This document discusses robot programming methods, accuracy, repeatability, and applications. It covers three main robot programming methods: lead-through programming, offline programming, and computer-like programming. It also defines resolution, accuracy, and repeatability as they relate to a robot's ability to position its end-of-wrist. Finally, it discusses several common robot applications including material handling, processing operations like welding and painting, and assembly.
This PPT gives information about:
1. Robotics: History, Concepts, principles and applications of Robots, different types of Robots, degrees of freedom. Robot classification. Robotic vision. Controlling robot movements.
2. Robotics Hardware:
3. Sensors: IR sensors, Proximity Sensor, Ultrasonic Sensor, White line sensor, Temperature Sensor, Touch sensor, Tilt Sensor, Accelerometer, Gyroscopic Sensor etc.
4. Actuators: DC motor, Servo motor, Stepper Motor, Motor driver ICs, Half Bridge & Full bridge circuits, Pulse Width Modulation and Gripper.
6. Controller: Architecture and features of ATMEGA16 (in detail) other higher versions of AVR Microcontrollers..
IOSR Journal of Electronics and Communication Engineering(IOSR-JECE) is an open access international journal that provides rapid publication (within a month) of articles in all areas of electronics and communication engineering and its applications. The journal welcomes publications of high quality papers on theoretical developments and practical applications in electronics and communication engineering. Original research papers, state-of-the-art reviews, and high quality technical notes are invited for publications.
This PPT gives information about:
1.Practical building simple wheeled mobile robots
2. Timeline
3. Classification
4. Robot Accessories
5. Robot Configuratin
6. Control Methods
COLLEGE BUS MANAGEMENT SYSTEM PROJECT REPORT.pdfKamal Acharya
The College Bus Management system is completely developed by Visual Basic .NET Version. The application is connect with most secured database language MS SQL Server. The application is develop by using best combination of front-end and back-end languages. The application is totally design like flat user interface. This flat user interface is more attractive user interface in 2017. The application is gives more important to the system functionality. The application is to manage the student’s details, driver’s details, bus details, bus route details, bus fees details and more. The application has only one unit for admin. The admin can manage the entire application. The admin can login into the application by using username and password of the admin. The application is develop for big and small colleges. It is more user friendly for non-computer person. Even they can easily learn how to manage the application within hours. The application is more secure by the admin. The system will give an effective output for the VB.Net and SQL Server given as input to the system. The compiled java program given as input to the system, after scanning the program will generate different reports. The application generates the report for users. The admin can view and download the report of the data. The application deliver the excel format reports. Because, excel formatted reports is very easy to understand the income and expense of the college bus. This application is mainly develop for windows operating system users. In 2017, 73% of people enterprises are using windows operating system. So the application will easily install for all the windows operating system users. The application-developed size is very low. The application consumes very low space in disk. Therefore, the user can allocate very minimum local disk space for this application.
This PPT gives information about:
1. Robotics: History, Concepts, principles and applications of Robots, different types of Robots, degrees of freedom. Robot classification. Robotic vision. Controlling robot movements.
2. Robotics Hardware:
3. Sensors: IR sensors, Proximity Sensor, Ultrasonic Sensor, White line sensor, Temperature Sensor, Touch sensor, Tilt Sensor, Accelerometer, Gyroscopic Sensor etc.
4. Actuators: DC motor, Servo motor, Stepper Motor, Motor driver ICs, Half Bridge & Full bridge circuits, Pulse Width Modulation and Gripper.
6. Controller: Architecture and features of ATMEGA16 (in detail) other higher versions of AVR Microcontrollers..
IOSR Journal of Electronics and Communication Engineering(IOSR-JECE) is an open access international journal that provides rapid publication (within a month) of articles in all areas of electronics and communication engineering and its applications. The journal welcomes publications of high quality papers on theoretical developments and practical applications in electronics and communication engineering. Original research papers, state-of-the-art reviews, and high quality technical notes are invited for publications.
This PPT gives information about:
1.Practical building simple wheeled mobile robots
2. Timeline
3. Classification
4. Robot Accessories
5. Robot Configuratin
6. Control Methods
COLLEGE BUS MANAGEMENT SYSTEM PROJECT REPORT.pdfKamal Acharya
The College Bus Management system is completely developed by Visual Basic .NET Version. The application is connect with most secured database language MS SQL Server. The application is develop by using best combination of front-end and back-end languages. The application is totally design like flat user interface. This flat user interface is more attractive user interface in 2017. The application is gives more important to the system functionality. The application is to manage the student’s details, driver’s details, bus details, bus route details, bus fees details and more. The application has only one unit for admin. The admin can manage the entire application. The admin can login into the application by using username and password of the admin. The application is develop for big and small colleges. It is more user friendly for non-computer person. Even they can easily learn how to manage the application within hours. The application is more secure by the admin. The system will give an effective output for the VB.Net and SQL Server given as input to the system. The compiled java program given as input to the system, after scanning the program will generate different reports. The application generates the report for users. The admin can view and download the report of the data. The application deliver the excel format reports. Because, excel formatted reports is very easy to understand the income and expense of the college bus. This application is mainly develop for windows operating system users. In 2017, 73% of people enterprises are using windows operating system. So the application will easily install for all the windows operating system users. The application-developed size is very low. The application consumes very low space in disk. Therefore, the user can allocate very minimum local disk space for this application.
Saudi Arabia stands as a titan in the global energy landscape, renowned for its abundant oil and gas resources. It's the largest exporter of petroleum and holds some of the world's most significant reserves. Let's delve into the top 10 oil and gas projects shaping Saudi Arabia's energy future in 2024.
Event Management System Vb Net Project Report.pdfKamal Acharya
In present era, the scopes of information technology growing with a very fast .We do not see any are untouched from this industry. The scope of information technology has become wider includes: Business and industry. Household Business, Communication, Education, Entertainment, Science, Medicine, Engineering, Distance Learning, Weather Forecasting. Carrier Searching and so on.
My project named “Event Management System” is software that store and maintained all events coordinated in college. It also helpful to print related reports. My project will help to record the events coordinated by faculties with their Name, Event subject, date & details in an efficient & effective ways.
In my system we have to make a system by which a user can record all events coordinated by a particular faculty. In our proposed system some more featured are added which differs it from the existing system such as security.
Automobile Management System Project Report.pdfKamal Acharya
The proposed project is developed to manage the automobile in the automobile dealer company. The main module in this project is login, automobile management, customer management, sales, complaints and reports. The first module is the login. The automobile showroom owner should login to the project for usage. The username and password are verified and if it is correct, next form opens. If the username and password are not correct, it shows the error message.
When a customer search for a automobile, if the automobile is available, they will be taken to a page that shows the details of the automobile including automobile name, automobile ID, quantity, price etc. “Automobile Management System” is useful for maintaining automobiles, customers effectively and hence helps for establishing good relation between customer and automobile organization. It contains various customized modules for effectively maintaining automobiles and stock information accurately and safely.
When the automobile is sold to the customer, stock will be reduced automatically. When a new purchase is made, stock will be increased automatically. While selecting automobiles for sale, the proposed software will automatically check for total number of available stock of that particular item, if the total stock of that particular item is less than 5, software will notify the user to purchase the particular item.
Also when the user tries to sale items which are not in stock, the system will prompt the user that the stock is not enough. Customers of this system can search for a automobile; can purchase a automobile easily by selecting fast. On the other hand the stock of automobiles can be maintained perfectly by the automobile shop manager overcoming the drawbacks of existing system.
Forklift Classes Overview by Intella PartsIntella Parts
Discover the different forklift classes and their specific applications. Learn how to choose the right forklift for your needs to ensure safety, efficiency, and compliance in your operations.
For more technical information, visit our website https://intellaparts.com
About
Indigenized remote control interface card suitable for MAFI system CCR equipment. Compatible for IDM8000 CCR. Backplane mounted serial and TCP/Ethernet communication module for CCR remote access. IDM 8000 CCR remote control on serial and TCP protocol.
• Remote control: Parallel or serial interface.
• Compatible with MAFI CCR system.
• Compatible with IDM8000 CCR.
• Compatible with Backplane mount serial communication.
• Compatible with commercial and Defence aviation CCR system.
• Remote control system for accessing CCR and allied system over serial or TCP.
• Indigenized local Support/presence in India.
• Easy in configuration using DIP switches.
Technical Specifications
Indigenized remote control interface card suitable for MAFI system CCR equipment. Compatible for IDM8000 CCR. Backplane mounted serial and TCP/Ethernet communication module for CCR remote access. IDM 8000 CCR remote control on serial and TCP protocol.
Key Features
Indigenized remote control interface card suitable for MAFI system CCR equipment. Compatible for IDM8000 CCR. Backplane mounted serial and TCP/Ethernet communication module for CCR remote access. IDM 8000 CCR remote control on serial and TCP protocol.
• Remote control: Parallel or serial interface
• Compatible with MAFI CCR system
• Copatiable with IDM8000 CCR
• Compatible with Backplane mount serial communication.
• Compatible with commercial and Defence aviation CCR system.
• Remote control system for accessing CCR and allied system over serial or TCP.
• Indigenized local Support/presence in India.
Application
• Remote control: Parallel or serial interface.
• Compatible with MAFI CCR system.
• Compatible with IDM8000 CCR.
• Compatible with Backplane mount serial communication.
• Compatible with commercial and Defence aviation CCR system.
• Remote control system for accessing CCR and allied system over serial or TCP.
• Indigenized local Support/presence in India.
• Easy in configuration using DIP switches.
Welcome to WIPAC Monthly the magazine brought to you by the LinkedIn Group Water Industry Process Automation & Control.
In this month's edition, along with this month's industry news to celebrate the 13 years since the group was created we have articles including
A case study of the used of Advanced Process Control at the Wastewater Treatment works at Lleida in Spain
A look back on an article on smart wastewater networks in order to see how the industry has measured up in the interim around the adoption of Digital Transformation in the Water Industry.
Cosmetic shop management system project report.pdfKamal Acharya
Buying new cosmetic products is difficult. It can even be scary for those who have sensitive skin and are prone to skin trouble. The information needed to alleviate this problem is on the back of each product, but it's thought to interpret those ingredient lists unless you have a background in chemistry.
Instead of buying and hoping for the best, we can use data science to help us predict which products may be good fits for us. It includes various function programs to do the above mentioned tasks.
Data file handling has been effectively used in the program.
The automated cosmetic shop management system should deal with the automation of general workflow and administration process of the shop. The main processes of the system focus on customer's request where the system is able to search the most appropriate products and deliver it to the customers. It should help the employees to quickly identify the list of cosmetic product that have reached the minimum quantity and also keep a track of expired date for each cosmetic product. It should help the employees to find the rack number in which the product is placed.It is also Faster and more efficient way.
Overview of the fundamental roles in Hydropower generation and the components involved in wider Electrical Engineering.
This paper presents the design and construction of hydroelectric dams from the hydrologist’s survey of the valley before construction, all aspects and involved disciplines, fluid dynamics, structural engineering, generation and mains frequency regulation to the very transmission of power through the network in the United Kingdom.
Author: Robbie Edward Sayers
Collaborators and co editors: Charlie Sims and Connor Healey.
(C) 2024 Robbie E. Sayers
5. A robot program can be defined as a path in space to be followed by the
manipulator, combined with peripheral actions that support the work cycle.
(1) Lead through programming,
(2) Computer-like robot
(3) Off-line programming.
Lead through programming
The robot is physically moved through the various motions needed to perform a
given task, recording the motions into the robot’s computer memory. This can be
done either by physically (manually) moving the manipulator through the motion
sequence or by using a control box (teach pendent) to drive the manipulator
through the sequence.
Robots use two coordinate system to record the motion
(1) world-coordinate system and (2) tool-coordinate system.
6. Lead through programming
In straight line interpolation, the control computer calculates the sequence of
addressable points in space through which the wrist end must move to achieve a
straight line path between two points.
In joint interpolation robot is commanded to move its wrist end between
two points , it actuates each of the joints simultaneously at its own constant speed such
that all of the joints start and stop at the same time.
Advantages
It can be readily learned by shop personnel.
The robot programmer to possess knowledge of computer programming.
The work cycle can be taught no need to write separate program
Disadvantages.
Regular production must be interrupted during the lead through programming
procedures.
Limited in terms of the decision-making logic that can be incorporated into the
program.
It is not readily compatible with modern computer-based technologies such as
CAD/CAM, manufacturing databases, and local communications networks.
Above method is also known as on line programming
7.
8. Off-line programming permits the robot program to be prepared at a remote
computer terminal and downloaded to the robot controller for execution without
interrupting production.
They use graphical simulation to construct a three-dimensional model of the robot cell
which consist of the robot, machine tools, conveyors, and other hardware.
The simulator displays these cell components on the graphics monitor and shows
the robot performing its work cycle in animated computer graphics.
It is then converted into the textual language corresponding to the particular robot
employed in the cell.
Some adjustment must be performed to account for geometric differences between
the three-dimensional model in the computer and the actual physical cell.
Off-line programming
9.
10. Computer-like robot
The use of method became an appropriate programming method as digital
computers took over the control function in robotics.
This method of programming is sometimes referred to as on-line/off-line programming.
The textual statements are used to describe the motion, and the lead through methods
are used to define the position and orientation of the robot
To illustrate, the basic motion statement is
MOVE P1
which commands the robot to move from its current position to a position and
orientation defined by the variable name P1.
P1 is defined using either powered leadthrough or manual leadthrough
HERE P1 or LEARN P1
Statements are used in the lead through procedure to indicate the variable name for
the point and is recorded into the robot’s control memory is the set of joint positions or
coordinates used by the controller to define the point.
11. V
ariableAssembly Language (VAL) i
computer-based control system and language designed specifically for use
with Unimation Inc. industrial robots
Machine Control Language (MCL)
developed by McDonnell Douglas corporation
Cand C++ , MA
TLab, Python
13. The capacity of a robot to position and orient the end of its wrist depends on the
1) Resolution
2) Accuracy
3) Repeatability
In robotics, the characteristics are defined at the end of
the wrist and in the absence of any end effector attached to the wrist.
Example:
Assembly
Spot welding
The objects be located within 0.05 mm
Require accuracies of 0.5–1.0 mm
14. Control Resolution –
This is the smallest change that can be measured by the feedback sensors, or
caused by the actuators, whichever is larger.
It is the distance between adjacent addressable points by the controller
It depends on (1) limitations of the electromechanical components that make
up each joint-link combination
(2) the controller’s bit storage capacity for that joint.
Example:
If a rotary joint has an encoder that measures every 0.01 degree of rotation,
and a direct drive servo motor is used to drive the joint, with a resolution of 0.5
degrees,
worst case resolution is 0.5+0.01 degrees
16. Repeatability
It ability to position robot’s end-of-wrist at a previously taught point in the
work volume.
The mechanical errors are principal source for variation in repeatability.
Re = {3}
where = standard deviation of the error distribution
Accuracy
It is the robot’s ability to position the end of its wrist at a desired location in
the work volume. For a single axis, using the same reasoning as in NC,
Ac = (CR / 2 )+ 3
where CR = control resolution
19. The robot must have following features to facilitate material
handling:
1. The manipulator must be able to lift the parts safely.
2. The robot must have the reach needed.
3. The robot must have cylindrical coordinate type.
4. The robot’s controller must have a large enough memory
to store all the programmed points so that the robot can
move from one location to another.
5. The robot must have the speed necessary for meeting the
transfer cycle of the operation.
MA
TERIAL-HANDLINGAPPLICA
TIONS
21. Part Placement:
• The basic operation in this category is the relatively simple pick-and-place operation.
• This application needs a low-technology robot of the cylindrical coordinate type.
• Only two, three or four joints are required for most of the applications.
• Pneumatically powered robots are often utilized.
22. Palletizingand/ orDe-palletizing:
Robot has to pick the parts from one location and deposits them onto a pallet or
other container at multiple positions on the pallet. This adds to the degree of
difficulty of the task.
Robot should able recognize each position on the pallet
using the powered-lead through method
Compute location in x, y and z direction with pallet center
Example: Process of taking parts from the assembly line and stacking them on a
pallet or vice versa
23. • Die casting. The robot unloads parts from machine
and include dipping the parts into a water
•Plastic molding. unloads molded parts from the
injection molding machine.
•Forging. loads and holds during the forging strikes, and
removes it from the forge hammer.
•Press work: loads the blank into the press, and the part
falls out of the machine into a after stamping operation
Machine loading and/or unloading:
Three possible cases are
Robot loads parts into the machine
Robot unloads the finished parts
Both loading of the raw work part and
unloading of the finished part by the
robot
24. PROCESSINGOPERA
TIONS
•In processing operations, the robot performs some
processing actions such as grinding, milling, etc. on the work
part.
•The end effector is equipped with the specialized tool
required for the process.
• The tool is moved relative to the surface of the work part.
• Robot performs a processing procedure on the part.
•Manipulates the tooling relative to the working part during
the cycle.
•Five or six axes are generally required to achieve the
required position and orientation of the endeffector/tool.
• Jointed-arm robots commonly used
25. processing operations include:
(1) Spot welding
(2) Continuous arc welding
(3) Spray painting
(4) Metal cutting and deburring operations
(5)Various machining operations like drilling, grinding,
laser and water jet cutting and riveting.
(6) Rotating and spindle operations
(7) Adhesives and sealant dispensing
PROCESSINGOPERA
TIONS
26. Spot welding
The end effector is the spot welding gun used to pinch the car panels together and
perform the resistance welding process.
Robots used for spot welding are usually large, with sufficient payload capacity to
handle the heavy welding gun
It is difficult for humans to manipulate accurately.
As a consequence, there were many instances of missed welds, poorly located
welds, and other defects in the product.
Five or six axes are generally required to achieve the required position and orientation
of the welding gun.
27. Arc Welding
High electrical current is used in the welding process
High temperatures expose to worker
Significant hand–eye coordination is required
Desired path with sufficient accuracy to make a good weld.
Arc-on time is 20–30% worker fatigue.
Fitter set up the job and welder welds
Because of these conditions in manual arc welding, robots are used
it is technically and economically feasible.
28. Spray painting
The use of industrial robots for spray coating offers a number of benefits
Protect workers from a hazardous environment.
Greater uniformity in applying the coating
Reduced waste of paint,
Lower needs for ventilating the work area
Greater productivity.
29. Machiningprocesses
The robot must be strong enough to withstand these cutting forces and
maintain the required accuracy of the cut.
Grinding, Drilling, Deburring , water jet machining , laser cutting
30. ASSEMBLYOPERA
TIONS
Assembly involves the combining of two or more parts
Assembly work typically involves diverse tasks
Requires adjustments to be made in parts that don’t quite fit together.
A sense of feel is often required to achieve a close fitting of parts.
Inspection work requires human judgment to check whether a product is within quality
specifications or not.
more precise robots required with repeatabilities of {+or - 0.05 mm }
The most common configurations are jointed arm, SCARA, and Cartesian coordinate.
31.
32. The simplest way to understand how cobots and industrial robots differ, is
that cobots are designed to work alongside human employees, while
industrial robotsdo work in place of those employees. ... Cobotsare also more
easily programmable than industrial robotsbecause they are capable of
“learning” on the job
This allows manufacturing to accommodate short runs with increased
efficiency. The cobot is designed to do the repetitive and precise motions to
help assist workers.
33. The simplest way to understand how cobots and industrial robots differ, is
that cobots are designed to work alongside human employees, while
industrial robotsdo work in place of those employees. ... Cobotsare also more
easily programmable than industrial robotsbecause they are capable of
“learning” on the job
This allows manufacturing to accommodate short runs with increased
efficiency. The cobot is designed to do the repetitive and precise motions to
help assist workers.