EE381 Robotics I

Instructor: Dr. IFTIKHAR AHMAD

DR. IFTIKHAR
AHMAD

Assistant Professor, EPC

SEECS, NUST

Office: A-118, PG Block

Iftikhar.rana@seecs.edu.pk
Student Introduction
Please introduce your self with the following details
Name
Belongingness
Last Institute
Motivation behind opting for this course
EE-381 ROBOTICS – 1 Tuesday 3:00 to 3:50 pm
Wednesday 9:00 to 10:50 am
UG ELECTIVE
Electric Vehicles Lab of SEECS at SINES
Current Robotics Related Research at SEECS
Ongoing MS Theses
Energy management for electric vehicles
Smart grid
Biomedical Engineering
Managed pressure drilling
Magnetic levitation
Wireless power transmission
EV charger
Quadcopter, Oct-rotor, tri-copter, bi-copter etc.
Norms Setting / Class Rules
Class rules / norms to be set after discussion with class

 Attendance timings
 Late arrivals in class
 Cell phone ringing
 Unwanted behavior in class
 Assignment submissions
 Plagiarism in assignments (we will follow SEECS policy on plagiarism)

6
REFERENCE
MATERIAL

Robots Dynamics and Control

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar

Robots Modeling and Control

M.W. Spong and S. Hutchinson

ROBOTICS I
In this course we will study many aspects of robotics.

General Robot Structures

General Definitions

Robot modelling

Robot Actuators and Drive Systems

Sensors

Forward Kinematics

Inverse Kinematics

Robot Perception

Robot Programming

Robots with Vision Sensor

Robot Application in Industry

8
ROBOTICS
Introduction to ROBOTICS

9
ROBOTICS
What is a robot?

10
ROBOTICS
A Robot is:

An electromechanical device that is:

Reprogrammable
Multifunctional
Sensible for environment

11
ROBOTICS
What is a Robot: I
Manipulator

12
ROBOTICS
 What is a Robot: II

Legged Robot Wheeled Robot

13
ROBOTICS
 What is a Robot: III

Autonomous Underwater Vehicle Unmanned Aerial Vehicle

14
ROBOTICS
 What Can Robots Do: I

Jobs that are dangerous

for humans

Decontaminating Robot
Cleaning the main circulating pump housing
in the nuclear power plant

15
ROBOTICS
 What Can Robots Do: II

Repetitive jobs that are

boring, stressful, or labor-
intensive for humans

Welding Robot

16
ROBOTICS
 What Can Robots Do: III

Manual tasks that human

don’t want to do

The SCRUBMATE Robot

17
ROBOTICS
 History of Robotics - The Origins of Robots

≈250 B.C. - Ctesibius, an ancient Greek engineer and

mathematician, invented a water clock which was the most
accurate for nearly 2000 years.

≈60 A.D. – Hero of Alexandria designs the first automated

programmable machine. These 'Automata' were made from a
container of gradually releasing sand connected to a spindle via a
string. By using different configurations of these pulleys, it was
possible to repeatably move a statue on a pre-defined path.

18
ROBOTICS
 History of Robotics - The Origins of Robots
≈ 1250 - Bishop Albertus Magnus holds
banquet at which guests were served by metal
attendants. Upon seeing this, Saint Thomas
Aquinas smashed the attendants to bits and
called the bishop a sorcerer.

1640 - Descartes builds a female automaton

which he calls “Ma fille Francine.” She
accompanied Descartes on a voyage and
was thrown overboard by the captain, who
thought she was the work of Satan.

19
ROBOTICS
 History of Robotics - The Origins of Robots

1738 - Jacques de Vaucanson builds a

mechanical duck made of more that 4,000
parts. The duck could quack, bathe, drink
water, eat grain, digest it and void it.
Whereabouts of the duck are unknown
today.

1805 - Doll, made by Maillardet, that wrote

in either French or English and could draw
landscapes.

20
ROBOTICS
 History of Robotics - The Origins of Robots

1898 - The first radio-controlled submersible boat was invented by

Nikola Tesla.

1921 - The term "robot" was first used in 1920 in a play called
"R.U.R." Or "Rossum's universal robots" by the Czech writer Karel
Capek. The plot was simple: man makes robot then robot kills
man! Many movies that followed continued to show robots as
harmful, menacing machines. Robot comes from the Czech word
robota, which means “servitude, forced labor.”

21
ROBOTICS
 History of Robotics - The Origins of Robots
Robotics was first introduced into our vocabulary by Czech playwright
Karel Capek in his 1920’s play Rossum’s Universal Robots.

The word “robota” in Czech means simply work. Robots as machines

that resemble people, work tirelessly, and revolt against their creators. .

The same myth/concept is found in

many books/movies today:
“Terminator”, “Star-Wars” series.
Mary Shelley’s 1818 Frankenstein.
Frankenstein & The Borg are examples
Karel Capek of “cybernetic organisms”.

22
ROBOTICS
 History of Robotics
1940 - Sparko, the Westinghouse dog, uses both mechanical
and electrical components.

1941 - Isaac Asimov introduced the word 'Robotics' in the

science fiction short story 'Liar!‘

1948 - William Grey Walter builds Elmer and Elsie, two of the
earliest autonomous robots with the appearance of turtles. The
robots used simple rules to produce complex behaviors.

Cybernetics is a discipline that was created in the late 1940’s

by Norbert Wiener, combining feedback control theory,
information sciences and biology to try to explain the common
principles of control and communications in both animals and
machines.

23
ROBOTICS
 History of Robotics
1950`s - Computer technology advances and control machinery is
developed.
Questions Arise: Is the computer an immobile robot?

1954 - The first silicon transistor was produced by Texas

Instruments.

1954 – George Devol replaced the slave manipulator in a

teleoperator with the programmability of the CNC controller, thus
creating the first “industrial robot”, called the “Programmable
Article Transfer Device”.

24
ROBOTICS
 History of Robotics

1955 – The Darmouth Summer Research Conference marks the

birth of AI. Marvin Minsky, from the AI lab at MIT defines an
intelligent machine as one that would tend to “build up within itself
an abstract model of the environment in which it is placed. If it
were given a problem, it could first explore solutions within the
internal abstract model of the environment and then attempt
external experiments”. This approach dominated robotics research
for the next 30 years.
1956 - Researchers aim to combine “perceptual and problem-
solving capabilities,” using computers, cameras, and touch
sensors. The idea is to study the types of intelligent actions these
robots are capable of. A new discipline is born: A.I.

ROBOTICS
25
 History of Robotics

1956 - Joseph Engleberger, a Columbia physics student buys

the rights to Devol’s robot and founds the Unimation Company.

1956 - George Devol applied for a patent for the first

programmable robot, later named 'Unimate'.

1957 - Launch of the first artificial satellite, Sputnik 1.

26
ROBOTICS
 History of Robotics

I, Robot

Sputnik I
Turtle robot

27
ROBOTICS
 History of Robotics
• 1960`s - Industrial Robots created. Robotic Industries
Association states that an “industrial robot is a re-programmable,
multifunctional manipulator designed to move materials, parts,
tools, or specialized devices through variable programmed
motions to perform a variety of tasks”.

Robot Institute of America, 1979

28
ROBOTICS
 History of Robotics
• 1961 - The first Unimate robot is installed in a Trenton, NJ General
Motors plant to tend a die casting machine. The key was the
reprogrammability and retooling of the machine to perform different tasks.
The Unimate robot was an innovative mechanical design based on a multi-
degree of freedom cantilever beam. The beam flexibility presented
challenges for control. Hydraulic actuation was eventually used to alleviate
precision problems.
• 1962 – 1963 – The introduction of sensors is seen as a way to enhance
the operation of robots. This includes force sensing for stacking blocks
(Ernst, 1961), vision system for binary decision for presence of obstacles
in the environment (McCarthy 1963), pressure sensors for grasping
(Tomovic and Boni, 1962). Robot interaction with an unstructured
environment at MIT’s AI lab (Man and Computer – MAC project).

29
ROBOTICS
 History of Robotics
 1965 - Gordon E. Moore introduces the concept 'Moore's law', which
predicts the number of components on a single chip would double
every two years.

 1966 – 1968 'Shakey‘, a mobile robot is developed by SRI (Stanford

Research Institute). 'Shakey' was capable of planning, route-finding and
moving objects. It was placed in a special room with specially colored
objects. A vision system would recognize objects and pushed objects
according to a plan. This planning software was STRIPS, and it maintained
and updated a world model. The robot had pan/tilt and focus for the camera,
and bump sensors.

 1968 – Kawasaki Heavy Industries in Japan acquires a license for

Unimate.

 1969 - The Apollo 11 mission, puts the first man on the moon.
Landing was made inside the Lunar Module 'Eagle'.

30
ROBOTICS
 History of Robotics

Unimate 1 Shakey

Moon Walk

31
ROBOTICS
 History of Robotics

 1970 - Luna 17 lands on the moon, carrying the roving remote-

controlled robot, Lunokhod 1.
 1971 - Intel introduce the first commercially available
microprocessor, the 4004.
 1971 -1973 – The Stanford Arm is developed, along with the first
language for programming robots - WAVE.
 1972 – First snake-like robot – ACM III – Hirose – Tokyo Inst. Of
Tech.
 1970’s – JPL develops its first planetary exploration Rover using
a TV camera, laser range finder and tactile sensors.
 1975 - The space probes Viking 1 and 2 were launched each with
an articulated robot arm.
 1976 - The film Star Wars is released introducing R2-D2 and
C-3PO.
32
ROBOTICS
 History of Robotics

 1977 – Development of mobile robot Hilaire at Laboratoise

d’Automatique et d’Analyse des Systemes (LAAS) in Toulouse,
France. This mobile robot had three wheels and it is still in use.

Two famous robots:

 1978- Puma (Programmable Universal Machine for Assembly),

by Unimation.

 1979 - SCARA (Selective Compliant Articulated Robot for

Assembly) introduced in Japan and the US (by Adept
Technologies).

33
ROBOTICS
History of Robotics - PUMA

PUMA (Programmable Universal Machine

for Assembly), they have been used
since 1978 to assemble automobile
subcomponents such as dash panels and lights.

34
ROBOTICS
History of Robotics - SCARA

The SCARA robot is a manipulator with four

degrees of freedom. SCARAs are four-axis
robots, with motion in the X-Y and Z planes,
and 360-degree rotational movement about
the Z-axis. Inverse kinematics and data
interpolation allow the robot to move
dynamically, quickly, and intelligently.

35
ROBOTICS
 History of Robotics

 1980’s – Innovation in improving the performance of robot arms –

feedback control to improve accuracy, program compliance, the
introduction of personal computers as controllers, and commercialization
of robots by a large number of companies: KUKA (Germany), IBM 7535,
Adept Robot (USA), Hitachi, Seiko (Japan).

 Early 1980’s – Multi-fingered hands developed, Utah-MIT arm (16 DOF)

developed by Steve Jacobsen, Salisbury’s hand (9 dof).

 1977-1983 – Stanford cart/CMU rover developed by Hans Moravec, later

on became the Nomad mobile robot.
Nomad-200: It is an integrated mobile system robot built with different sensing
options and was primarily built for laboratory courses in robotics as well as for
research and development work.[
ROBOTICS
36
 History of Robotics

 1980’s – Legged and hopping robots (BIPER – Shimoyama)

and Raibert 1986.

 1984 -1991 – V. Braitenberg revived the tortoise mobile robots

of W. Grey Walter creating autonomous robots exhibiting
behaviors. Hogg, Martin and Resnick at MIT create mobile
robots using LEGO blocks (precursor to LEGO Mindstorms).
Rodney Brooks at MIT creates first insect robots at MIT AI Lab
– birth of behavioral robotics.

37
ROBOTICS
 History of Robotics

 1986 - Honda starts work on its first humanoid,

robot named 'E0' (later to become ASIMO).

 1988 – SCAMP (Flying and Perching by Stanford) designed as

the first robot pet with emotions.

 1989 - Mark Tilden introduces BEAM robotics, beam being an

acronym for Biology, Electronics, Aesthetics, and Mechanics.

 ‘90: modifiable robots for assembly. Mobile autonomous robots.

Vision controlled robots. Walking robots.

 1991 - First HelpMate mobile autonomous robot used in

hospitals.
38
ROBOTICS
 History of Robotics
1990’s – Humanoid robots – Cog, Kismet (MIT), Wasubot,
WHL-I – Japan, Honda P2 (1.82m, 210kg), and P3 (1.6m,
130kg), ASIMO.

1990’s – Entertainment and Education Robots – SARCOS

(“Jurassic Park”), Sony AIBO, LEGO Mindstorms, Khepera,
Parallax.

ROBOCUP, the competition simulating the game of soccer

played by two teams of robots having been held around the
world since 1997 (Osaka) .

39
ROBOTICS
 History of Robotics

 1997 - Sojourner becomes the first rover to land on

Mars as part of the Mars Pathfinder mission.
 1998 - Lego enters the robotics market with its first
version of Lego Mindstorms.
 1999 - Sony introduces AIBO, an autonomous robotic
dog capable of seeing, walking and interacting with its
environment. Sony Dream Robot

 This was followed a year later by the SDR-3X

humanoid robot later known as QRIO (both
discontinued in 2006).
40
ROBOTICS
 History of Robotics

1990’s – Introduction of space robots (manipulators as well as

rovers – the MARS rover 1996), parallel manipulators (Stewart-
Gough Platforms), multiple manipulators, precision robots
(“Robotworld”), surgical robots (“RoboDoc”), first service robots
(as couriers in hospitals, etc)

41
ROBOTICS
 History of Robotics
 2000 - Honda unveils ASIMO, the first non-prototype
release of its humanoid robot.

 2001 - US Air force test the MQ-1 Predator, the first

armed unmanned aerial vehicle (UAV) fitted with two
Hellfire missiles.

 2000’s – IRobot introduces the first autonomous vacuum

– “Roomba”.

 2000’s – Mini and micro robots, “Smart Dust” – Pister @

Berkeley, UTA, EPFL/Lausanne, microfactories.

42
ROBOTICS
 History of Robotics

2000’s – Military applications - Robotic assistants for

dangerous environments and reconnaissance, AUV’s and
UUV’s, etc.

2000’s – Intuitive Surgical introduces the Da Vinci surgical

robot.

2000’s – Robotic Deployment of Sensor Networks

43
ROBOTICS
 History of Robotics

Lunokhod 1 Intel 4004 R2-D2 and C-3PO

Asimo Sojourner Lego Mindstorms

44
ROBOTICS
 History of Robotics

Sony AIBO
MQ-1 Predator

Sony QRIO

45
ROBOTICS
 History of Robotics
 2002 - iRobot introduces Roomba, a personal robotic vacuum
cleaner.
 2003 - Osaka University unveils their first 'Actroid', the term
given for a humanoid robot with strong visual human
characteristics.
 2004 - The first DARPA Grand challenge is help. Sponsored by
the US department of defence, the challenge is designed to create
autonomous vehicles for warfare.
 2004 - The Mars rovers Spirit and Opportunity land on Mars. As
of November 25th 2009 The rover Spirit has completed 2150
days of its 92 day (90 sol) mission.
 2010 - NASA and General Motors join forces to develop
Robonaut-2, the new version of NASA's humanoid robot
astronaut.

46
ROBOTICS
 History of Robotics

Actroid

Robonaut-2

Mars Exploration Rover

47
ROBOTICS
 History of Robotics
Should robots look like humans?
“anthropomorphic or humanoid robots”.
Need for these machines to also be
intelligent - link to “Artificial Intelligence
(AI)”.

Need for humans to create machines

similar to them is rooted in religious beliefs,
recommended reading “God in the
Machine” by Anne Foerst

It is not the appearance of the robot that

most connects it to humans: HAL in “Space
Odyssey 2001”, Lt. Data in “Startrek-
TNG”, R2D2 and C3PO in “Star Wars”.
Which one is more “likeable” and why?

TEMPUS IV Project: 158644 – JPCR 48

Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
ROBOTICS
 History of Robotics
Robots need not look like humanoids, but they make use of:

Strong & precise articulated arms to accomplish tasks that

were performed by humans – “articulated robots”, or
“manipulators”. Fear that they will replace human
laborers.

Use of mobility to reposition the robot from one location to

another, “mobile robots”. This can be done by locomotion
like humans do (“legged robots”), but most likely it will
use other means such as wheels (“wheeled robots”).

49
ROBOTICS
 History of Robotics
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.

50
ROBOTICS
So What is a Robot?

51
ROBOTICS
Humanoid Robot

Sophie
Industrial Robots and Service Robots Defined

Please read:

 http://www.robotics.org/content-detail.cfm/Industrial-Robotics-
Featured-Articles/Service-Robots-and-their-Rapid-Rise-in-Mult
iple-Markets/content_id/2608

54
ROBOTICS
Watch videos:

 KUKA, spot welding:

http://www.youtube.com/watch?v=1-J_EzKm_70
 KUKA dance:
http://www.youtube.com/watch?v=OW4cYdsUpAw&feature=r
elated

 Industrial robotics:
http://www.youtube.com/watch?v=KBLEPlznHWY&feature=r
elated
 Arc welding robot:
http://www.youtube.com/watch?v=5HphVrleXlQ&feature=relat
ed

55
ROBOTICS
ASIMO:
http://www.youtube.com/watch?v=5HphVrleXlQ&feature=related
http://www.youtube.com/watch?v=M4rgaLW163k&feature=relate
d
CyberDog:
http://www.youtube.com/watch?v=B0qYob_vSgo&feature=relate
d
Robot-Araigne:
http://www.youtube.com/watch?feature=endscreen&v=Mfjn79oi
M0Q&NR=1

Hexapod Robot:
http://www.youtube.com/watch?v=-uKIDyFMTyQ&feature=related

56
ROBOTICS
Hexapod Project:
http://www.youtube.com/watch?v=65L_FO8cBgA&feature=related
MTRAN Modular Robot:
http://www.youtube.com/watch?v=4oSavAHf0dg&feature=related

Also watch:
http://www.youtube.com/watch?v=nkqesLSXe4Q&feature=related
http://www.youtube.com/watch?v=ilbT2QcPGv0&feature=relmfu

57
ROBOTICS
References:
-
https://docs.google.com/presentation/d/1C78tFM1BdyaHXGN-880ukOu__4ex408vWa
2ebW9u8e0/present?pli=1&ueb=true#slide=id.p46

- http://www.cs.auckland.ac.nz/courses/compsci367s2c/lectures/Ian/cs367-08.pdf

- www.ieor.berkeley.edu/.../Robotics-and-Automation-Overview-S10-...

- www.ro.feri.uni-mb.si/lab_kin_sim/robotika-izredni/lect1.ppt

- gk12.poly.edu/...PowerPointFiles/IntroductiontoRobotics_A.ppt

58
ROBOTICS
INTRODUCTION TO
ROBOTICS
A common view : Robots as
Humanoids

We will be studying Industrial manipulator type

Robots.
Agenda

 Introduction to Robotics
 Classification of Robots
 Robot accessories
 Robot coordinates
 Work volumes and Reference Frames
 Robot Programming
 Robot Applications in Lean Mfg.
Robot Classification
The following is the classification of Robots according to the
Robotics Institute of America
 Variable-Sequence Robot : A device that performs the successive
stages of a task according to a predetermined method easy to
modify
 Playback Robot: A human operator performs the task manually by
leading the Robot
 Numerical Control Robot : The operator supplies the 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 to the environment.
ROBOT
 Defined by Robotics Industry Association (RIA) as
a re-programmable, multifunctional manipulator
designed to move material, parts, tools or specialized
devices through variable programmed motion for a
variety of tasks
 possess certain anthropomorphic characteristics
mechanical arm(s)
sensors to respond to input
Intelligence to make decisions
Robot Accessories
A Robot is a system, consists of the following elements, which are
integrated to form a whole:
 Manipulator / Rover : This is the main body of the Robot and consists
of links, joints and structural elements of the Robot.

 End Effector : This is the part that generally handles objects, makes
connection to other machines, or performs the required tasks.
It can vary in size and complexity from an end effector on the space
shuttle to a small gripper
Accessories
 Acutators : Actuators are the muscles of the manipulators. Common
types of actuators are servomotors, stepper motors, pneumatic
cylinders etc.

 Sensors : Sensors are used to collect information about the internal

state of the robot or to communicate with the outside environment.
Robots are often equipped with external sensory devices such as a
vision system, touch and tactile sensors etc which help to communicate
with the environment (Tactile sensors can complement visual systems by
providing added information when the robot begins to grip an object. At
this time vision is no longer sufficient, as the mechanical properties of the
object cannot be determined by vision alone.)

 Controller : The controller receives data from the computer, controls

the motions of the actuator and coordinates these motions with the
sensory feedback information.
Robot Configurations
Some of the commonly used configurations in Robotics are

 Cartesian/Rectangular Gantry(3P) : These Robots are made of 3 Linear

joints that orient the end effector, which are usually followed by additional
revolute joints.
Cartesian Robot - Work Envelope
Robot Configurations
 Cylindrical (R2P): Cylindrical coordinate Robots have 2 prismatic joints and
one revolute joint.
Cylindrical Robot - Work Envelope
Robot Configurations (cont’d)
 Spherical joint (2RP): They follow a spherical coordinate system, which has
one
Spherical Robot - Work Envelope
Robot Configurations (cont’d)
 Articulated/anthropomorphic(3R) :An articulated robot’s joints are all
revolute, similar to a human’s arm.
Robot Configurations
 Selective Compliance Assembly Robot Arm (SCARA) (2R1P): They have
two revolute joints that are parallel and allow the Robot to move in a horizontal
plane, plus an additional prismatic joint that moves vertically
Robot Configurations
Reference Frames
 World Reference Frame which is a universal coordinate frame, as defined by
the x-y-z axes. In this case the joints of the robot move simultaneously so as to
create motions along the three major axes.

 Joint Reference Frame which is used to specify movements of each individual

joint of the Robot. In this case each joint may be accessed individually and thus
only one joint moves at a time.

 Tool Reference Frame which specifies the movements of the Robots hand
relative to the frame attached to the hand. The x’,y’and z’ axes attached to the
hand define the motions of the hand relative to this local frame. All joints of the
Robot move simultaneously to create coordinated motions about the Tool
frame.
Robot Reference Frames
Work Envelope concept

 Depending on the configuration and size of the links and

wrist joints, robots can reach a collection of points called
a Workspace.

 Alternately Workspace may be found empirically, by

moving each joint through its range of motions and
combining all space it can reach and subtracting what
space it cannot reach
Pure Spherical Jointed Arm - Work envelope
2) Parallelogram Jointed
Exercise
Readiness Assessment Test A.K.A. RAT

AS A INDIVIDUAL, prepare a
detailed response for the following
Readiness Assessment test
What type of Robot Configuration does the
ABB 140 Robot have?
Can you find out its Work
Space?
WRIST

 typically has 3 degrees of freedom

 Roll involves rotating the wrist about the arm axis
 Pitch up-down rotation of the wrist
 Yaw left-right rotation of the wrist

 End effector is mounted on the wrist

WRIST MOTIONS
CONTROL METHODS

 Non Servo Control

 implemented by setting limits or mechanical stops for each joint and
sequencing the actuation of each joint to accomplish the cycle
 end point robot, limited sequence robot, bang-bang robot
 No control over the motion at the intermediate points, only end points are
known

83
 Programming accomplished by
setting desired sequence of moves
adjusting end stops for each axis accordingly
the sequence of moves is controlled by a “squencer”,
which uses feedback received from the end stops to
index to next step in the program
 Low cost and easy to maintain, reliable
 relatively high speed
 repeatability of up to 0.01 inch
 limited flexibility
 typically hydraulic, pneumatic drives
 Servo Control
 Point to point Control
 Continuous Path Control

 Closed Loop control used to monitor position,

velocity (other variables) of each joint
Point-to-Point Control

 Only the end points are programmed, the path used to

connect the end points are computed by the controller
 user can control velocity, and may permit linear or piece
wise linear motion
 Feedback control is used during motion to ascertain that
individual joints have achieved desired location
 Often used hydraulic drives, recent trend towards
servomotors
 loads up to 500lb and large reach
 Applications
 pick and place type operations
 palletizing
 machine loading
Continuous Path Controlled

 in addition to the control over the endpoints, the path

taken by the end effector can be controlled
 Path is controlled by manipulating the joints throughout
the entire motion, via closed loop control
 Applications:
 spray painting, polishing, grinding, arc welding
ROBOT PROGRAMMING

 Typically performed using one of the following

 On line
 teach pendant
 lead through programming
 Off line
 robot programming languages
 task level programming
Use of Teach Pendant

 hand held device with switches used to control the robot

motions
 End points are recorded in controller memory
 sequentially played back to execute robot actions
 trajectory determined by robot controller
 suited for point to point control applications
 Easy to use, no special programming skills required
 Useful when programming robots for wide range of
repetitive tasks for long production runs
 RAPID
Lead Through Programming

 lead the robot physically through the required sequence

of motions
 trajectory and endpoints are recorded, using a sampling
routine which records points at 60-80 times a second
 when played back results in a smooth continuous motion
 large memory requirements
Programming Languages

 Motivation
 need to interface robot control system to external sensors, to provide “real
time” changes based on sensory equipment
 computing based on geometry of environment
 ability to interface with CAD/CAM systems
 meaningful task descriptions
 off-line programming capability
 Large number of robot languages available
 AML, VAL, AL, RAIL, RobotStudio, etc. (200+)

 Each robot manufacturer has their own robot

programming language
 No standards exist
 Portability of programs virtually non-existent
In-class Exercise

 As a group, discuss an activity that you think could be

automated by using a robot.
 Define the tasks that the robot will perform.
 What kind of special tooling is required? Sketch if you
will use any.
 Can the activity be justified economically? Show your
development – do not simply say yes or no.