CH 01

CHAPTER ONE
FUNDAMENTALS
Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

© 2020 John Wiley & Sons Ltd. Published 2020 by John Wiley & Sons Ltd.
Introduction to Robotics: Analysis, Control, Applications, Third Edition.
Saeed B. Niku.
This solution manual may not be copied, posted, made available to students,
placed on any outlet, any other electronic media system, and the Internet
without prior expressed consent of the copyright owner.
This material may not be used except in conjunction with the “Introduction to
Robotics: Analysis, Control, Applications”

Introduction
 What the course is about

 Robotics
 General information

What is a Robot
 The difference between a robot and a manipulator

 Run by a computer or microprocessor not a human
 Controlled by feedback devices
 Mostly autonomous
 Courtesy of Dalmec USA and Kuka Robotics.

Classification of Robots
 Fixed Sequence Robot: a device that performs the successive stages

of a task according to a predetermined, unchanging method, which
is easy to modify.
 Playback Robot: a human operator performs the task manually by

leading the robot, which records the motions for later playback. The
robot repeats the same motions according to the recorded
information.
 Numerical Control Robot: The operator supplies the robot with a

movement program rather than teaching it the task manually.
 Intelligent Robot: A robot with the means to understand its

environment, and the ability to successfully complete a task despite
changes in the surrounding conditions under which it is to be
performed
History of Robotics
 1922 Czech author Karel Capek wrote Rossum’s Universal Robots

and introduced the word rabota (worker).
 1946 George Devol developed the magnetic controller, a playback
device.
 1952 The first numerically controlled machine was built at MIT.
 1954 George Devol developed the first programmable robot.
 1955. Denavit and Hartenberg developed homogeneous
transformation matrices.
 1961 U.S. patent 2,988,237 was issued to George Devol for
“Programmed Article Transfer,” a basis for Unimate™ robots.
 1962 Unimation™ was formed, the first industrial robots appeared,
and GM installed its first robot from Unimation.
History of Robotics: Cont.
 1973 Cincinnati Milacron™ introduced T3 model robot which

became very popular in industry.
 1978The first PUMA robot was shipped to GM by Unimation.
 1982 GM and Fanuc of Japan signed an agreement to build
GMFanuc robots.
 2000 First Asimo humanoid robot was introduced by Honda.
 2001 FDA approved the use of (da Vinci) surgical robot in the US.
 2008 Universal Robots made the first collaborative robot (cobot)
available to the market, followed by Rethink in 2011.
 2010-present Many new robots, autonomous vehicles, drones,
sensors, and associated devices have appeared and have become
common.

Advantages and Disadvantages of Robots
 Robotics and automation can, in many situations,

increase productivity, safety, efficiency, quality, and
consistency of products.
 Robots can work in hazardous environments (such as
radiation, darkness, hot and cold, ocean bottoms, space,
and so on) without the need for life support, comfort, or
concern for safety.
 Robots need no environmental comfort like lighting, air
conditioning, ventilation, and noise protection.
 Robots have repeatable precision at all times unless
something happens to them, or unless they wear out.

Advantages and Disadvantages of Robots: Cont.
 Robots work continuously without tiring or fatigue or

boredom. They do not get mad, do not have hangovers,
and need no medical insurance or vacation.
 Robots can be much more accurate than humans. Typical
linear accuracies are a few ten-thousandths of an inch.
New wafer-handling robots have micro-inch accuracies.
 Robots and their accessories and sensors can have
capabilities beyond those of humans.
 Robots can process multiple stimuli or tasks
simultaneously. Humans can only process one active
stimulus.
 Robots replace human workers, causing economic

hardship, worker dissatisfaction and resentment, and the
need for retraining the replaced workforce.
 Robots lack capability to respond in emergencies, unless
the situation is predicted and the response is included in
the system. Safety measures are needed to ensure that they
do not injure operators and other machines that are
working with them [3]. This includes:
 Inappropriate or wrong responses
 Lack of decision-making power
 Loss of power
 Damage to the robot and other devices
 Injuries to humans

 Robots, although superior in certain senses, have limited

capabilities in:
 Cognition, creativity, decision making, and understanding.
 Degrees of freedom and dexterity
 Sensors and vision systems
 Real-time response
 Robots are costly due to:
 Initial cost of equipment and installation
 Need for peripherals
 Need for training
 Need for programming

Robot Components
 Manipulator or rover
 End effector
 Actuators
 Sensors
 Controller
 Processor
 Software
 Courtesy of Yaskawa Electric and Rethink Robotics GmbH

Robot Degrees of Freedom
 Six DOF needed for complete control over positioning and

orientation
 Fewer DOF is possible
 Many robots have fewer than 6 DOF
 More DOF is impossible to solve unless new constraint
equations or optimization routines are applied
 ½ DOF joints
 Human arm

Robot Joints
 Linear or prismatic (P)

 Rotary or revolute (R)
 Sliding
 Spherical (S)

Robot Coordinates
 Cartesian/rectangular/gantry (3P)
 Cylindrical (PRP)
 Spherical (P2R)
 Articulated/anthropomorphic (3R)
 Selective Compliance Assembly Robot Arm (SCARA)

Robot Coordinates: Cont.
Cartesian Cylindrical Spherical
Articulated SCARA

Robot Coordinates: Parallel robots
Omron Adept Quattro s650H robot
Image courtesy of Omron Adept Automation

Robot Reference Frames
 World Reference Frame

 Joint Reference Frame
 Tool Reference Frame
z z z
o
n
n
a
o
a
x y
x x
y Joint Reference Frame y Tool Reference Frame
World Reference Frame

Programming Modes
 Physical Set-up through switches and hard

 Lead Through or Teach Mode with a teach pendant
 Continuous Walk-Through Mode through sampling and
recording the motions
 Software Mode through offline programming

Robot Characteristics
 Payload
 Reach
 Precision (validity
 Repeatability (variability)

Robot Workspace
 Determined empirically or mathematically
Cartesian Cylindrical Spherical Articulated Parallel

Robot Languages
 Interpreter-based or compiler-based
 Micro-Computer Machine Language Level
 Point-to-Point Level
 Primitive Motion Level
 Structured Programming Level
 Task Oriented Level

Robot Applications
 Machine loading
 Pick and place operations
 Welding
 Painting

Courtesy of Staubli, Fanuc America and Kuka Robotics.

Cont.
 Inspection
 Sampling
 Assembly tasks
 Manufacturing

Courtesy of Fanuc America, Kuka Robotics and Staubli

Cont.
 Medical applications
 Assisting the disabled individuals
 Hazardous environments
 Underwater, space, and inaccessible locations
 Courtesy of Intuitive Surgical, EksoBionics, Cal Poly, NASA

Other Robots and Applications
 Atlas humanoid robot.

 Yaskawa dual arm robot
 Furrion’s Prosthesis
 Spot robot

Courtesy of Boston Dynamics, Yaskawa Electric, Jonathan Tippet

Collaborative Robots
 Can work with and around humans
 Sensory capability and intelligence to detect humans and to
stop if necessary
 Usually slower, rounder to detect collisions.
 Courtesy of Fanuc America

Social Issues
 Worker replacement
 Economic consequences
 Social consequences
 Solutions


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CHAPTER ONE

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

 What the course is about

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

 The difference between a robot and a manipulator

 Courtesy of Dalmec USA and Kuka Robotics.

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

 Fixed Sequence Robot: a device that performs the successive stages

 Playback Robot: a human operator performs the task manually by

 Numerical Control Robot: The operator supplies the robot with a

 Intelligent Robot: A robot with the means to understand its

 1922 Czech author Karel Capek wrote Rossum’s Universal Robots

 1973 Cincinnati Milacron™ introduced T3 model robot which

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

 Robotics and automation can, in many situations,

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

 Robots work continuously without tiring or fatigue or

 Robots replace human workers, causing economic

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

 Robots, although superior in certain senses, have limited

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

 Courtesy of Yaskawa Electric and Rethink Robotics GmbH

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

 Six DOF needed for complete control over positioning and

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

 Linear or prismatic (P)

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

Cartesian Cylindrical Spherical

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

Omron Adept Quattro s650H robot

Image courtesy of Omron Adept Automation

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

 World Reference Frame

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

 Physical Set-up through switches and hard

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

 Determined empirically or mathematically

Cartesian Cylindrical Spherical Articulated Parallel

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

 Courtesy of Intuitive Surgical, EksoBionics, Cal Poly, NASA

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

 Atlas humanoid robot.

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

 Courtesy of Fanuc America

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

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