MT8701

ROBOTICS AND MACHINE VISION

SYSTEM

Dr.SP.ARUNKUMAR
Department of Mechatronics Engineering
Nehru Institute of Engineering and Technology
UNIT I BASICS OF ROBOTICS 9
Introduction- Basic components of robot-Laws of robotics-
classification of robot-work space-accuracy- resolution –
repeatability of robot. Power transmission system: Rotary to
rotary motion, Rotary to linear motion, Harmonics drives – gear
system - belt drives.
UNIT II ROBOT END EFFECTORS 9
Robot End effectors: Introduction- types of End effectors-
Mechanical gripper- types of gripper mechanism- gripper force
analysis- other types of gripper- special purpose grippers.
UNIT III ROBOT MECHANICS 10
Robot kinematics: Introduction- Matrix representation- rigid
motion & homogeneous transformation- forward & inverse
kinematics- trajectory planning. Robot Dynamics: Introduction -
Manipulator dynamics – Lagrange - Euler formulation- Newton -
Euler formulation
UNIT IV ROBOT PROGRAMMING 8
Robot programming: Robot Languages-
Classification of robot language-Computer
control and robot software-Val system and
Languages- application of robots.
UNIT V MACHINE VISION FUNDAMENTALS 9

Machine vision: image acquisition, digital

images-sampling and quantization-levels of
computation Feature extraction-windowing
technique- segmentation- Thresholding- edge
detection- binary morphology - grey
morphology
TEXT BOOK:
1. M.P.Groover, M.Weiss ,R.N. Nagal, N.G.Odrey,
"Industrial Robotics - Technology, programming and
Applications" Tata , McGraw-Hill Education Pvt Limited
2ndEdition, 2012

REFERENCES:
1. John.J.Craig, " Introduction to Robotics: Mechanics &
control"Pearson Publication, Fourth edition, 2018.
2. Jazar, "Theory of Applied Robotics: Kinematics,
Dynamics and Control", Springer, 2ndEdition, 2010
3. K.S.Fu, R.C.Gonzalez, C.S.G.Lee, "Robotics: Sensing,
Vision & Intelligence", Tata McGraw-Hill Publication,
First Edition, 1987.
4. Sathya Ranjan Deb, "Robotics Technology & flexible
Automation" Second edition, Tata McGraw-Hill
Publication, 2009.
 BASICS OF ROBOTICS
Introduction- Basic components of robot-
Laws of robotics- classification of robot-
work space-accuracy- resolution –
repeatability of robot. Power transmission
system: Rotary to rotary motion, Rotary to
linear motion, Harmonics drives – gear
system - belt drives.
 ACCURACY
• “How close does the robot get to the desired
point”.
• This measures the distance between the
specified position, and the actual position of
the robot end effector.
• Accuracy is more important when performing
off-line programming, because absolute
coordinates are used
 ACCURACY
• Accuracy of the robot for a given position can
be defined as being the distance between the
desired position and the position which is
actually achieved after repetitive movements
of the end-effector toward the original
desired position.
 REPEATABILITY
• Repeatability is how well the robot will return to a
programmed position- i.e -ability to position back to a
point that was previously taught.
• The ability of a robot returns repeatedly to a given
position. It is the ability of a robotic system or
mechanism to repeat the same motion or achieve the
same position.
• Repeatability is a measure of the error or variability
when repeatedly reaching for a single position.
Repeatability is often smaller than accuracy.
 REPEATABILITY
• Repeatability errors form a random variable.
• Mechanical inaccuracies in arm, wrist
components.
• Larger robots have less precise repeatability
values .
ROBOT ACCURACY AND REPEATABILITY

In the figure we can see accuracy and repeatability. In the

figure we can see that the location has not achieved, therefore
the system is less accurate. Repeatability is high as the system
attains the same position again and again.
Accuracy and Repeatability
 Accuracy and Repeatability
• In robotics, when talking about repeatability and
accuracy, their meanings are often confused.
• So, repeatability is doing the same task over and
over again
• While accuracy is hitting your target each time.
• Accuracy and repeatability are the factors that
has to be assured each and every time the robot
and end-effector is set in motion.
 RESOLUTION
The smallest increment of motion that can be detected or
controlled by the robotic control system.
It is a function of encoder pulses per revolution and drive (e.g.
reduction gear) ratio.
It is dependent on the distance between the tool center point and
the joint axis.
 RESOLUTION
• The smallest increment
of motion that can be
sensed ( executed).
• It is a function of
distance travelled and
the number of bits of
encoder accuracy.
• Resolution is based on a limited number of points
that the robot can be commanded to reach for,
these are shown here as black dots.
• These points are typically separated by a millimetre
or less, depending on the type of robot.
• The user might ask for a position such as 45.4mm,
and the system can only move to the nearest
millimetre,46mm, this is the accuracy error.
• Smallest detectable incremental change of the
measured variable. This concept is more related to
digital sensors.
 POWER TRANSMISSION SYSTEM

• Power transmission systems are used to transmit motion

from the prime mover to the end equipment.
• They are also used for motion conversion like rotary to
linear and vice versa.
• Power transmission systems widely used in robotics are
a) Gears
b) Belts
c) Chains
d) Shafts
 GEARS

• Gears are used for transmitting motion when distance

between two shafts are small.
• Gears have higher transmission efficiency and higher
load carrying capacity
 CLASSIFICATION OF GEARS
1. Based on arrangement of teeth for engaging
with another gear
a) External gears
b) Internal gears
2. Based on teeth design
a) Spur gears
b) Helical gears
c) Bevel gears
d) Worm gears
e) Racks
CLASSIFICATION OF GEARS
 EXTERNAL AND INTERNAL GEARS

EXTERNAL GEAR INTERNAL GEAR

 INTERNAL GEARS
• mesh internally - the larger one is called
“annular” gear and the smaller one is called
“pinion”
• Internal gears have their teeth cut on the
inside of the gear blank.
 INTERNAL GEARS
• Applications:
Planetary gear drive of high reduction ratios,
clutches, etc.
Limitations:
• Low reduction ratios are unsuitable and in many
cases impossible because of interferences.
• Fabrication is difficult and usually special tooling is
required.
 EXTERNAL GEARS
• mesh externally - the bigger one is called
“gear” and the smaller one is called “pinion”.
• External gears have their teeth cut on the
outside of the gear blank.
EXTERNAL GEARS
 Belts
1. Belts are used when distance between two
shafts are very large.
2. Belts run over friction pulleys mounted on
ends of both the shafts.
3. Rubber belts woven with nylon fibres are most
widely used.
4. Woven nylon fibres provide adequate
mechanical strength to the belt.