TABLE OF CONTENTS

CHAPTER TITLE PAGE

NO. NO.
Acknowledgement i
Abstract ii

1 FUNDAMENTAL OF ROBOTICS
1.1 INTRODUCTION OF ROBOTICS 1

2 EVOLUTION OF ROBOTICS
2.1 HISTORY OF ROBOTICS 5
2.2 COMPONENTS OF ROBOTICS 7

3 CLASSIFIFCATION OF ROBOTICS
3.1 BASED ON PHYSICAL CONFIGURATION 9
3.2 BASED ON OPERATION 10
3.3 DEPENDING O ROBOT BASE 12

4 SCARA

4.1.WHAT IS SCARA 15
4.2.HOW DOES IT WORK 15
4.3.KEY FEATURES OF SCARA ROBOT 17

5 CARTESIAN CONFIIGURATION
5.1.CARTESIAN SYSTEM 19

5.2.CARTESIAN ROBOT 20

5.3.HOW TO CARTESAIN ROBOT FUNCTION 22

6 PARALLEL CONFIGUTAION
6.1.PARALLEL CONFIGURATION 23

6.2.ADVANTAGES 23

6.3.DISADVANTAGES 24

7. ARTICULSTED/JOINT ARM CONFIGURATION

7.1.ARTICULATED ROBO 25

7.2.ADVANTAGES 26
 7.3.DISADVANTAGES 26

8. CYLINDRICAL CONFIGURATION
8.1.CYLINDICAL COORDINATE SYSTEM 27

8.2.CYLINDRICAL ROBOT 27

9. POLAR/SPHERICAL CONFIGURATION
9.1.SPHERICAL COORDINATE SYSTEM 28

9.2.POLAR\SPHERICAL CONFIGURATION 28

10. IMPORTANT TERMS IN ROBOTICS

PROGRAMMING
10.1.IMPORTANT TERMS 29

11. INTRODUCTION TO ROBOT ARCHITECTURE

11.1.LINKS AND JOINTS 30

11.2.TYPES OF JOINTS 31