ES205: Fundamental of Robotics

Vijay Kumar Gupta

PDPM IIITDM Jabalpur
vkgupta@iiitdmj.ac.in
web.iiitdmj.ac.in/~vkgupta
 Disclaimer
• Some of the images and texts are downloaded
from internet.

• I am thankful to all the authors for publishing

their work which helped in building this
presentation.
 What is a Robot ?
• Random House Dictionary
• A machine that resembles a human being and does
mechanical routine tasks on command.

• Robotics Association of America

• A robot (industrial robot) is a reprogrammable,
multifunctional manipulator designed to move
materials, parts, tools, or specialized devices,
through variable programmed motions for the
performance of a variety of tasks.
 What is a robot?
• By general agreement, a robot is:
A programmable machine that imitates the actions or
appearance of an intelligent creature–usually a human.

• To qualify as a robot, a machine must be able to:

1) Sensing and perception: get information from its
surroundings
2) Carry out different tasks: Locomotion or manipulation, do
something physical–such as move or manipulate objects
3) Re-programmable: can do different things
4) Function autonomously and/or interact with human
beings
 How are robots different from
automated machinery?
• Machinery is designed to carry out a
specific task.
– Bottling machine
– Dishwasher
– Paint sprayer
• Robots are designed to carry out a
variety of tasks
– Pick and place arms
– Mobile robots
– Computer Numerical Control
machines
• The lines are becoming blurred.
 Robotics
• Robotics is the study of robots, autonomous embodied
systems interacting with the physical world

• Robotics addresses PERCEPTION, INTERACTION and

ACTION, in the physical world

• Humans working in this area are called Roboticists.

 Robotics: Multidisciplinary Field

• Robotics is a multi-disciplinary field. Best robotics

researchers and engineers will touch upon all disciplines:

• Mechanical Engineering – concerned primarily with

manipulator/mobile robot design, kinematics, dynamics,
compliance and actuation.
• Electrical Engineering – concerned primarily with robot
actuation, electronic interfacing to computers and
sensors, and control algorithms.
• Computer Science – concerned primarily with robot
programming, planning, and intelligent behavior.
Robotics yesterday
 Robot in the world

Painting Robot in Motor Company

Assembly Robot in Electronic Company
Robotics today
 Types of Robots
• Robot Manipulators

• Mobile Manipulators
 Types of Robots
• Locomotion

Aerial Robots Wheeled mobile robots

Legged robots

Humanoid Underwater robots

 Robot in the World

Wearable Robotic Arm and Tele-Operated Robot (KIST)

Robot in the world: Humanoid
 Robot in the world

HONDA (ASIMO) – Biped Robot Fujitsu – Biped Robot (Laptop Size)

 Robot in the world

Sony (AIBO) – Toy robot

Asimo (Honda)
Humanoid Robots

Petmen

Robonaut (NASA) Atlas

QRIO
Animal-like Robots
Animal-like Robots
 Mobile Robot Examples
Hilare II Sojourner Rover

http://www.laas.fr/~matthieu/robots/ NASA and JPL, Mars exploration

Autonomous Robot Examples
 Robots and its subsystems
Subsystems:
• Mechanical.
• Electrical.
• Control.
• Power sources.
 Anatomy

• Basic parts of Robot

 The Mechanical Linkage
 Actuators and Transmissions
 Sensors Processor
Sensors
 Controllers Sensors

 Power Supply Unit

 User Interface
Actuators
Sensors

Fennec Fox Technologies

 Robotic Sensors
• Sensors provide feedback to the control
systems and give the robots more flexibility.
• Sensors such as visual sensors are useful in the
building of more accurate and intelligent
robots.
• The sensors can be classified as follows:

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1. Position sensors:
Position sensors are used to monitor the
position of joints. Information about the
position is fed back to the control systems
that are used to determine the accuracy of
positioning.

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2. Range sensors:
Range sensors measure distances from a
reference point to other points of importance.
Range sensing is accomplished by means of
television cameras or sonar transmitters and
receivers.

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3. Velocity Sensors:
They are used to estimate the speed with which a
manipulator is moved. The velocity is an important
part of the dynamic performance of the manipulator.
The DC tachometer is one of the most commonly
used devices for feedback of velocity information.
The tachometer, which is essentially a DC generator,
provides an output voltage proportional to the
angular velocity of the armature. This information is
fed back to the controls for proper regulation of the
motion.

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4. Proximity Sensors:
They are used to sense and indicate the
presence of an object within a specified
distance without any physical contact. This
helps prevent accidents and damage to the
robot.
– infra red sensors
– acoustic sensors
– touch sensors
– force sensors
– tactile sensors for more accurate data on the
position

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 Robotics @IIITDMJ
• Design of ANN based Model and Controller for
a leg of 'COMET-IV' (In collaboration with Prof.
Kenjo Nonami, Chiba University)

1/28/2020 46
 Robotics @IIITDMJ
• Design and Development of six-
dof Industrial Manipulator

• Design and Development of Six-

Wheeled Multi-Terrain Robot
(SW-MTR)

1/28/2020 47
 Robotics @IIITDMJ
• Design of Intelligent Robotic Gripper based on
ANN and fuzzy controller

1/28/2020 48
 Robotics @IIITDMJ
• Pursuit Evasion Problems using proportional navigation strategies

• Brain controlled mobile robots

• Character animation using corridor map methods

• Autonomous mobile robot in unstructured environment

• Contributors – Prof. VK Gupta, Prof. Tanuja Sheorey, AO, Dr. Prabin

K. Padhy and their Master, PhD students – Amit Kumar, Neeraj
Goswami, Suteerth Tripathi, Bhavesh Kumbi, Atul Gupta, Arpit
Gupta, Vivekanand M., Ankur Kushwaha, Avnindra Kumar, Rohit
Tiwari

1/28/2020 49
Robot Configurations
 ROBOT CLASSIFICATION
Robots may be classified, based on:
– physical configuration
– control systems

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 ROBOT CLASSIFICATION
Classification Based on Physical Configuration:

– 1. Cartesian configuration
– 2. Cylindrical configuration
– 3. Polar configuration
– 4. Joint-arm configuration

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 ROBOT CLASSIFICATION
Cartesian Configuration:
• Robots with Cartesian configurations consists
of links connected by linear joints (L). Gantry
robots are Cartesian robots (LLL).

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 Cartesian Robots
A robot with 3 prismatic joints
– the axes consistent with a
Cartesian coordinate system.

Commonly used for:

•pick and place work
•assembly operations
•handling machine tools
•arc welding

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 Cartesian Robots
Advantages:
• ability to do straight line insertions into furnaces.
• easy computation and programming.
• most rigid structure for given length.

Disadvantages:
• requires large operating volume.
• exposed guiding surfaces require covering in corrosive or
dusty environments.
• can only reach front of itself
• axes hard to seal

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 ROBOT CLASSIFICATION
Cylindrical Configuration:
• Robots with cylindrical configuration have one
rotary ( R) joint at the base and linear (L) joints
succeeded to connect the links.

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 Cylindrical Robots
A robot with 2 prismatic joints
and a rotary joint – the axes
consistent with a cylindrical
coordinate system.

Commonly used for:

•handling at die-casting
machines
•assembly operations
•handling machine tools
•spot welding
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 Cylindrical Robots
Advantages:
• can reach all around itself
• rotational axis easy to seal
• relatively easy programming
• rigid enough to handle heavy loads through large working space
• good access into cavities and machine openings

Disadvantages:
• can't reach above itself
• linear axes is hard to seal
• won’t reach around obstacles
• exposed drives are difficult to cover from dust and liquids

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 ROBOT CLASSIFICATION
Polar Configuration:
• Polar robots have a
work space of spherical
shape. Generally, the
arm is connected to the
base with a twisting (T)
joint and rotatory (R)
and linear (L) joints
follow.

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 ROBOT CLASSIFICATION
• The designation of the arm for this
configuration can be TRL or TRR.
• Robots with the designation TRL are also
called spherical robots. Those with the
designation TRR are also called articulated
robots. An articulated robot more closely
resembles the human arm.

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 ROBOT CLASSIFICATION
Joint-arm Configuration:
• The jointed-arm is a combination of cylindrical
and articulated configurations. The arm of the
robot is connected to the base with a twisting
joint. The links in the arm are connected by
rotatory joints. Many commercially available
robots have this configuration.

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 ROBOT CLASSIFICATION

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 Articulated Robots
A robot with at least 3 rotary
joints.

Commonly used for:

•assembly operations
•welding
•weld sealing
•spray painting
•handling at die casting or
fettling machines

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 Articulated Robots
Advantages:
• all rotary joints allows for maximum flexibility
• any point in total volume can be reached.
• all joints can be sealed from the environment.

Disadvantages:
• extremely difficult to visualize, control, and program.
• restricted volume coverage.
• low accuracy

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 SCARA (Selective Compliance
Articulated Robot Arm) Robots
A robot with at least 2 parallel
rotary joints.

Commonly used for:

•pick and place work
•assembly operations

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 SCARA (Selective Compliance
Articulated Robot Arm) Robots
Advantages:
• high speed.
• height axis is rigid
• large work area for floor space
• moderately easy to program.

Disadvantages:
• limited applications.
• 2 ways to reach point
• difficult to program off-line
• highly complex arm 66
 Spherical/Polar Robots
A robot with 1 prismatic joint
and 2 rotary joints – the axes
consistent with a polar
coordinate system.

Commonly used for:

•handling at die casting or
fettling machines
•handling machine tools
•arc/spot welding

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 Spherical/Polar Robots
Advantages:
• large working envelope.
• two rotary drives are easily sealed against liquids/dust.

Disadvantages:
• complex coordinates more difficult to visualize, control, and
program.
• exposed linear drive.
• low accuracy.

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 ROBOT CLASSIFICATION
Classification Based on Control Systems:
– 1. Point-to-point (PTP) control robot
– 2. Continuous-path (CP) control robot
– 3. Controlled-path robot

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 Robot
Coordinates

Fig. 1.4

 Cartesian/rectangular/gantry (3P) : 3 cylinders joint

 Cylindrical (R2P) : 2 Prismatic joint and 1 revolute joint
 Spherical (2RP) : 1 Prismatic joint and 2 revolute joint
 Articulated/anthropomorphic (3R) : All revolute(Human arm)
 Selective Compliance Assembly Robot Arm (SCARA):
2 paralleled revolute joint and 1 additional prismatic joint
Robot Workspace

Fig. 1.7 Typical workspaces for common robot configurations

 Robots degrees of freedom
• Degrees of Freedom: Number of independent
position variables which would has to be
specified to locate all parts of a mechanism.

• In most manipulators this is usually the

number of joints.

• End effector is usually assign half degree of

freedom.
Degrees of Freedom

VS
Robot Reference Frames

A robot’s World, Joint,

and Tool reference
frames.

Most robots may be

programmed to move
relative to either of these
reference frames.
Thanks