Professional Documents
Culture Documents
Course Info
Lecture Hours: 14 weeks x 2.5 hours = 35 hours/semester
Transformation H.T.M,
7
Coordinate Systems, three related frames, Rotational about fixed
4 frames ( x,y,z). Transformation of Coordinate Frame
8 Rotational , Translation about fixed frames ( θ,α,γ).
9 Forward Kinematics Basics, Orientations, Translation of rigid body
10
5 3D System “ Camera, Robot and an Object” designing and solution.
11 Forward Kinematics Examples for Camera object Robot Systems.
6 12 Mid Term Examination ( postponed by the student 2 times )
Denavit-Hertanberg representation, D-H algorithm of tow axis
13
7 robot
14 Forward Kinematics Solutions For 2 Dof Robots, Examples.
15 Forward Kinematics Solution For 3 Dof Robot, Examples.
8 16 Forward Kinematics Solution For 4 Dof Robots, Examples.
17 Forward Kinematics Solutions For 5 Dof Robots, Examples.
9 Forward Kinematics Solution For 6 Dof Robots, Mitsubishi 18
19 problem of inverse kinematics , Inverse Kinematics solutions
10 20 Inverse Kinematics Examples and review
21 Wheeled mobile robot, structure, types, modelling
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Introduction to Robotics CNT 4202 Class Notes
What Is a Robot?
Robots today are being utilized in a wide variety of industrial application. The most
majority of industrial robots are mechanical arms attached to a fixed base, with some
form of programmable control for automatic execution of motion.
There are a variety of definitions of an industrial robot, two of which are as follows:
Robotics is the engineering science and technology of robots, and their design,
manufacture, application, and structural disposition. It requires a working knowledge
of electronics, mechanics, and software.
The word 'robot' first appeared in 1921 but was not a technical term. It was used by a
Czech playwright called Karel Capek in a satirical play called 'Rossums Universal
Robots' to describe slave labourers who had their souls removed to make them work
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Introduction to Robotics CNT 4202 Class Notes
harder. In, 1942 Isaac Asimov wrote a short science fiction story in which the word
'robotics' was first used and presented 3 laws of robotics.
• Only if it can result in shorter work week, higher pay, and better working
conditions for human.
Classes of Robot
Most of physical robots fall into one of the three categories:
• Mobile robots which can move in their environment using wheels, legs, etc.
• Hybrid robots which include humanoid robots are mobile robots equipped with
manipulators.
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Introduction to Robotics CNT 4202 Class Notes
There are many different reasons for using a robot but the central reasons are:
Dirty Augmentation
Another reason we use robot is because it is cheaper, easier and sometimes the only
way we can get things done! Robots can explore inside gas tanks, volcanoes, Mars and
other places too dangerous for humans to go! Robots also can do one thing over and
over again without getting bored – is that something you could do? Think about it –
standing in one place doing the same thing all day and night would get pretty boring!
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Introduction to Robotics CNT 4202 Class Notes
Another reason to use robots is because they never get sick; don’t need to take a
day off, and best of all they don’t ever complain!
There are four major reasons why Nissan Corporation uses automation and in
particular industrial robots.
Are not creative or innovative Can not think independently Can not
1964 Artificial intelligence research laboratories are opened at M.I.T., Stanford Research Institute
(SRI), Stanford University, and the University of Edinburgh.
1970 At Standford University a robot arm is developed which becomes a standard for research
projects. The arm is electrically powered and becomes known as the Stanford Arm.
1973 The first commercially available mini computer controlled industrial robot is developed by
Richard Hohn for Cincinnati Milacron.
1978 The Puma (Programmable Universal Machine for Assembly) robot is developed by
Unimation from Vicarm techniques and with support from General Motors.
1980 The robot industry starts its rapid growth, with a new robot or company entering the market
every month.
Types of Robots (some examples)
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Introduction to Robotics CNT 4202 Class Notes
Underwater robots
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Introduction to Robotics CNT 4202 Class Notes
Hilare Sojourner
Tele-operated Endoscopic
Capsule with Active
LocomotionScuola Superiore
Sant’Anna, Italy (research
project)
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Introduction to Robotics CNT 4202 Class Notes
Percentages of industrial robot uses in worldwide are (60% welding and painting ,20%
pick and place and 20% others).
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Introduction to Robotics CNT 4202 Class Notes
External
Sensors
Environment
Internal
Sensors
Programming Control
Unit
Actuators
Mechanical
Structure
Industrial Robot
USER
Actuators: Sensors:
Electrical, Hydraulic, Camera, Encoder, Photo Electronic, GPS,
Pneumatic, Artificial Muscle Compass, Gyroscope, Inertialnavigation,
Laser Range Scanners, Pressure
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Introduction to Robotics CNT 4202 Class Notes
3 linear axes
Easy to visualize
Rigid structure
Easy to program off-line
Disadvantage:
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Introduction to Robotics CNT 4202 Class Notes
For cylindrical type manipulator, its first joint is revolute which produces a rotation about
the based, while its second and third joints are prismatic. The robot arm is attached to
the slide so that it can be moved radially with respect to the column.
Advantages:
Disadvantage:
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Introduction to Robotics CNT 4202 Class Notes
The first two joints of this type of manipulators are revolute, while its third Joint is
prismatic. It used for a small number of vertical actions and is adequate for loading and
unloading of a punch.
Advantages:
Disadvantage:
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Introduction to Robotics CNT 4202 Class Notes
The word SCARA stands for Selective Compliant Articulated Robot for Assembly. There are
two type of SCARA robot configuration: either the first two joints are revolute with the
third joint as prismatic, or the first joint is revolute with the second and third Joints as
prismatic. Although some of the SCARA robots have the RRP structure.
Advantages:
Disadvantage:
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Introduction to Robotics CNT 4202 Class Notes
Also called articulated manipulator that looks like an arm with at least three rotary
joints. They are used in welding and painting; gantry and conveyor systems move parts
in factories.
Advantages:
3 rotating, axes
Can reach above or below obstacles
Largest work area for least work space
Two or four ways to reach a point
Disadvantage:
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Introduction to Robotics CNT 4202 Class Notes
Advantages:
Disadvantage:
Accuracy: Accuracy refers to a robot's ability to position its wrist end at a desired target point
within the work volume.
Repeatability: Repeatability describes how a points are repeated at the same place or target.
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Introduction to Robotics CNT 4202 Class Notes
Robot Classification
Level of Technology
:
o Low Technology: (material handling, using simple assemble
-4 axes of2
movement, stop at extremes).
o High Technology: ( material handling, pick and place, loading, painting and
welding, -69 axes).
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Introduction to Robotics CNT 4202 Class Notes
Actuators and Motors are devices that make robot move “robot muscle “. For most
industrial robots, the actuators are coupled to the respective robot link through a, gear train.
The effect of the gear reduction is largely to decoupled the system by reducing the coupling
among the joints. However, the present of gears introduces friction, backlash and drive train
compliance. The commonly used actuators are:
Electrical Drive
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Introduction to Robotics CNT 4202 Class Notes
Small and medium size robots are usually powered by electric drives via gear trains
using servomotors and stepper motors. Most commonly used are dc motors, although
for larger robots, ac motors may be utilised. A new design based on direct drives
(without gear trains) is being developed.
Advantages:
Disadvantage:
Hydraulic Drive
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Introduction to Robotics CNT 4202 Class Notes
Larger robots are usually powered by hydraulic drives . Hydraulic drive system can
provide rotational motion (rotary vane actuators) and linear motion (hydraulic pistons).
Advantages:
Disadvantage:
Pneumatic Drive
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Introduction to Robotics CNT 4202 Class Notes
Generally used For smaller robots that possess fewer degrees of freedom (2- 4 joint motions).
They are limited to pick-and-place tasks with fast cycles. Pneumatic drive system can be
applied to the actuation of piston devices to provide linear motions. Rotational motions can be
achieved by rotary actuators Advantages:
Disadvantage:
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