Fundamental of Robotic Manipulator

In the first part of this unit we would be studying the basics

associated with the industrial robots,

like basic types,

Classifications:
the methods to specify the robots,
types of drive technologies used in robotic applications,
Motion control methods
the various applications of the robots.

specifications:

Example: RHINO XR-3

2 Fundamental of Robotic Manipulator

 •Mankind has always strived to give life like qualities to its
artifacts.
•He tries to find substitute for himself to carry out his orders and
also work in hostile environment.
•Broadly robot is a machine that looks and work like a human
being.
•The industry is moving from automation to robotization , to
increase
Robotsproductivity
are employedand
in to deliver
hostile uniform quality.
environment:
1. Atomic plant to handle radioactive material.
2. Construct and repair space station and satellites.
3. Nursing and aiding patient in medical field.
4. Heavy earth moving equipments.
3 Fundamental of Robotic Manipulator
reasons for using a robot but the central reason is to eliminate a human
operator.
The most obvious reason :
•To save labor and reduce cost.

Other classes of applications concern the product:

•Human is bad for the product: e.g. semiconductor handling,

food handling, pharmaceuticals, etc.

•Product is bad for the human : e.g. radioactive product.

robots can be used to replace human operators where the dangers are:
1.Repetitive strain syndrome.
2.Working with machinery that is dangerous for example presses, winders.
3.Working with materials which might be harmful in the short or long term(toxic
chemicals, radioactive material.

4 Fundamental of Robotic Manipulator

 Here robot is considered as industrial robot called as robotic
manipulator or robotic arm.

This arm is roughly similar to human

arm.

It is modeled as chain of rigid links

interconnected by flexible joints.

Links corresponds to :chest, upper arm,

fore arm
Joints: shoulder, elbow, and wrist.
At end of arm is an end effector ( tool,
gripper or hand).
Fundamental of Robotic Manipulator
Tool has two or more fingers that open
5
and closes.
6 Fundamental of Robotic Manipulator
 Wrists connects end effector to forearm.
End effector may be a tool and its fixture or gripper or any other
device
1. Grippers: are generally used to grasp and hold an object and
place it at a desired location.

Grippers classified as mechanical grippers, vacuum or suction

cups, magnetic grippers, adhesive grippers, hooks, scoops, and
so forth.

2. Tools: a robot is required to manipulate a tool to perform an

operation on a work part. Here the tool acts as end-effector.

Spot-welding tools, arc-welding tools, spray-painting nozzles, and

rotating spindles for drilling and grinding are typical examples of
tools used as end-effectors.
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 Automation and robot:
Automation is technology which is concerned with the use of
mechanical ,electrical and computer based system in operation
and control of production.

e.g. Transfer lines,mechanized asembly machines,feedback

control system,numerically controlled machine tools and robot

Two types:
Hardware automation and software automation

8 Fundamental of Robotic Manipulator

 Hard automation, also called fixed automation, is built with a
specific production purpose.

This automation approach is best suited for mass production of

the same product with few alterations or change-overs.

When volume of production is very high, special equipment are

designed to process product efficiently and at high production
rate.

When production cycle ends or new product is introduced ,that

m/c have to be shut down and h/w retooled for next generation
of models.
CNC machines are examples of hard automation

9 Fundamental of Robotic Manipulator

Soft automation, often referred to as flexible automation, is
reprogrammable and reconfigurable.

Now auto industry and other industries have introduced more

flexible forms of automation in manufacturing cycle.

Programmable mechanical manipulator are now being used to

perform task as spot welding ,spray painting, material handling
etc.

Since computer controlled mechanical manipulators can be

converted through s/w to do variety of task they are referred as
soft automation.

Robots fall into this soft automation category. This method is ideal
for handling
10 Fundamental small
of Robotic batches
Manipulator of product and product changes.
 Unit cost Manual labor

Soft automation

hard automation

v1 v2
Product volume

Qualitative comparison of cost effectiveness of manual labor ,hard

automation and soft automation

Upto v1-manual labor is cost effective.

After v2 –hard automation is cost effective
V1 to v2-soft automation is cost effective
11 Fundamental of Robotic Manipulator
 Robots, the industrial robots are the specialized, highly
automated mechanical manipulators which are controlled by
sophisticated electronic control systems and computer
systems

The robots can be programmed to do a variety of operations

by just changing the predetermined set of instructions called
 program , through some compatible software.
This is also termed as soft automation.

12 Fundamental of Robotic Manipulator

 What is an Industrial Robot?

 An industrial robot is a programmable, multi-

functional manipulator designed to move materials,
parts, tools, or special devices through variable
programmed motions to perform a variety of tasks.

An industrial robot consists of a number of rigid

links connected by joints of different types,
controlled and monitored by a computer.

13 Fundamental of Robotic Manipulator

 An industrial robot can be defined as :

Robot can also be defined as a software controllable

mechanical device that uses actuators and sensors to
guide one or more end effectors through programmed
motions in a workspace in order to manipulate
physical objects.

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 What are the parts
of a robot?
•Manipulator
•Pedestal
•Controller
•End Effectors
•Power Source
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 Manipulator
(Mimics the human arm)
• Base
• Appendage
- Shoulder

- Arm

- Grippers

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 Pedestal

• Supports the
manipulator.
• Acts as a
counterbalance.

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 Controller
(The brain)
• Issues instructions to
the robot.
• Controls peripheral
devices.
• Interfaces with robot.
• Interfaces with
humans.
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 End Effectors
(The hand)
• Spray paint
attachments
• Welding attachments
• Vacuum heads
• Hands
• Grippers
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 Power Source
(The food)
• Electric
• Pneumatic
• Hydraulic

20 Fundamental of Robotic Manipulator

21 Fundamental of Robotic Manipulator
Classification :
based on drive technologies:

An important element: The drive system ,it supplies the power for
the actuation of various linkages and joints of a robot and
enabling the robot to move.

The dynamic performance depends on the type of power source.

three types of power sources for robots:

 Electric drive:
Most of the industrial robots use electric drive system, in the form
of either DC stepper motor drive (open loop control), or, DC servo
motor drive (closed loop control).

Advantages: This drive system gives better positioning accuracy and

repeatability,
22 and
Fundamental of is Manipulator
Robotic suitable to keep cleaner environment around.
 But it gives lower movement compare to the hydraulic robots and
the electric drive system is good for small and medium size robots
only.

Hydraulic drive:
at higher speeds and at substantial loads hydraulic drive robot are
preferred.
Disadvantage: it occupies large space area and there is a danger of
oil leak to the shop floor.

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Pneumatic drive:
 used for high speed and/or high-load-carrying capabilities. A
pneumatic drive is clean and fast
but it is difficult to control because air is a compressible fluid.

For both electrical and hydraulic drive robots most of the time
make use of the pneumatic tools or end effectors.
Pneumatic drives used especially when the gripping action of the
end effectors is simple open and close operation to pick light
objects.

the pneumatic drive system is preferred for smaller robots as these

are less expensive than electric or hydraulic robots and suitable for
relatively less degrees of freedom design for simple pick and place
application.

24 Fundamental of Robotic Manipulator

 Work envelop geometries:

The Robotic Motions:

oThe industrial robots are designed to perform some desirable
work
o This can be performed by enabling the manipulator to move the
body, arm and wrist through a series of motions.
oIt helps the end effectors of the robot to achieve the desirable
position and orientation in the three dimensional space
surrounding the base of the robot.

25 Fundamental of Robotic Manipulator

Robot Joints
•A robot joint permits relative movement between parts of a
robot arm.
•The joints of a robot are designed to enable the robot to move its
end-effector along a path from one position to another as desired.
The end effector is mounted on a flange or some plate secured to
the wrist.
• It is the tool to perform some operation or some gripper for
pick and place operations.

26 Fundamental of Robotic Manipulator

 The robot movements are broadly classified into two main
categories, namely
(i)arm and body motions
(ii) wrist motions.

The individual joint motions associated with these two categories

are also referred to as the degrees of freedom .

The first three axes of the robot are referred to as the major axes.
The position of the end-effector of the robot is determined by the
position of the major axes.

Similarly three more axes associated with the wrist, are called
minor axes and are used to establish the orientation of the tool
or the gripper at wrist.

27 Fundamental of Robotic Manipulator

 Degrees of Freedom

Degrees of freedom (DOF) is a term used to describe a robot’s

freedom of motion in three dimensional space

—specifically, the ability to move forward and backward, up

and down, and to the left and to the right.

For each degree of freedom, a joint is required.

A robot requires minimum six degrees of freedom to be

completely versatile.

Its movements are clumsier than those of a human hand, which

has 22 degrees of freedom

28 Fundamental of Robotic Manipulator

29 Fundamental of Robotic Manipulator
 The number of degrees of freedom defines the robot’s configuration.
For example, many simple applications require movement along three axes: X, Y, and Z.
See Figure 2-10. These tasks require three joints, or three degrees of freedom

30 Fundamental of Robotic Manipulator

Thus a minimum of six axes are
required to achieve any desirable
position and orientation in the robot’s
work volume  or work envelop or
workspace.

The locus of the points in the three dimensional space that can
be reached by the wrist by the various combinations of the
movements of the robot joints from base up to wrist, is called the
gross work envelop of the robot.

The robot motions are accomplished by means of powered joints.

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The rigid members connected at the joints of the robot are called
links.
In the link-joint-link chain, the link closest to the base is referred to
as the input link .
The output link is the one which moves with respect to the input
link.

There are basically two types of

joints commonly used in industrial
robots, which are:
  (i) prismatic or linear joints,(p)
which have sliding or linear
(translational) motion along an
axis.

32 Fundamental of Robotic Manipulator

 (ii)Revolute ,(R) : which exhibits the rotary motion about an axis.

the links are aligned perpendicular to one another at this kind of

joint.
The rotation involves revolution of one link about another.

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Based on the physical configuration or the combination of the
revolute or prismatic joints for the three major axes, a particular
geometry of the work envelop is achieved.
The table shows the some of the most common robot work envelops
based on the major axes:

robot Axis 1 Axis 2 Axis 3 Total

revolute
cartesian L L L 0
Cylindrical R L L 1
Spherical R R L 2
SCARA R R L 2
Articulated R R R 3
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 Cartesian Gantry Robot Arm

35 Fundamental of Robotic Manipulator

 Cartesian Gantry Robot Arm
 robots with Cartesian configuration consist of links connected
by linear joints (p).
 Thus the resulting configuration is (PPP).
The three joints corresponds to the notation for the moving the
wrist up and down, in and out, and back and forth.
Thus the work envelop/ work volume generated by this robot is a
rectangular box.
example: the gantry robot

Uses 3 perpendicular slides to

construct x , y , z axes.
Hence called xyz/rectilinear
robot.
e.g. IBM RS-I robot

36 Fundamental of Robotic Manipulator

commonly used :
•for pick and place work for heavy
loads
• assembly operations
• handling machine tools
• arc welding operations

Cartesian Gantry Robot

Arm
37 Fundamental of Robotic Manipulator
 work envelop/ work volume

38 Fundamental of Robotic Manipulator

The major advantages :
1.Ability to do straight line insertions into furnaces.
2.Easy computation and programming.
3.Most rigid structure for given length.

Disadvantages :
1.Requires large operating volume.
2.Exposed guiding surfaces require covering in corrosive or dusty
environments
3.Can only manipulate the objects in front of it.
4.Axes of robot are hard to seal
39 Fundamental of Robotic Manipulator
 Cylindrical Robot Arm
Changing the first prismatic joint of the Cartesian coordinate
robot by revolute joint, to have RPP configuration we get the
cylindrical coordinate robot.
The space in which this robot operates is cylindrical in shape,
hence the name cylindrical configuration.

The revolute joint swings the

arm back and forth about R
vertical base axis.
The prismatic joints then L
move the wrist up and down
L
along vertical axis and in and out
along a radial axis.
40 Fundamental of Robotic Manipulator
 Cylindrical Robot Arm

41 Fundamental of Robotic Manipulator

 As there is
always some
minimum
radial position,
the work
envelop is
actually the
volume between
two concentric
cylinders.

42 Fundamental of Robotic Manipulator

 R

L
L

43 Fundamental of Robotic Manipulator

commonly used for: handling at die-casting machines,
assembly operations, handling machine tools, and spot
welding operations.

major advantages :
 1.can reach all around itself
 2.rotational axis easy to seal
3.relatively easy programming
4.rigid enough to handle heavy loads through large working
space.
5.good access into cavities and machine openings.

Disadvantages :
1.can't reach above itself. 
2.linear axes is hard to seal.
3.won’t
44
reach around obstacles.
Fundamental of Robotic Manipulator
4.exposed drives are difficult to cover from dust and liquids.
 Spherical Robot Arm

45 Fundamental of Robotic Manipulator

 If second joint of cylindrical coordinate robot is replaced with
revolute joint (RRP) this produces spherical coordinate robot.

•Here the first revolute joint swings

the arm back and forth about a
vertical base axis,
•the second revolute joint moves the
arm up and down about the
horizontal shoulder axis,
• the prismatic joint moves the wrist
radially in and out

46 Fundamental of Robotic Manipulator

 The work envelope
is the volume
between two
concentric spheres

e.g. UNIMATE
2000 series,
MAKER 110

47 Fundamental of Robotic Manipulator

commonly used for:
Spherical: RRL
material handling at die casting or
fettling machines, handling machine
tools and for arc/spot welding etc.

the advantages:
1.Large working envelope.
2.Two rotary drives are easily sealed
against liquids/dust.

The disadvantages are:

1.Complex coordinates more difficult
to visualize, control, and program.
2.Exposed linear drive.
3.Low accuracy

48 Fundamental of Robotic Manipulator

 SCARA Robot Arm
Adept's SCARA robots

49 Fundamental of Robotic Manipulator

 Like a spherical
coordinate robot, a
SCARA robot
(Selective
Compliance
Assembly Robot
Arm) is a robot with
at least two parallel
revolute joints (R)
and having one linear
joint for the
But for a SCARA robot all three joint axes arepositioning
vertical of the
50 Fundamental of Robotic Manipulator wrist.
The first revolute axis swings the arm
back and forth about base axis i.e
vertical shoulder axis.
The second revolute joint swings the
forearm back and forth about the
vertical elbow axis.
Thus two revolute joints control motion
in a horizontal plane.
The vertical component of motion is
provided by third joint, a prismatic joint
which slides the wrist up and down.
51 Fundamental of Robotic Manipulator
 It gives
rigidity in
vertical
direction
and
compliance
in horizontal
axis

Fundamental of Robotic Manipulator

Work envelope
52
 commonly used for:
pick and place work, and assembly operation with high working
speeds.

main advantages :
1.High speed.
2.Height axis is rigid.
3.Large work area for floor space.
4.Moderately easy to program.

The main disadvantages :

1.Limited applications.
2.Two ways to reach a point.
3.Difficult to program off-line.
4.Highly complex arm.

53 Fundamental of Robotic Manipulator

 Articulated Robot Arm

54 Fundamental of Robotic Manipulator

 In articulated coordinate robot all joints are revolute joint
(RRR).
It closely resembles the anatomy of human arm.

First revolute joint swings robot

back and forth about vertical base
axis.
Second joint pitches the arm up
and down about horizontal shoulder
axis.
Third joint pitches the forearm
up and down about horizontal elbow
axis.
55 Fundamental of Robotic Manipulator
56 Fundamental of Robotic Manipulator
Work envelope
commonly used for:
assembly operations, welding, weld sealing, spray painting, and
handling at die casting or fettling machines.

main advantages :
1.All rotary joints allows for
maximum flexibility
2.All joints can be sealed from the
environment.

The main disadvantages are:

1.Extremely difficult to visualize,
control, and program these robots.
2.Restricted volume coverage.
57 Fundamental of Robotic Manipulator
3.Low accuracy.
 Manipulators
 Robot Configuration:

Cartesian: LLL Cylindrical: RLL Spherical: RRL

Hand coordinate:
n: normal vector; s: sliding vector;
SCARA: RRL
Articulated: RRR (Selective Compliance a: approach vector, normal to the
58 Assembly Robot Arm)
Fundamental of Robotic Manipulator tool mounting plate
 Classification based on motion control methods:
It is based on method used to control the movement of end effector.
There are two types of motions:
1. Point to point motion:
• Tool moves to sequence of discrete points in a workspace.
• The path between points is not explicitly controlled by user.
• It is useful for operation which is discrete in nature.
e.g. Spot welding , pick and place , loading and unloading

Continuous motion:
•End effector follows a prescribed path in three dimensional
space.
•The speed of motion may vary along the path.
59 Fundamental of Robotic Manipulator
e.g. arc welding , spray painting
 What Can Robots Do?
Industrial Robots

•Material handling
•Material transfer
•Machine loading and/or
unloading
•Spot welding Material Handling Manipulator

•Continuous arc welding

•Spray coating
•Assembly
•Inspection Assembly Manipulator
60 Fundamental of Robotic Manipulator
Spot Welding Manipulator
1.12.1 Loading/unloading parts to/from the machines

(i)Unloading parts from die-casting machines

(ii)Loading a raw hot billet into a die, holding it during forging and
unloading it from the forging die
(iii)Loading sheet blanks into automatic presses
(iv)Unloading molded parts formed in injection molding machines
(v)Loading raw blanks into NC machine tools and unloading the finished
parts from the machines

61 Fundamental of Robotic Manipulator

62 Fundamental of Robotic Manipulator
 Single machine robotic cell applications include:
(i)The incoming conveyor delivers the parts to the fixed position
(ii)The robot picks up a part from the conveyor and moves to the
machine
(iii)The robot loads the part onto the machine
(iv)The part is processed on the machine
(v)The robot unloads the part from the machine
(vi)The robot puts the part on the outgoing conveyor
(vii)The robot moves from the output conveyor to the input
conveyor
Multi-machine robotic cell application: Two or three CNC machines
are served by a robot. The cell layout is normally circular.

63 Fundamental of Robotic Manipulator

  
 
 
Assembly Operations:
Electronic component assemblies and machine assemblies are
two areas of application.

 
Inspection:
Industrial robots are used for inspection applications, in which
the robot end effector is special inspection probe.

64 Fundamental of Robotic Manipulator

Palletizing and Depalletizing:

Many products are packaged in

boxes of regular shape and stacked
on standard pallets for shipping.

Robots are commonly used to

palletize and depalletize boxes
because they can be programmed to
move through the array of box
positions layer after layer.

65 Fundamental of Robotic Manipulator

 Drilling
Hole drilling is a precision
machining process.

Drilling robots use special

drilling end effectors which
locate and dock onto the work
piece or a fixture.

66 Fundamental of Robotic Manipulator

Spot Welding Spot welding is the most common
welding application found in the
manufacturing field.

67 Fundamental of Robotic Manipulator

Fastening
Robots are commonly used
for applying threaded
fasteners in the automobile
industry for fastening
wheels,

in the electronics industry

for screwing components to
circuit boards and circuit
boards into chassis.

68 Fundamental of Robotic Manipulator

 Paint and Compound
Spraying
Robots provide a consistency
in paint quality and widely
used in automobile industry
for medium batch
production.

Painting booths are

hazardous because the paint
material is often toxic, and
flammable.

69 Fundamental of Robotic Manipulator

 Arc Welding
Ship building, aerospace,
construction industries are
among the many areas of
application

70 Fundamental of Robotic Manipulator

 Robot specification
But in addition to classification, there are several additional
characteristics :
(i)Number of axes
(ii)Load carrying capacity (kg)
(iii)Maximum speed (mm/sec)
(iv)Reach and stroke (mm)
(v)Tool orientation (deg)
(vi)Precision, accuracy and Repeatability of movement (mm)
(viii) Operating environment

71 Fundamental of Robotic Manipulator

Number of Axes
The industrial robots have got a number of axes about which
its various links rotate or translate.
the first three axes of the robot called major axes are used to
establish the position of the wrist.
The remaining axes of the robot are used to establish the
orientation of the robots wrist, called minor axes .
Thus a six axes robot is a general manipulator which can move
its end effector to both an arbitrary location and an arbitrary
orientation with in its work volume.

72 Fundamental of Robotic Manipulator

Some industrial robots have more than six axes, termed as
the redundant axes , which are generally used to avoid
certain obstacle in the robots work volume.

The mechanism to activate the robot tool (end effector), or

the opening and closing of the robots gripper, is not
considered as the independent robot axis, as this
mechanism (axis) do not contribute to acquire either the
position or the orientation of the end effector in robots
working space.

73 Fundamental of Robotic Manipulator

Load Carrying Capacity:

The load carrying capacity is mainly determined by various factors

: robot’s size, configuration, type of drive system and the
type of application for which it is designed.

A very wide range: from few grams to several thousand of

kilograms.

The maximum load carrying capacity should be specified for the

condition that it is in its weakest position.

It is the position when the robots arm is at maximum horizontal

extension.

74 Fundamental of Robotic Manipulator

The specification provided by manipulator manufacturers is
actually the gross weight capacity that can be put at the
robotic wrist.

Thus to use this specification the user must know weight of

the end effector.

E.g., if the gross load carrying capacity of a robot is 10.0 kg

and it’s end effector weigh 3.0 kg, then the net load carrying
capacity of the robot would be only 7.0 kg.

75 Fundamental of Robotic Manipulator

 Maximum Speed of Motion
The maximum tool tip speed of the robots is from a few mm per
second to several meters per second.

The speed of the robot is measured at robot’s wrist.

Thus the highest speeds can be achieved with maximum

horizontal extension of arm away from the base of the robot.

Also the type of the drive system affects the joint speeds,
e.g. the hydraulic robots are having faster joint motions than the
electrical drive robots.

76 Fundamental of Robotic Manipulator

A meaningful measure of the robot speed is the cycle time,
which is the time required to perform several periodic
motions of robot.

As it is desirable for any production operation to minimize

the cycle time of task, most of robots have the provision to
regulate or adjust the speed.

77 Fundamental of Robotic Manipulator

Reach and Stroke:

Reach and stroke of the robot are the measure of the work volume of
the robot.

The horizontal reach: it is the maximum radial distance at which the

robotic wrist can be positioned away from the vertical axis about which
the robot rotates, or the base of the robot.

The horizontal stroke: it is the total radial distance the wrist can move.

There is always a certain minimum distance the robot’s wrist will

remain away from the base axis.

78 Fundamental of Robotic Manipulator

Thus, the horizontal stroke is always less than equal to the horizontal
reach.
For a cylindrical coordinate robot the horizontal reach is the outer
cylinder of the workspace, while the horizontal stroke is the difference
between the radii of the concentric outer cylinder and the inner
cylinder, as shown in figure 1.10

79 Fundamental of Robotic Manipulator

The vertical reach:
is the maximum vertical distance above the working surface
that can be reached by the robot’s wrist.

The vertical stroke:

is the total vertical distance that the wrist can move.

the vertical stroke is also always less than equal to the

vertical reach.

articulated robot have full work envelope means stroke equal to

reach
But necessary to program to avoid collision with itself or work
surface.

80 Fundamental of Robotic Manipulator

Tool Orientation
The three major axes of the robot determine the work
volume, while remaining additional axes of the robot
determine the orientation of the robot’s end effector.

If three independent minor axes are present then the end

effector will able to achieve any arbitrary orientation in the
three dimensional work volume of the robot.

the three axes associated with the wrist are called as yaw-
pitch and roll which are used to define the orientation of end
effector of robot.

81 Fundamental of Robotic Manipulator

 Degrees of Freedom

Degrees of freedom (DOF) is a term used to describe a robot’s

freedom of motion in three dimensional space
—specifically, the ability to move forward and backward, up and
down, and to the left and to the right.

For each degree of freedom, a joint is required.

A robot requires six degrees of freedom to be completely

versatile.

Its movements are clumsier than those of a human hand, which

has 22 degrees of freedom

82 Fundamental of Robotic Manipulator

 For applications that require more freedom, additional degrees
can be obtained from the wrist, which gives the end effector
its flexibility.
The three degrees of freedom in the wrist have names: pitch,
yaw,and roll.
See Figure 2-11. The pitch, or bend, is the up-and-down
movement of the wrist. The yaw is the side-to-side movement,
and the roll, or swivel, involves rotation.

83 Fundamental of Robotic Manipulator

84 Fundamental of Robotic Manipulator
1.Wrist roll: it involves the rotation of the wrist mechanism about
the arm axis. Wrist roll is also referred to as wrist swivel.

2. Wrist pitch: if the wrist roll is in its center position, the wrist pitch
is the up or down rotation of the wrist. also called wrist bend.

3.Wrist yaw: if the wrist roll is in center position of its range, wrist
yaw is the right or the left rotation of the wrist.

The wrist yaw and pitch definitions are specified w.r.t.the central
position of the wrist roll,
the rotation of the wrist about the arm axis will change the
orientation of the pitch and yaw movements.

The robot would have a spherical wrist if the axes used to orient
the tool intersect at a common point.

85 Fundamental of Robotic Manipulator

 F3,m3

Roll
F2,m2
wrist
Pitch

F1,m1
Yaw

86 Fundamental of Robotic Manipulator

 To specify tool orientation a mobile tool coordinate frame
M={m1,m2,m3} is attached to tool and moves with tool.
M3 is aligned with principal axis of tool and pts away
from wrist
M2 is parallel to line followed by fingertips of tool as it
opens or closes.
M1 completes right handed tool coordinate frame M

By convention, yaw pitch and roll motions are performed in

specific order about set of fixed axis
Initially mobile tool frame is coincide with wrist coordinate
frame F= {f1,f2,f3} attached at fore arm
1) Yaw motion is performed by rotating tool about wrist axis f1
2) Pitch motion by rotating tool about wrist axis f2
3) Roll motion rotating tool about wrist axis f3
87 Fundamental of Robotic Manipulator
Positive angle corresponds to counter clock wise rotations
88 Fundamental of Robotic Manipulator
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90 Fundamental of Robotic Manipulator
 Precision, Accuracy and Repeatability of movement
The precision of movement is basically a function of three features:
special resolution, accuracy, And repeatability

These terms are defined for:

• the robot's wrist end without any tool attached
• for the conditions under which the robot's precision will be at its
worst.

the robot has least precision of movement with the robot's arm is
fully extended

91 Fundamental of Robotic Manipulator

(i) Spatial Resolution
It is defined as the smallest increment of movement into
which the robot can divide its work volume.

depends on the system’s control resolution and the

robot's mechanical in accuracies.

The control resolution for a robot is determined by the

position control system and the feedback measurement
system.

It is the controller's ability to divide the total range

of movement for the particular joint into individual
increments that can be addressed in the controller.

92 Fundamental of Robotic Manipulator

 Accuracy is an absolute concept, repeatability is relative.

Accuracy relates to the robot's capacity to be

programmed to achieve a given target point.

The actual programmed point will probably be different from

the
93 target point due to limitations of control resolution.
Fundamental of Robotic Manipulator
 It is measure of ability of robot to place tool tip at
arbitrarily prescribed location in work envelope.

Error is half of spatial resolution.

Error is worst in outer range of its work volume and

better when arm is closer to base.

94 Fundamental of Robotic Manipulator

Repeatability:

Repeatability is the measure of the ability of the robot to

position the tool tip at same position repeatedly.

There is always some repeatability error associated because

of backlash in gears, flexibility of the mechanical linkages
and drive systems.

The repeatability errors are very small in magnitude for well

designed robotic manipulators.

Repeatability and accuracy refer to two different aspects.

95 Fundamental of Robotic Manipulator

Repeatability errors form a random variable and constitute a statistical
distribution.
96 Fundamental of Robotic Manipulator
 A robot that is repeatable may not be very accurate, and visa versa.
Let T be the desired target point to where the robot is commanded
to move ,
but due to limitations on its accuracy, the programmed position
becomes point P.
The distance between points T and P is robot's accuracy.
When, the robot wrist is commanded to the programmed point P
again , it does not return to the exact same position.
Instead, it returns to position  R.
The difference between P and  R is limitations on the robot's
repeatability.

The robot will not always return to the same position  R on

subsequent repetitions of the motion cycle.

97
Instead, it will
Fundamental formManipulator
of Robotic a cluster of points on both sides of the position
P
 Precision :
It is closely related to repeatability.
It is measure of spatial resolution with which tool can be
positioned within work envelope.

A B

accuracy
precision

If tool tip is positioned at A then next closest position that it moves is B

Then distance bet. A and B is precision.
Tool tip might be positioned anywhere on 3 dimensional grid of pts
within work space.
Overall precision is max. distance between neighboring pts in grid

98 Fundamental of Robotic Manipulator

 Cartesian robot: interior grid pt have 8 neighbors in horizontal
plane + 9 neighbors in plane above and below

For Cartesian
robot, Precision
is uniform
throughout work
envelop

99 Fundamental of Robotic Manipulator

 Robot type Horizontal Vertical
precision precision

Cartesian Uniform Uniform

Cylindrical Decreases radially Uniform

Spherical Decreases radially Decreases radially

SCARA varies Uniform

articulated varies varies

100 Fundamental of Robotic Manipulator