computer PID Controller

A proportional–integral–derivative controller (PID) is a control loop mechanism employing
feedback that is widely used in industrial control systems and a variety of other
applications requiring continuously modulated control.
All PID controllers today are processed by the microprocessors. 
Programmable logic controllers also have the inbuilt PID controller instructions.
programmable controller

Computer programmable controller

Electronic computer that are used for the control of machines and manufacturing
processes through the implementation of specific functions such as logic, sequencing,
timing, counting and arithmetic.

Control Architecture
 Robot systems operate in complex dynamic real-time environments. These systems have
to:

 to control diverse sensors and actuators in real time,

 in the face of significant uncertainty and noise,

 while monitoring for, and reacting to, unexpected situations,

  and do all this concurrently and asynchronously.
 Moreover, robot systems need to respond at varying temporal scopes from millisecond
feedback control to minutes, or hours, for complex tasks.
Control Architecture
Sense 🡪 Plan 🡪 Act
 It was an early robot control procedure commonly abbreviated SPA. Today it is use for
fundamental concepts to remind that there are three critical capabilities that every robot
must have in order to operate effectively:
SENSE: The robot needs the ability to sense important things about its environment, like the presence
of obstacles or navigation aids.
  PLAN: The robot needs to take the sensed data and figure out how to respond appropriately to it,
based on a pre-existing strategy.
    ACT: Finally, the robot must actually act to carry out the actions that the plan calls for
Control Architecture
 A robot perceive an environment using sensors to control its actuators.
Control Architecture

Hierarchical Architecture
The robot sense that the environment and create the “world model”.
The robot plans it action and execute it.
It works under the closed world assumption – the world model contains everything the
robot needs to know.
 It represents an architecture that support evolution and learning systems towards fully
autonomous control.
Example of Hierarchical Architecture
  Nested Hierarchical Controller - decomposition of the planner into three different
subsystems:

 Mission Planner

 Navigation – planning a path as a sequence of waypoints

 Pilot – generates an action to follow the path

 NIST Real-time Control System - it introduces preprocessing step between the sensory
perception and a world model.

 The sensor preprocessing is called as Feature Extraction.

 It also introduced the so called Value Judgment module.

 Then, the plan is passed to Behavior Generation module to convert the plans into
actions that are performe

Nested Hierarchical Controller

 It can response to sudden objects in the navigation course. 
 The plan exists and it is not necessary to perform a complete planning.

TOPIC 5.2. ARDUINO

Application of Arduino
Arduboy
 A miniature game system the size of a credit card. Installed with a classic 8-bit game and
can be reprogrammed from a library of open source games available online. 
 It is also an open source so you can learn to code and create your own games.

Arduinome
 The Arduinome project is a collaborative effort to create a highly customizable port of the
popular Monome USB button-controller using the Arduino microcontroller.
 The Arduinome is not meant as a Monome replacement, but a DIY extension project that
allows for easy customization of the Monome platform using readily available hardware.
The Arduinome is fully Monome-compatible, meaning it can be used in conjunction with
any of the freely available Monome software & patches.

Ardupilot
  Provides an advanced, full-featured and reliable open source autopilot software system. 
 Installed in over 1,000,000 vehicles world-wide, and with advanced data-logging, analysis
and simulation tools, ArduPilot is a deeply tested and trusted autopilot system.

ArduSat
 A miniature cubic satellite, measuring 10 cm along each edge and weighing about 1 kg. 
 Onboard it will have a suite of 25+ sensors, including three cameras, a Geiger counter,
spectrometer, magnetometer and more. 
 The sensors are connected to a bank of user-programmable Arduino processors, which run
your application or experiment, gathering data from the space environment. 

OBDuino
 An electronic gauge that connects to the OBD-II plug of your 2008+, and displays various
information like RPM of the engine, speed, etc as well as detailed fuel consumption.
 An open source trip computer design based on the Arduino platform.

OpenEVSE
 An Arduino-based electric vehicle charger created by Christopher Howell and Sam C.
Lin. 
 The charger is composed of open-source software and hardware which can be made DIY.
Data loggers for scientific research
 An electronic device or instrument that records data over a period of time. 
 It allows the user to record time or location stamped data which can be viewed at a later
time or real time.

TOPIC 6: DATA PROCESSING FOR ROBOTICS

COLLECTED DATA
METHODS OF COLLECTION
 Obstacle Detection
 Object Recognition
 Semantic Place Classification

Obstacle Detection
 the process of using sensors, data structures, and algorithms to detect objects or terrain
types that impede motion
  it is applicable to anything that moves, including robot manipulators and manned or
unmanned vehicles for land, sea, air, and space
 it is usually applied to ground vehicle navigation
 a system problem that encompasses sensors that perceive the world, world models that
represent the sensor data in a convenient form, mathematical models of the interaction
between objects and the vehicle, and algorithms that process all of this to infer obstacle.

Object Recognition
 A computer vision technique for locating instances of objects in images or videos. 
 The algorithms typically leverage machine learning or deep learning to produce
meaningful results. 
 When humans look at images or video, we can recognize and locate objects of interest
within a matter of moments. 
 The goal is to replicate this intelligence using a computer.

Semantic Place Classification 

 An autonomous robot performing tasks in a human environment needs to recognize
semantic information about places. 
 Semantic mapping is a task in which suitable semantic information is assigned to an
environmental map so that a robot can communicate with people and appropriately
perform tasks requested by its users.
 The task is to includes map segmentation and place recognition. 
 The map is segmented by hypothesizing the regions that can be found by looking at the
layout of free space 

Gesture Recognition
 Gesture can refer to any non-verbal communication that is intended to communicate a
specific message
 Gesture recognition, a gesture is defined as any physical movement, large or small, that
can be interpreted by a motion sensor. It may include anything from the pointing of a
finger to a roundhouse kick or a nod of the head to a pinch or wave of the hand. Gestures
can be broad and sweeping or small and contained. 
 Gesture recognition is a type of perceptual computing user interface that allows computers
to capture and interpret human gestures as commands. 

 Methods of collection
 Types of data to be collected
 Accuracy of data collected
 Memory storage of collected data

 Contextual data records

 Path planning computation
 Robot deployment
 DATA INTERPRETATION
 Stimuli recognition
 Robotic observation
 Object localization 
 Object manipulation/robot reaction