1) Robots are classified based on their control systems into point-to-point robots, continuous-path robots, and controlled-path robots. 2) Point-to-point robots move between programmed points, continuous-path robots can stop at any point along a programmed path, and controlled-path robots can generate complex paths with a high degree of accuracy. 3) Robot reach refers to the space of points the robot arm can access and is an important factor to consider when selecting a robot for an application.

1. ROBOTICS
ROBOT CONTROL
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Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
ROBOTICS

2. 2
ROBOT CONTROL
Classification Based on Control Systems:
– 1. Point-to-point (PTP) control robot
– 2. Continuous-path (CP) control robot
– 3. Controlled-path robot
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Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
ROBOTICS

3. Point to Point Control Robot (PTP):
• The PTP 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
– assembly operations
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TEMPUS IV Project: 158644 – JPCR
Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
ROBOTICS

4. Continuous-Path Control Robot (CP):
• The CP robot is capable of performing movements along
the controlled path. With CP from one 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. Applications Straight-line
motion is the simplest example for this type of robot.
Some continuous-path controlled robots also have the
capability to follow a smooth curve path that has been
defined by the programmer. In such cases the
programmer manually moves the robot arm through the
desired path and the controller unit stores a large
number of individual point locations along the path in
memory (teach-in).
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Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
ROBOTICS

5. Continuous-Path Control Robot (CP):
Typical applications include:
– spray painting
– finishing
– gluing
– arc welding operations
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TEMPUS IV Project: 158644 – JPCR
Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
ROBOTICS

6. Controlled-Path Robot:
• In controlled-path robots, the control equipment can
generate paths of different geometry such as straight
lines, circles, and interpolated curves with a high degree
of accuracy. Good accuracy can be obtained at any point
along the specified path.
• Only the start and finish points and the path definition
function must be stored in the robot's control memory. It
is important to mention that all controlled-path robots
have a servo capability to correct their path.
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TEMPUS IV Project: 158644 – JPCR
Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
ROBOTICS

7. Robot Reach:
Robot reach, also known as the work
envelope or work volume, is the space of
all points in the surrounding space that
can be reached by the robot arm.
Reach is one of the most important
characteristics to be considered in
selecting a suitable robot because the
application space should not fall out of the
selected robot's reach.
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Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
ROBOTICS

8. Robot Reach:
• For a Cartesian configuration the reach is
a rectangular-type space.
• For a cylindrical configuration the reach is
a hollow cylindrical space.
• For a polar configuration the reach is part
of a hollow spherical shape.
• Robot reach for a jointed-arm
configuration does not have a specific
shape.
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TEMPUS IV Project: 158644 – JPCR
Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
ROBOTICS

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Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
ROBOTICS

10. ROBOT MOTION ANALYSIS
In robot motion analysis we study the
geometry of the robot arm with respect to
a reference coordinate system, while the
end-effector moves along the prescribed
path .
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ROBOTICS

11. The kinematic analysis involves two
different kinds of problems:
– 1. Determining the coordinates of the end-
effector or end of arm for a given set of joints
coordinates.
– 2. Determining the joints coordinates for a
given location of the end-effector or end of
arm.
ROBOT MOTION ANALYSIS
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Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
ROBOTICS

12. The position, V, of the end-effector can be
defined in the Cartesian coordinate
system, as:
V = (x, y)
ROBOT MOTION ANALYSIS
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ROBOTICS

13. Generally, for robots the location of the
end-effector can be defined in two
systems:
a. joint space and
b. world space (also known as global
space)
ROBOT MOTION ANALYSIS
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ROBOTICS

14. In joint space, the joint parameters such
as rotating or twisting joint angles and
variable link lengths are used to represent
the position of the end-effector.
– Vj = (q, a) for RR robot
– Vj = (L1, , L2) for LL robot
– Vj = (a, L2) for TL robot
where Vj refers to the position of the end-
effector in joint space.
ROBOT MOTION ANALYSIS
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ROBOTICS

15. In world space, rectilinear coordinates
with reference to the basic Cartesian
system are used to define the position of
the end-effector.
Usually the origin of the Cartesian axes is
located in the robot's base.
– VW = (x, y)
where VW refers to the position of the end-
effector in world space.
ROBOT MOTION ANALYSIS
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16. • The transformation of coordinates of the
end-effector point from the joint space to
the world space is known as forward
kinematic transformation.
• Similarly, the transformation of coordinates
from world space to joint space is known
as backward or reverse kinematic
transformation.
ROBOT MOTION ANALYSIS
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TEMPUS IV Project: 158644 – JPCR
Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
ROBOTICS