The document provides an introduction to robotics, including classifications of different robot types, common robot components and accessories, different robot configurations and their work envelopes, reference frames used for robot motion, and overview of robot programming methods including teach pendants and programming languages. It also discusses industrial applications of robots in manufacturing.
This document provides an introduction and overview of robotics. It discusses the timeline of robotics development. It describes different types of robots based on their classification and configuration. It also covers robot components like manipulators, end effectors, actuators, sensors, and controllers. The document discusses robot programming methods, reference frames, work envelopes, and control methods.
This document provides an introduction to robotics, including a brief history and timeline of robot development. It discusses common robot classifications, configurations, accessories, reference frames, work volumes, and programming methods. The key points covered are the definition of an industrial robot, common robot configurations like Cartesian and cylindrical, reference frames, work envelopes, and programming methods including teach pendants, lead-through, and languages.
Vibrant Technologies is headquarted in Mumbai,India.We are the best Robotics training provider in Navi Mumbai who provides Live Projects to students.We provide Corporate Training also.We are Best Robotics classes in Mumbai according to our students and corporators
This document provides an introduction and overview of robotics. It discusses the timeline of important developments in robotics from the 1920s to the 1990s. It then covers classifications of robots, definitions of robots, common robot configurations and their work envelopes, robot components like end effectors and actuators, and different methods of robot programming including teach pendants and programming languages.
This document provides an introduction to robotics, including definitions of key terms and descriptions of common robot components and configurations. It discusses the differences between automation and robots, defines what a robot is, and outlines Isaac Asimov's three laws of robotics. It also describes different types of actuators (electric, hydraulic, pneumatic), end effectors (grippers and tools), and robot programming methods. Common robot configurations like Cartesian, cylindrical, and articulated robots are illustrated along with their work envelopes. Factors like accuracy, repeatability, speed and payload are discussed in assessing robot performance.
Robotics introduction by Pranav navathePranavNavathe
This document provides an introduction and overview of robotics. It discusses the timeline of robot development from the 1920s to the 1990s. It then covers classifications of robots based on their function and movement. The document outlines common robot components like actuators, sensors, and controllers. It also describes different robot arm configurations and coordinate systems. Finally, it briefly discusses robot reference frames, control methods, and programming.
This document provides an introduction to robotics, including definitions of key terms like robot, robotics, and telerobotics. It discusses different types of robots like industrial manipulators. It covers robot configurations, including Cartesian, cylindrical, spherical, and articulated robots. The document also discusses robot programming methods, including teach pendants, lead-through programming, and programming languages. It provides examples of ideal robot tasks and describes measures of robot performance.
The document provides an introduction to robotics, including a timeline of important developments, classifications of different types of robots, robot components and accessories, reference frames, work volumes, programming methods, and applications of robots in manufacturing. It describes common robot configurations like Cartesian, cylindrical, spherical, and articulated robots as well as their work envelopes. The document also covers robot control methods, including non-servo control, point-to-point control, and continuous path control.
This document provides an introduction and overview of robotics. It discusses the timeline of robotics development. It describes different types of robots based on their classification and configuration. It also covers robot components like manipulators, end effectors, actuators, sensors, and controllers. The document discusses robot programming methods, reference frames, work envelopes, and control methods.
This document provides an introduction to robotics, including a brief history and timeline of robot development. It discusses common robot classifications, configurations, accessories, reference frames, work volumes, and programming methods. The key points covered are the definition of an industrial robot, common robot configurations like Cartesian and cylindrical, reference frames, work envelopes, and programming methods including teach pendants, lead-through, and languages.
Vibrant Technologies is headquarted in Mumbai,India.We are the best Robotics training provider in Navi Mumbai who provides Live Projects to students.We provide Corporate Training also.We are Best Robotics classes in Mumbai according to our students and corporators
This document provides an introduction and overview of robotics. It discusses the timeline of important developments in robotics from the 1920s to the 1990s. It then covers classifications of robots, definitions of robots, common robot configurations and their work envelopes, robot components like end effectors and actuators, and different methods of robot programming including teach pendants and programming languages.
This document provides an introduction to robotics, including definitions of key terms and descriptions of common robot components and configurations. It discusses the differences between automation and robots, defines what a robot is, and outlines Isaac Asimov's three laws of robotics. It also describes different types of actuators (electric, hydraulic, pneumatic), end effectors (grippers and tools), and robot programming methods. Common robot configurations like Cartesian, cylindrical, and articulated robots are illustrated along with their work envelopes. Factors like accuracy, repeatability, speed and payload are discussed in assessing robot performance.
Robotics introduction by Pranav navathePranavNavathe
This document provides an introduction and overview of robotics. It discusses the timeline of robot development from the 1920s to the 1990s. It then covers classifications of robots based on their function and movement. The document outlines common robot components like actuators, sensors, and controllers. It also describes different robot arm configurations and coordinate systems. Finally, it briefly discusses robot reference frames, control methods, and programming.
This document provides an introduction to robotics, including definitions of key terms like robot, robotics, and telerobotics. It discusses different types of robots like industrial manipulators. It covers robot configurations, including Cartesian, cylindrical, spherical, and articulated robots. The document also discusses robot programming methods, including teach pendants, lead-through programming, and programming languages. It provides examples of ideal robot tasks and describes measures of robot performance.
The document provides an introduction to robotics, including a timeline of important developments, classifications of different types of robots, robot components and accessories, reference frames, work volumes, programming methods, and applications of robots in manufacturing. It describes common robot configurations like Cartesian, cylindrical, spherical, and articulated robots as well as their work envelopes. The document also covers robot control methods, including non-servo control, point-to-point control, and continuous path control.
This document provides an introduction to robotics, including definitions, classifications of robots, robot coordinates, work volumes, reference frames, applications, and end effectors. It discusses the difference between automation and robots, defines key robotics terminology, and outlines Isaac Asimov's three laws of robotics. Examples of ideal robot tasks are given, along with a timeline of important developments in robotics history. Common robot configurations, work envelopes, and wrist motions are described. The document also covers robot programming, control methods, actuators, sensors, performance measures, and different types of end effectors including mechanical grippers and gripper mechanisms.
Industrial Robots, Robot Anatomy,Joints, Robot Configurations, Robot Actuators/ Drive systems,Robot programming, Teach pendant Programming, Lead through Programming, Robot control systems,Applications,Advatages
Here are the steps to solve this using the algebraic approach with homogeneous transformations:
1) Start with the identity matrix for the initial frame:
H0 = [[1, 0, 0, 0],
[0, 1, 0, 0],
[0, 0, 1, 0],
[0, 0, 0, 1]]
2) Apply the first rotation about Z by angle θ1:
Rz1 = [[cosθ1, -sinθ1, 0, 0],
[sinθ1, cosθ1, 0, 0]
[0, 0, 1, 0]
[0, 0, 0, 1]]
H1 = Rz1 *
Industrial robots can be programmed using various methods including manual, walk-through, lead-through, and offline programming. The manual and walk-through methods involve physically moving the robot arm to desired positions which are then recorded for playback. Lead-through uses a teaching pendant to power-drive the robot through points. Offline programming prepares textual programs entered later without production delays. Proper programming allows robots to perform tasks like welding, assembly, and material handling quickly and precisely.
This document provides information about robots and their classification and components. It discusses the different types of robots according to their mobility and autonomy as well as the typical components that make up a robot system, including manipulators, end effectors, actuators, sensors, and controllers. It also describes various robot configurations and their corresponding work envelopes.
This document provides an overview of robot fundamentals including:
- The three laws of robotics which govern robot behavior to protect humans.
- A timeline of major developments in robotics from the 1920s to the 1990s.
- The main components of an industrial robot including the manipulator, end effector, drive source, control system, and sensors.
- Common robot programming methods like manual teaching, walkthrough, and offline programming.
- Applications of industrial robots in areas like materials handling, machine loading, welding, and assembly.
- Performance specifications that characterize robots like work volume, speed, accuracy, load capacity, and repeatability.
Industrial robots have been used in manufacturing since the 1950s. They are programmable devices that use manipulators to perform manufacturing tasks like welding and assembly. The manipulator consists of joints and links that position an end effector, typically a gripper. Robots are programmed using manual teaching, lead-through, or programming languages. Common applications include material handling, painting, welding, and inspection. While robots increase productivity and safety, they also displace some human labor.
This Presentation is the Brief Introduction of the Adopted New Technology of Industry about the Robotics and also represent that What is actual Robot.
This is Basic Introduction about the Robotics.
Help humans in daily tasks like serving food, cleaning etc.
Industrial: Used in manufacturing for tasks like welding, assembly etc.
Surgical: Used in minimally invasive surgeries with greater precision.
Space: Used for space exploration, planetary rovers, satellite repair etc.
Underwater: Used for tasks like repairing offshore oil rigs, scientific research.
Military: Used for bomb disposal, surveillance, transportation in hostile areas.
Agricultural: Used for tasks like seeding, fertilizing, crop monitoring etc.
Entertainment: Used for education, art, music etc.
Domestic: Used for vacuuming, mopping floors, lawn mowing
The document discusses the key components of industrial robots including the mechanical unit, drive system, control system, tooling, wrist and end effectors. It describes the various joints and degrees of freedom that allow robots to move in different directions. The accuracy, precision, repeatability and workspace of robots are also covered. Different types of robotic joints are defined including prismatic, revolute, rotational, twisting and revolving joints.
This document discusses types of robots and provides classifications based on application environment and configuration. It describes key components of robots including links, joints, actuators, sensors, and controllers. Main types of actuators are electric motors while common sensors are encoders, force-torque sensors, and proximity sensors. Robots are classified based on number of degrees of freedom and configuration as cartesian, cylindrical or spherical. The document also discusses principles of kinematics, dynamics and control in robotics.
The document provides an introduction to robot technology, including definitions and terminology. It defines a robot as an electro-mechanical device with multiple degrees of freedom that is programmable to perform tasks. Industrial robots are designed to handle materials, parts, tools or devices through variable programmed motions. The study of robotics is interdisciplinary, involving mechanical, electrical, electronic and computer engineering. Robotic systems consist of manipulators, drive systems, controls, end effectors, sensors and software. Different robot configurations include Cartesian, cylindrical, spherical and articulated designs. Selection of robots depends on factors like size, degrees of freedom, velocity, precision and load capacity.
This document provides an overview of robotics and robots. It begins with definitions of a robot and discusses the history and development of robotics. It then covers the three laws of robotics proposed by Isaac Asimov. The document describes the main components of a robotic system including the robotic arm, end effector, sensors, and control computer. It discusses different robot configurations, specifications, applications, and the needs and disadvantages of robots.
Industrial robots have six basic components: a manipulator, end effector, actuators, sensors, controller, and teach pendant. The manipulator consists of links and joints that give the robot its degrees of freedom. Actuators like electric motors provide movement. Sensors provide feedback and safety. The controller coordinates movement based on taught positions. Programming modes include teach, walk, and software modes. Key robot characteristics are payload, reach, precision, and repeatability. Safety systems use sensors to detect intrusions and stop robots to prevent harm.
The document provides an introduction to robotics, including definitions of key terms:
- A robot is an automatically controlled, reprogrammable device designed to perform tasks normally done by humans.
- Robots are classified based on their drive technology, work envelope/coordinate geometry, and motion control methods.
- Robotic systems have components like manipulators, end effectors, actuators, sensors, controllers, and software to allow various applications in manufacturing and other industries.
Unit IV.pptx Robot programming and LanguagesBalamech4
1. The document discusses robot trajectory planning, programming languages, and kinematics. It describes different levels of robot programming languages from microprocessor to task-oriented levels.
2. Common robot programming languages are described including VAL, a popular language developed for PUMA robots. A simple VAL program example to move grip and transport an object is provided.
3. Key concepts in robot kinematics like forward and inverse kinematics are explained, which relate joint angles to world coordinates and vice versa. Introduction to the robot operating system ROS is also given.
The document provides an introduction to industrial robotics, including definitions of robots, their basic components, and classifications. It describes the typical components of a robot including the manipulator, end-effector, power supply, and control system. It also discusses robot programming methods, languages, accuracy, repeatability and common applications in material handling, processing, assembly and inspection.
How to Prepare for Fortinet FCP_FAC_AD-6.5 Certification?NWEXAM
Begin Your Preparation Here: https://bit.ly/3VfYStG — Access comprehensive details on the FCP_FAC_AD-6.5 exam guide and excel in the Fortinet Certified Professional - Network Security certification. Gather all essential information including tutorials, practice tests, books, study materials, exam questions, and the syllabus. Solidify your knowledge of Fortinet FCP_FAC_AD-6.5 certification. Discover everything about the FCP_FAC_AD-6.5 exam, including the number of questions, passing percentage, and the time allotted to complete the test.
Jill Pizzola's Tenure as Senior Talent Acquisition Partner at THOMSON REUTERS...dsnow9802
Jill Pizzola's tenure as Senior Talent Acquisition Partner at THOMSON REUTERS in Marlton, New Jersey, from 2018 to 2023, was marked by innovation and excellence.
This document provides an introduction to robotics, including definitions, classifications of robots, robot coordinates, work volumes, reference frames, applications, and end effectors. It discusses the difference between automation and robots, defines key robotics terminology, and outlines Isaac Asimov's three laws of robotics. Examples of ideal robot tasks are given, along with a timeline of important developments in robotics history. Common robot configurations, work envelopes, and wrist motions are described. The document also covers robot programming, control methods, actuators, sensors, performance measures, and different types of end effectors including mechanical grippers and gripper mechanisms.
Industrial Robots, Robot Anatomy,Joints, Robot Configurations, Robot Actuators/ Drive systems,Robot programming, Teach pendant Programming, Lead through Programming, Robot control systems,Applications,Advatages
Here are the steps to solve this using the algebraic approach with homogeneous transformations:
1) Start with the identity matrix for the initial frame:
H0 = [[1, 0, 0, 0],
[0, 1, 0, 0],
[0, 0, 1, 0],
[0, 0, 0, 1]]
2) Apply the first rotation about Z by angle θ1:
Rz1 = [[cosθ1, -sinθ1, 0, 0],
[sinθ1, cosθ1, 0, 0]
[0, 0, 1, 0]
[0, 0, 0, 1]]
H1 = Rz1 *
Industrial robots can be programmed using various methods including manual, walk-through, lead-through, and offline programming. The manual and walk-through methods involve physically moving the robot arm to desired positions which are then recorded for playback. Lead-through uses a teaching pendant to power-drive the robot through points. Offline programming prepares textual programs entered later without production delays. Proper programming allows robots to perform tasks like welding, assembly, and material handling quickly and precisely.
This document provides information about robots and their classification and components. It discusses the different types of robots according to their mobility and autonomy as well as the typical components that make up a robot system, including manipulators, end effectors, actuators, sensors, and controllers. It also describes various robot configurations and their corresponding work envelopes.
This document provides an overview of robot fundamentals including:
- The three laws of robotics which govern robot behavior to protect humans.
- A timeline of major developments in robotics from the 1920s to the 1990s.
- The main components of an industrial robot including the manipulator, end effector, drive source, control system, and sensors.
- Common robot programming methods like manual teaching, walkthrough, and offline programming.
- Applications of industrial robots in areas like materials handling, machine loading, welding, and assembly.
- Performance specifications that characterize robots like work volume, speed, accuracy, load capacity, and repeatability.
Industrial robots have been used in manufacturing since the 1950s. They are programmable devices that use manipulators to perform manufacturing tasks like welding and assembly. The manipulator consists of joints and links that position an end effector, typically a gripper. Robots are programmed using manual teaching, lead-through, or programming languages. Common applications include material handling, painting, welding, and inspection. While robots increase productivity and safety, they also displace some human labor.
This Presentation is the Brief Introduction of the Adopted New Technology of Industry about the Robotics and also represent that What is actual Robot.
This is Basic Introduction about the Robotics.
Help humans in daily tasks like serving food, cleaning etc.
Industrial: Used in manufacturing for tasks like welding, assembly etc.
Surgical: Used in minimally invasive surgeries with greater precision.
Space: Used for space exploration, planetary rovers, satellite repair etc.
Underwater: Used for tasks like repairing offshore oil rigs, scientific research.
Military: Used for bomb disposal, surveillance, transportation in hostile areas.
Agricultural: Used for tasks like seeding, fertilizing, crop monitoring etc.
Entertainment: Used for education, art, music etc.
Domestic: Used for vacuuming, mopping floors, lawn mowing
The document discusses the key components of industrial robots including the mechanical unit, drive system, control system, tooling, wrist and end effectors. It describes the various joints and degrees of freedom that allow robots to move in different directions. The accuracy, precision, repeatability and workspace of robots are also covered. Different types of robotic joints are defined including prismatic, revolute, rotational, twisting and revolving joints.
This document discusses types of robots and provides classifications based on application environment and configuration. It describes key components of robots including links, joints, actuators, sensors, and controllers. Main types of actuators are electric motors while common sensors are encoders, force-torque sensors, and proximity sensors. Robots are classified based on number of degrees of freedom and configuration as cartesian, cylindrical or spherical. The document also discusses principles of kinematics, dynamics and control in robotics.
The document provides an introduction to robot technology, including definitions and terminology. It defines a robot as an electro-mechanical device with multiple degrees of freedom that is programmable to perform tasks. Industrial robots are designed to handle materials, parts, tools or devices through variable programmed motions. The study of robotics is interdisciplinary, involving mechanical, electrical, electronic and computer engineering. Robotic systems consist of manipulators, drive systems, controls, end effectors, sensors and software. Different robot configurations include Cartesian, cylindrical, spherical and articulated designs. Selection of robots depends on factors like size, degrees of freedom, velocity, precision and load capacity.
This document provides an overview of robotics and robots. It begins with definitions of a robot and discusses the history and development of robotics. It then covers the three laws of robotics proposed by Isaac Asimov. The document describes the main components of a robotic system including the robotic arm, end effector, sensors, and control computer. It discusses different robot configurations, specifications, applications, and the needs and disadvantages of robots.
Industrial robots have six basic components: a manipulator, end effector, actuators, sensors, controller, and teach pendant. The manipulator consists of links and joints that give the robot its degrees of freedom. Actuators like electric motors provide movement. Sensors provide feedback and safety. The controller coordinates movement based on taught positions. Programming modes include teach, walk, and software modes. Key robot characteristics are payload, reach, precision, and repeatability. Safety systems use sensors to detect intrusions and stop robots to prevent harm.
The document provides an introduction to robotics, including definitions of key terms:
- A robot is an automatically controlled, reprogrammable device designed to perform tasks normally done by humans.
- Robots are classified based on their drive technology, work envelope/coordinate geometry, and motion control methods.
- Robotic systems have components like manipulators, end effectors, actuators, sensors, controllers, and software to allow various applications in manufacturing and other industries.
Unit IV.pptx Robot programming and LanguagesBalamech4
1. The document discusses robot trajectory planning, programming languages, and kinematics. It describes different levels of robot programming languages from microprocessor to task-oriented levels.
2. Common robot programming languages are described including VAL, a popular language developed for PUMA robots. A simple VAL program example to move grip and transport an object is provided.
3. Key concepts in robot kinematics like forward and inverse kinematics are explained, which relate joint angles to world coordinates and vice versa. Introduction to the robot operating system ROS is also given.
The document provides an introduction to industrial robotics, including definitions of robots, their basic components, and classifications. It describes the typical components of a robot including the manipulator, end-effector, power supply, and control system. It also discusses robot programming methods, languages, accuracy, repeatability and common applications in material handling, processing, assembly and inspection.
How to Prepare for Fortinet FCP_FAC_AD-6.5 Certification?NWEXAM
Begin Your Preparation Here: https://bit.ly/3VfYStG — Access comprehensive details on the FCP_FAC_AD-6.5 exam guide and excel in the Fortinet Certified Professional - Network Security certification. Gather all essential information including tutorials, practice tests, books, study materials, exam questions, and the syllabus. Solidify your knowledge of Fortinet FCP_FAC_AD-6.5 certification. Discover everything about the FCP_FAC_AD-6.5 exam, including the number of questions, passing percentage, and the time allotted to complete the test.
Jill Pizzola's Tenure as Senior Talent Acquisition Partner at THOMSON REUTERS...dsnow9802
Jill Pizzola's tenure as Senior Talent Acquisition Partner at THOMSON REUTERS in Marlton, New Jersey, from 2018 to 2023, was marked by innovation and excellence.
Job Finding Apps Everything You Need to Know in 2024SnapJob
SnapJob is revolutionizing the way people connect with work opportunities and find talented professionals for their projects. Find your dream job with ease using the best job finding apps. Discover top-rated apps that connect you with employers, provide personalized job recommendations, and streamline the application process. Explore features, ratings, and reviews to find the app that suits your needs and helps you land your next opportunity.
Learnings from Successful Jobs SearchersBruce Bennett
Are you interested to know what actions help in a job search? This webinar is the summary of several individuals who discussed their job search journey for others to follow. You will learn there are common actions that helped them succeed in their quest for gainful employment.
A Guide to a Winning Interview June 2024Bruce Bennett
This webinar is an in-depth review of the interview process. Preparation is a key element to acing an interview. Learn the best approaches from the initial phone screen to the face-to-face meeting with the hiring manager. You will hear great answers to several standard questions, including the dreaded “Tell Me About Yourself”.
Leadership Ambassador club Adventist modulekakomaeric00
Aims to equip people who aspire to become leaders with good qualities,and with Christian values and morals as per Biblical teachings.The you who aspire to be leaders should first read and understand what the ambassador module for leadership says about leadership and marry that to what the bible says.Christians sh
Joyce M Sullivan, Founder & CEO of SocMediaFin, Inc. shares her "Five Questions - The Story of You", "Reflections - What Matters to You?" and "The Three Circle Exercise" to guide those evaluating what their next move may be in their careers.
IT Career Hacks Navigate the Tech Jungle with a RoadmapBase Camp
Feeling overwhelmed by IT options? This presentation unlocks your personalized roadmap! Learn key skills, explore career paths & build your IT dream job strategy. Visit now & navigate the tech world with confidence! Visit https://www.basecamp.com.sg for more details.
Resumes, Cover Letters, and Applying OnlineBruce Bennett
This webinar showcases resume styles and the elements that go into building your resume. Every job application requires unique skills, and this session will show you how to improve your resume to match the jobs to which you are applying. Additionally, we will discuss cover letters and learn about ideas to include. Every job application requires unique skills so learn ways to give you the best chance of success when applying for a new position. Learn how to take advantage of all the features when uploading a job application to a company’s applicant tracking system.
1. Introduction to Robotics
A common view : Robots as
Humanoids
We will be studying Industrial manipulator
type Robots.
2. Agenda
• Introduction to Robotics
• Classification of Robots
• Robot accessories
• Robot coordinates
• Work volumes and Reference Frames
• Robot Programming
• Robot Applications in Lean Mfg.
3. Robotics Timeline
• 1922 Czech author Karel Capek wrote a story called
Rossum’s Universal Robots and introduced the
word “Rabota”(meaning worker)
• 1954 George Devol developed the first
programmable Robot.
• 1955 Denavit and Hartenberg developed the
homogenous transformation matrices
• 1962 Unimation was formed, first industrial Robots
appeared.
• 1973 Cincinnati Milacron introduced the T3 model
robot, which became very popular in industry.
• 1990 Cincinnati Milacron was acquired by ABB
4. 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.
5. 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
– sensors to respond to input
– Intelligence to make decisions
6. 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 a endeffector on the
space shuttle to a small gripper
7. 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
• Controller : The controller receives data from the
computer, controls the motions of the actuator and
coordinates these motions with the sensory feedback
information.
8. 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.
14. Robot Configurations (cont’d)
• Articulated/anthropomorphic(3R) :An articulated robot’s joints are
all revolute, similar to a human’s arm.
15. Robot Configurations (cont’d)
• 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
17. 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.
19. 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
22. 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?
23. 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
25. 25
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
26. • 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
27. • Servo Control
– Point to point Control
– Continuous Path Control
• Closed Loop control used to monitor
position, velocity (other variables) of
each joint
28. 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
29. • Often used hydraulic drives, recent trend
towards servomotors
• loads up to 500lb and large reach
• Applications
– pick and place type operations
– palletizing
– machine loading
30. 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
31. ROBOT PROGRAMMING
• Typically performed using one of the
following
– On line
• teach pendant
• lead through programming
– Off line
• robot programming languages
• task level programming
32. 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
33. • Easy to use, no special programming skills
required
• Useful when programming robots for wide
range of repetitive tasks for long
production runs
• RAPID
34. 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
35. 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
36. • 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
37. 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.