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- 1. UNIT I – Basic Concepts UNIT II – Direct and Inverse kinematics UNIT III – Manipulator Differential Motion and Statics UNIT IV – Path Planning UNIT V – Dynamics & Control L.V.Revathi,AP/EIE,KCET ROBOTICS AND AUTOMATIO 8 79
- 2. UNIT I – BASIC CONCEPTS Robotic Institute of America • A robot is a reprogrammable multi-function manipulator designed to move material parts, tools or specialised devices, through variable programmed motions for the performance of a variety of tasks. British Robots Association • An industrial robot is a re-programmable device designed to both manipulate and transport parts, tools or specialised manufacturing implements through variable programmed motions for the performance of specific manufacturing tasks. L.V.Revathi,AP/EIE,KCET
- 4. TYPES OF ROBOTS Mobile robots Industrial Robots Autonomous Robots Remote Controlled Robots Virtual Robots L.V.Revathi,AP/EIE,KCET
- 6. ROBOT CLASSIFICATIONS • Physical configuration • Control system • Movement • Types of drive • Application • Degrees of freedom • Sensory systems • Capabilities of robot system L.V.Revathi,AP/EIE,KCET
- 7. • Cartesian configuration • Cylindrical configuration • Polar configuration • Joint-arm configuration • SCARA PHYSICAL CONFIGURATION • Point to Point robots • Straight line robots • Continuous robots CONTROL SYSTEM • Fixed Robot • Mobile Robot • Walking or Legged robot MOVEMENT • Simple and Blind robot • Vision robot • Intelligent robot SENSORY SYSTEM • Single DOF • Two DOF • Three DOF • Six DOF DEGRESS OF FREEDOM • Manufacturing • Handling • Testing APPLICATION • Pneumatic drive • Hydraulic drive • Electric drive TYPES OF DRIVE L.V.Revathi,AP/EIE,KCET
- 8. ROBOT SPECIFICATIONS Accuracy Repeatability Reliability Resolution Spatial Resolution Precision of Robot Quality of Robot Reach Maximum Speed Payload Payload Capability of Robot Pitch Yaw Roll Duty Cycle Offset L.V.Revathi,AP/EIE,KCET
- 10. PHYSICAL CONFIGURATION Advantages: • 3 linear axes • Easy to visualize • Rigid structure • Easy to program off-line Disadvantages: • Can only reach in front of itself • Requires large floor space for size of work envelop • Axes hard to seal CARTESIAN CONFIGURATION (Rectangular -PPP) 1. Cantilevered Cartesian 2. Gantry or Box Cartesian L.V.Revathi,AP/EIE,KCET
- 13. CYLINDRICAL CONFIGURATION RPP Advantages: • 2 linear axes, 1 rotating axis • Can reach all around itself • Reach and height axes rigid Disadvantages: • Cannot reach above itself • Base rotation axis is less rigid than a linear axis • Will not reach around obstacles L.V.Revathi,AP/EIE,KCET
- 14. POLAR CONFIGURATION (Spherical -RRP) Advantages: • 1 linear axis, 2 rotating axes • Long horizontal reach Disadvantage: • Cannot reach around obstacles • Generally has short vertical reach L.V.Revathi,AP/EIE,KCET
- 15. SCARATYPE CONFIGURATION RRP or PRR Advantages: • 1 linear axis, 2 rotating axes • Height axis is rigid • Large work area floor space • Can reach around obstacles • Two ways to reach a point Disadvantage: • Difficult to program off-line • Highly complex arm L.V.Revathi,AP/EIE,KCET
- 16. REVOLUTE TYPE CONFIGURATION (RRR) Advantages: • 3 rotating, axes • Can reach above or below obstacles • Largest work area for least work space • Two or four ways to reach a point Disadvantage: • Difficult to program off-line • The most complex manipulator L.V.Revathi,AP/EIE,KCET
- 17. VIDEO -PHYSICAL CONFIGURATION or ARM L.V.Revathi,AP/EIE,KCET
- 18. WORKSPACE The volume of space reachable by the end-effector, Everywhere a robot reaches must be within this space. Tool orientation and size also important. L.V.Revathi,AP/EIE,KCET
- 19. ARCHITECTURE OF ROBOTIC SYSTEMS L.V.Revathi,AP/EIE,KCET
- 20. ARCHITECTURE OF ROBOTIC SYSTEMS Actuators: Electrical, Hydraulic, Pneumatic, Artificial Muscle Sensors: Camera, Encoder, Photo Electronic, GPS, Compass, Gyroscope, Inertial navigation, Laser Range Scanners, Pressure L.V.Revathi,AP/EIE,KCET
- 21. DRIVES - ELECTRICAL DRIVE Small and medium size robots are usually powered by electric drives via gear trains using servomotors and stepper motors. Most commonly used are dc motors, although for larger robots, ac motors may be utilised. A new design based on direct drives (without gear trains) is being developed. Advantages: • Better accuracy & repeatability • Require less floor space • More towards precise work such as assembly applications Disadvantage: • Generally not as speedy and powerful as hydraulic robots • Expensive for large and powerful robots, can become fire hazard L.V.Revathi,AP/EIE,KCET
- 22. HYDRAULIC DRIVE Larger robots are usually powered by hydraulic drives . Hydraulic drive system can provide rotational motion (rotary vane actuators) and linear motion (hydraulic pistons). Advantages: More strength-to-weight ratio Can also actuate at a higher speed Disadvantage: Require large floor space Tendency to oil leakage L.V.Revathi,AP/EIE,KCET
- 23. PNEUMATIC DRIVE • Generally used For smaller robots that possess fewer degrees of freedom (2- 4 joint motions). • They are limited to pick-and-place tasks with fast cycles. • Pneumatic drive system can be applied to the actuation of piston devices to provide linear motions. • Rotational motions can be achieved by rotary actuators Advantages: • Cheaper & lower technology options for control of speed. • Safe to use and Light in weight Disadvantage: • Require large floor space • Tendency to oil leakage L.V.Revathi,AP/EIE,KCET
- 24. REPEATABILITY AND ACCURACY OF ROBOT Accuracy: Accuracy refers to a robot's ability to position its wrist end at a desired target point within the work volume. Repeatability: Repeatability describes how a points are repeated at the same place or target. L.V.Revathi,AP/EIE,KCET
- 26. ROBOT PROGRAMMING Robot Programming is the defining of desired motions so that the robot may perform them without human intervention. Identifying and specifying the robot configurations (i.e. the pose of the end-effector, Pe, with respect to the base- frame) L.V.Revathi,AP/EIE,KCET
- 27. METHOD OF ROBOT PROGRAMMING Off-line Programming Method Manual Method Walkthrough Method Leadthrough Programming Method Power Leadthrough Programming Manual Leadthrough Programming L.V.Revathi,AP/EIE,KCET
- 28. ROBOT PROGRAMMING LANGUAGES High level computer programming languages AL VAL RAIL AML HELP JARS Joint Control Languages Primitive Motion Languages Structures programming Languages Task Oriented Languages L.V.Revathi,AP/EIE,KCET
- 29. SENSORS Robotic sensing is a branch of robotics science Intended to give robots sensing capabilities, so that robots are more human-like. Robotic sensing mainly gives robots the ability to see, touch, hear and move and uses algorithms that require environmental feedback. The use of sensors in robots has taken them into the next level of creativity. Most importantly, the sensors have increased the performance of robots to a large extent. It also allows the robots to perform several functions like a human being.L.V.Revathi,AP/EIE,KCET
- 30. NEED FOR SENSING SYSTEM Self Protection Never exceed specified force Programmable Automation Material handling Inspection, Assembly Collision avoidance Obstacles Assembly Operation Compliance L.V.Revathi,AP/EIE,KCET
- 31. TYPES OF SENSORS Contact Sensing Switches , Piezoelectric Position Potentiometer, Resolvers, Optical Encoders Force Spring, Strain Gauges Torque Hollow Cylinder Proximity Optical, Eddy current, Magnetic Touch Sensing Compliance Vision Camera, Stereo, Vision L.V.Revathi,AP/EIE,KCET