The document discusses robot technology, providing definitions and describing the basic components and configurations of industrial robots. It summarizes that robot technology combines machine tools and computer applications as an applied science. The basic components of industrial robots are the manipulator, end effector, power supply, and controller. There are five main robot configurations: rectangular, cylindrical, spherical, jointed arm, and SCARA. Robots with increasing intelligence, sensors, dexterity, and controls have become dominant in modern manufacturing.

1. PRESENTED BY-
PAWAN PORWAL
PRESENTING

2. Robots
Robota (Czech) = A worker of forced labor
From Czech playwright Karel Capek's 1921 play “R.U.R”
(“Rossum's Universal Robots”)
Japanese Industrial Robot Association (JIRA) :
“A device with degrees of freedom that can be controlled.”
Class 1 : Manual handling device
Class 2 : Fixed sequence robot
Class 3 : Variable sequence robot
Class 4 : Playback robot
Class 5 : Numerical control robot
Class 6 : Intelligent robot

3. DEFINITION
ROBOT TECHNOLOGY IS AN APPLIED SCIENCE THAT IS REFERRED TO AS A
COMBINATION OF MACHINE TOOLS AND COMPUTER APPLICATIONS.
INCLUDES SUCH DIVERSE FIELDS AS MACHINE DESIGN, CONTROL THEORY,
MICROELECTRONICS, COMPUTER PROGRAMMING, ARTIFICIAL INTELLIGENCE,
HUMAN FACTORS, AND PRODUCTION THEORY.
GENERAL CHARACTERSTICS
A SPECIALIZED MACHINE TOOLS WITH A DEGREEN OF FLEXIBILITY THAT
DISTINGUISHES THEM FROM FIXED-PURPOSE AUTOMATION.
IS ESSENTIALLY A MECHANICAL ARM THAT IS BOLTED TO THE FLOOR, A
MACHINE, THE CEILING, OR, IN SOME CASES THE WALL FITTED WITH ITS
MECHANICAL HAND, AND TAUGHT TO DO REPETITIVE TASK IN A CONTROLLED,
ORDERED ENVIRONMENT.
ABILITY TO MOVE MECHANICAL ARM TO PERFORM WORK.
ROBOT INTERFACE WITH THEIR WORK ENVIRONMENT ONCE A MECHANICAL
HAND HAS BEEN ATTACHED TO THE ROBOT’S TOOL-MOUNTING PLATE.
ROBOT TECHNOLOGY

4. • Mechanical Automata
– Ancient Greece & Egypt
• Water powered for
ceremonies
– 14th – 19th century
Europe
• Clockwork driven for
entertainment
• Motor driven Robots
– 1928: First motor driven
automata
– 1961: Unimate
• First industrial robot
– 1967: Shakey
• Autonomous mobile
research robot
– 1969: Stanford Arm
• Dextrous, electric motor
driven robot arm

5. AutonomousRobots
• The control of autonomous robots involves a
number of subtasks
– Understanding and modeling of the mechanism
• Kinematics, Dynamics, and Odometry
– Reliable control of the actuators
• Closed-loop control
– Generation of task-specific motions
• Path planning
– Integration of sensors
• Selection and interfacing of various types of sensors
– Coping with noise and uncertainty
• Filtering of sensor noise and actuator uncertainty
– Creation of flexible control policies
• Control has to deal with new situations

6. TraditionalIndustrial Robots
• Traditional industrial robot control uses robot
arms and largely pre-computed motions
 Programming using “teach box”
 Repetitive tasks
 High speed
 Few sensing operations
 High precision movements
 Pre-planned trajectories and
task policies
 No interaction with humans

7. BASIC COMPONENTS
• THE BASIC COMPONENTS OF AN INDUSTRIAL ROBOT ARE THE
– MANIPULATOR
– THE END EFFECTOR (WHICH IS THE PART OF THE MANIPULATOR).
– THE POWER SUPLLY
– AND THE CONTROLLER.
• THE MANIPULATOR, WHICH IS THE ROBOT’S ARM, CONSISTS OF SEGMENTS JOINTED
TOGETHER WITH AXES CAPABLE OF MOTION IN VARIOUS DIRECTIONS ALLOWING THE
ROBOT TO PERFORM WORK.
• THE END EFFECTOR WHICH IS A GRIPPER TOOL, A SPECIAL DEVICE, OR FIXTURE
ATTACHED TO THE ROBOT’S ARM, ACTUALLY PERFORMS THE WORK.
• POWER SUPPLY PROVIDES AND REGULATES THE ENERGY THAT IS CONVERTED TO
MOTION BY THE ROBOT ACTUATOR, AND IT MAY BE EITHER ELECTRIC, PNEUMATIC,
OR HYDRAULIC.
• THE CONTROLLER INITIATES, TERMINATES, AND COORDINATES THE MOTION OF
SEQUENCES OF A ROBOT. ALSO IT ACCEPTS THE NECESSARY INPUTS TO THE ROBOT
AND PROVIDES THE OUTPUTS TO INTERFACE WITH THE OUTSIDE WORLD.

9. ROBOT ANATOMY
• ROBOT ANATOMY IS CONCERNED WITH THE PHYSICAL CONSTRUCTION AND
CHARACTERISTICS OF THE BODY, ARM, AND WRIST, WHICH ARE COMPONENTS OF
ROBOT MANIPULATOR.
• MOVEMENTS BETWEEN THE VARIOUS COMPONENTS OF THE BODY, ARM, AND
WRIST ARE PROVIDED BY A SERIES OF JOINTS.
• ATTACHED TO THE ROBOT WRIST IS THE END EFFECTOR (OR END-OF-ARM
TOOLING) THAT PERFORMS THE WORK.
• THE END EFFECTOR IS NOT CONSIDERED A PART OF THE ROBOT’S ANATOMY.
ROBOT CONFIGURATIONS:
1. INDUSTRIAL ROBOTS ARE AVAILABLE IN A WIDE RANGE OF SHAPES, SIZES,
SPEEDS, LOAD CAPACITIES, AND OTHER CAPABILITIES.
2. THE VAST MAJORITY OF TODY’S COMMERCIALLY AVAILABLE ROBOTS POSSESS
FIVE DISTINCT DESIGN CONFIGURATIONS:
A. RECTANGULAR (OR CARTESIAN)
B. CYLINDIRICAL (OR POST-TYPE)
C. SPHERICAL (OR POLAR)
D. JOINTED ARM (ARTICULATED OR REVOLUTE)
E. SCARA (SELECTIVE COMPLAINCE ASSEMBLY ROBOT ARM)

10. Autonomous Robot Control
• To control robots to perform tasks
autonomously a number of tasks have
to be addressed:
– Modeling of robot mechanisms
• Kinematics, Dynamics
– Robot sensor selection
• Active and passive proximity sensors
– Low-level control of actuators
• Closed-loop control
– Control architectures
• Traditional planning architectures
• Behavior-based control architectures
• Hybrid architectures

11. • Forward kinematics describes how the robots joint
angle configurations translate to locations in the
world
• Inverse kinematics computes the joint angle
configuration necessary to reach a particular point
in space.
• Jacobians calculate how the speed and
configuration of the actuators translate into velocity
of the robot
Modelingthe Robot Mechanism
(x, y, z)
1
2
(x, y, )

12. Actuator Control
• To get a particular robot actuator to a particular
location it is important to apply the correct amount
of force or torque to it.
– Requires knowledge of the dynamics of the robot
• Mass, inertia, friction
• For a simplistic mobile robot: F = m a + B v
– Frequently actuators are treated as if they were
independent (i.e. as if moving one joint would not affect
any of the other joints).
– The most common control approach is PD-control
(proportional, differential control)
• For the simplistic mobile robot moving in the x direction:
   actualdesiredDactualdesiredP vvKxxKF 

13. Sensor-Driven Robot Control
• To accurately achieve a task in an intelligent
environment, a robot has to be able to react
dynamically to changes ion its surrounding
– Robots need sensors to perceive the environment
– Most robots use a set of different sensors
• Different sensors serve different purposes
– Information from sensors has to be integrated
into the control of the robot

14. Robot Sensors
• Proximity sensors are used to measure the distance or
location of objects in the environment. This can then be
used to determine the location of the robot.
– Infrared sensors determine the distance to an object by measuring
the amount of infrared light the object reflects back to the robot
– Ultrasonic sensors (sonars) measure the time that an ultrasonic
signal takes until it returns to the robot
– Laser range finders determine distance by
measuring either the time it takes for a laser
beam to be reflected back to the robot or by
measuring where the laser hits the object

15. Uncertainty in Robot Systems
Robot systems in intelligent environments
have to deal with sensor noise and
uncertainty
 Sensor uncertainty
Sensor readings are imprecise and unreliable
 Non-observability
Various aspects of the environment can not be
observed
The environment is initially unknown
 Action uncertainty
Actions can fail
Actions have nondeterministic outcomes

16. Deliberative
Robot Control Architectures
• In a deliberative control architecture the robot first
plans a solution for the task by reasoning about the
outcome of its actions and then executes it
– Control process goes through a sequence of sencing,
model update, and planning steps

17. Behavior-Based
Robot Control Architectures
• In a behavior-based control architecture the robot’s
actions are determined by a set of parallel, reactive
behaviors which map sensory input and state to
actions.

18. • Complex behavior can be achieved using very
simple control mechanisms
– Braitenberg vehicles: differential drive mobile robots
with two light sensors
• Complex external behavior does not necessarily require a
complex reasoning mechanism
Complex Behavior from Simple
Elements: Braitenberg Vehicles
+ +
“Coward” “Aggressive”
+ + - -
“Love” “Explore”
- -

19. ROBOTGENERATIONS
• THE FIVE GENERATIONS OF ROBOT CONTROLLERS AFTER THE HIGH-TECH
INCEPTION IN 1960 ARE AS FOLLOWS:
– FIRST GENERATION: REPEATING ROBOTS. THESE WERE GENRALLY PICK
AND PLACE ROBOTS, WITH MECHANICAL SEQUENCES DEFINING STOP
POINTS.
– SECOND GENERATION: HARDWIRED CONTROLLERS PROVIDED THE
FIRST PROGRAMMABLE UNITS.
– THIRD GENERATION: PROGRAMMABLE LOGIC CONTROLLERS (PLC),
INTRODUCED IN THE INDUSTRY OVER THIRTEEN YEARS AGO, PROVIDED
A MICROPROCESSOR-BASED ROBOTIC CONTROLLER THAT IS EASY TO
PROGRAM.
– FOURTH GENERATION: WHEN CONTROL BEYOND THE PLC IS REQUIRED,
A MICROCOMPUTER MAY CONTROL THE ENTIRE SYSTEM, INCLUDING
OTHER PROGRAMMABLE MACHINERY IN A ROBOT WORKCELL.
– FIFTH GENERATION: ROBOT CONTROLLER WILL INVOLVE COMPLETE
ARTIFICAIL INTELLIGENCE (AI), MINIATURED SENSORS, AD DECISION
MAKING CAPABILITIES.
• AN ARTIFICIAL BIOLOGICAL ROBOT MIGHT PROVIDE THE IMPETUS FOR
SIXTH AND HIGHER GENERATION ROBOTS.

20. ROBOTSELECTION
• ROBOT MUST BE MATCHED PROPERLY BY CAPABILITIES TO TASK REQUIREMENTS.
• AN OBJECTIVE APPROACH TO ROBOT SELECTION PROVIDES FEWER RESTRICTIONS IN SYSTEM
DESIGN BY ALLOWING FOR THE OPTIMUM SYSTEM DESIGN TO BE ACHIEVED REGARDLESS OF THE
SPECIFIC ROBOT NEED.
• CRITERIA FOR ROBOT SELECTION:
– TECHINICAL ISSUES:
• TYPE: NONSERVO, SERVO, SERVO-CONTROLLED
• WORK ENVELOPE: RECTANGULAR, CYLINDIRCAL, SPHERICAL, JOINTED ARM, SCARA
• PAYLOAD
• CYCLE TIME
• REPEATABILITY
• DRIVE: ELECTRIC, PNEUMATIC, HYDRAULIC, ANY COMBINATION
• UNIQUE CAPABILITIES
– NON-TECHNICAL ISSUES:
• COST AND BENEFIT CONSIDERATION
• COMMONALITY OF EQUIPMENT
• TRAINING AND MAINTENANCE REQUIREMENTS
• RELIABILITY
• SERVICE
• “SYSTEMS” HELP
• SAFETY

21. Robots in the Real World
• Welding
• Painting
• Assembly
• Laboratory
• Manufacturers

22. SUMMARY
• ROBOT TECHNOLOGY IS AN APPLIED SCIENCE THAT IS REFERRED TO AS
COMBINATION OF MACHINE TOOL FUNDAMENTALS AND COMPUTER
APPLICATIONS.
• THE BASIC COMPONENTS OF AN INDUSTRIAL ROBOT ARE, MANIPULATOR,
END EFFECTOR, POWER SUPPLY AND CONTROL SYSTEM.
• ROBOT ANATOMY IS CONCERNED WITH THE PHYSICAL CONSTRUCTION AND
OPERATION OF THE MANIPULATOR AND HAS FIVE BASIC CONFIGURATIONS:
RECTANGULAR, CYLINDRICAL, SPHERICAL, JOINTED-ARM, AND SCARA.
• ROBOTS WITH INCREASING INTELLIGENCE, SENSORY CAPABILITY, DEXTERITY
& SOPHISTICATED CONTROL SYSTEMS HAVE BECOME DOMINANT
FACTOR IN MODERN MANUFACTURING.
•THE THREE FACTORS THAT INFLUENCE THE SELECTION OF ROBOTS IN
MANUFACTURING ARE: DYNAMIC PROPERTIES AND PERFORMANCE,
ECONOMICS AND SAFETY.