This document discusses different types of automation and robot control systems. It describes fixed, programmable, and flexible automation, noting their investment costs and production capabilities. For robot control systems, it outlines point-to-point, continuous path, and intelligent control, explaining their motion capabilities and typical applications. The document also discusses robot work cell layouts including robot-centered, in-line, and mobile work cells.

1. Automation

5. Fixed automation
 High initial investment for custom–Engineered
equipment;
 High production rates; and
 Relatively inflexible in accommodating product
changes.

6. Programmable automation
 High investment in general-purpose equipment;
 Low production rates relative to fixed automation;
 Flexibility to deal with changes in product
configuration;
 Most suitable for batch production.

7. Flexible automation
 High investment for a custom-engineered system.
 Continuous production of variable mixtures of
products.
 Medium production rates.
 Flexibility to deal with product design variations.
The essential features that distinguish flexible
automation from programmable automation are:
 the capacity to change part programs with no lost
production time; and
 the capability to changeover the physical setup, again
with no lost production time.

9. Robot work cell layout
• Robot-centred work cell
• In-line robot work cell
• Mobile work cell

10. Robot-centred work cell
 Center of work cell
 High utilization of robot
 Method of work part
delivery (eg: conveyor,
part-feeders, pallets)
 Install for single robot
servicing 1@more
production machines

11. In-line robot work cell
 1 @ more robots
located along in-line
conveyor
 Work is organized so
each robot performs
assembly operation on
each part (eg: welding
line)

14. Mobile work cell

15. Mobile work cell
 Transport mechanism:
floor mounted @
overhead railing
system
 Service for more than
one station
 Problem: to find
optimum number of
station to service

16. FUTURE APPLICATIONS
1. Transport (public and private)
2. Exploration (oceans, space, deserts etc.)
3. Mining (dangerous environments)
4. Civil Defence (search and rescue, fire fighting etc.)
5. Security/Surveillance (patrol, observation and intervention)
6. Domestic Services (cleaning etc.)
7. Entertainment (robotic toys etc.)
8. Assistive Technologies (support for the fragile)
9. War Machines
10. Scientific Instrumentation (e.g. synchrotron sample preparation,
chemical screening etc.)

30. Classification Based on Control Systems
1. Point-to-point (PTP) control robot: is capable of moving from one point to
another point. The locations are recorded in the control memory. PTP
robots do not control the path to get from one point to the next point.
Common applications include component insertion, spot welding, hole
drilling, machine loading and unloading, and crude assembly operations.
2. Continuous-path (CP) control robot: with CP control, the robot can stop at
any specified point along the controlled path. All the points along the path must
be stored explicitly in the robot’s control memory.Typicalapplications include
spray painting, finishing, gluing, and arc welding operations.
3. Controlled-path robot: the control equipment can generate paths of different
geometry such as straight lines, circles, and interpolated curves with a high
degree of accuracy. All controlled-path robots have a servo capability to
correct their path.

31. 1. Robot Control Systems
To perform as per the program instructions, the
joint movements an industrial robot must
accurately be controlled. Micro-processor-based
controllers are used to control the robots. Different
types of control that are being used in robotics are
given as follows.

32. a. Limited Sequence Control
It is an elementary control type. It is used for simple
motion cycles, such as pick-and-place operations. It is
implemented by fixing limits or mechanical stops for
each joint and sequencing the movement of joints to
accomplish operation. Feedback loops may be used to
inform the controller that the action has been performed,
so that the program can move to the next step. Precision
of such control system is less. It is generally used in
pneumatically driven robots.

35. b. Playback with Point-to-Point Control
Playback control uses a controller with memory to record
motion sequences in a work cycle, as well as associated
locations and other parameters, and then plays back the
work cycle during program execution. Point-to-point control
means individual robot positions are recorded in the
memory. These positions include both mechanical stops
for each joint, and the set of values that represent
locations in the range of each joint. Feedback control is
used to confirm that the individual joints achieve the
specified locations in the program.

37. c. Playback with Continuous Path Control
Continuous path control refers to a control system
capable of continuous simultaneous control of two
or more axes. The following advantages are noted
with this type of playback control: greater storage
capacity—the number of locations that can be
stored is greater than in point-to-point; and
interpolation calculations may be used, especially
linear and circular interpolations

39. d. Intelligent Control
An intelligent robot exhibits behavior that makes it seems to
be intelligent. For example, it may have capacity to interact
with its ambient surroundings; decision-making capability;
ability to communicate with humans; ability to carry out
computational analysis during the work cycle; and
responsiveness to advanced sensor inputs. They may also
possess the playback facilities. However it requires a high
level of computer control, and an advanced programming
language to input the decision-making logic and other
‘intelligence' into the memory.