Assessment Criteria For Mid-Term Assessment TEQIP-III Technology Robotics and Automation
Assessment Criteria For Mid-Term Assessment TEQIP-III Technology Robotics and Automation
Introduction to Robotics
Assessment Criteria for Mid-term Assessment TEQIP-III
ation
Percentage
Details of Coverage under the topics/ sub-topics Allocation of
Marks
Knowledge / Skill /
Total
Theory Practical
14 14 0
Components of a robot,
Classification
of robots
The components of Robots:
Manipulator:- Just like the human arm, the robot consists of what is called a
manipulator having several joints and links.
Question type: Direct Questions
End effector:-
The base of the manipulator is fixed to base support and at its other free end, the
Endeffector is attached. The Endeffector is expected to perform tasks normally
performed by the palm and finger arrangements of the human arm.
Question type: Direct Questions
The Sensors:-
Without the data supplied by the sense organs, the brain would be incapable of
intelligence. In other words, the controller (the computer) of the robot cannot do any
meaningful task, if the robot is not with a component analogous to the sense organs
of the human body. Thus, the fifth and most important component of the robot is the
set of sensors.
Question type: Scenario Based Questions
It is the most commonly used robot type in the industries. It is popular because it is
easy to use and program.
In this robot, the Kinetic structure of the arm is made up of three mutually
perpendicular Prismatic joints. The wrist position of the robot can be described in
three cartesian coordinates viz. X-axis to move in front to back, Y-axis to move inside
to side, and Z-axis to move up or down.
The linear movement of cartesian elements gives the robot a rectangular or cube-
shaped workspace. The customers have the choice to determine the speed, stock lens,
and procedures of these robots.
However, these robots have the drawback of the complexity of assembly.
These robots have a work envelope that resembles a cylinder. It has a rotary axis on 4%
the base for spinning the robot, two linear axes for moving the tool in the general
work area. It also has 2 or 3 minor axes for the tooling orientation.
Cylindrical geometry robots are good for reaching in the machines and have a rigid
structure required for large payloads.
Due to the cylindrical work envelope, the machine designers can use them for their
economy of space. These are comparatively simple and similar to the cartesian robots
in their axis of motion.
The installation of the robots is easy as they are not complex and require minimal
assembly.
Definition of mechanisms
and manipulators, Degrees of
Freedom
Forward kinematics
Forward kinematics specifies the joint parameters and computes the configuration of
the chain. For serial manipulators, this is achieved by direct substitution of the joint
parameters into the forward kinematics equations for the serial chain. For parallel
manipulators substitution of the joint parameters into the kinematics equations
requires the solution of a set of polynomial constraints to determine the set of
possible end-effector locations.
Question Type: Direct and Scenario Based
Inverse kinematics 5%
Inverse kinematics specifies the end-effector location and computes the associated
joint angles. For serial manipulators, this requires the solution of a set of polynomials
obtained from the kinematics equations and yields multiple configurations for the
chain. The case of a general 6R serial manipulator (a serial chain with six revolute
joints) yields sixteen different inverse kinematics solutions, which are solutions of a
sixteenth-degree polynomial. For parallel manipulators, the specification of the end-
effector location simplifies the kinematics equations, which yields formulas for the
joint parameters.
Question Type: Direct and Scenario Based
Robot Manipulator Sections
Robotic manipulators can be divided into two sections, each with a different function:
Robot Arm and Body
Robot Wrist
The wrist is used to orient the parts or tools at the work location. It consists of two or
three compact joints. Robot manipulators are created from a sequence of links and
joint combinations. The links are the rigid members connecting the joints or axes. The
axes are the movable components of the robotic manipulator that cause relative
motion between adjoining links. The mechanical joints used to construct the robotic
arm manipulator consist of five principal types. Two of the joints are linear, in which
the relative motion between adjacent links is non-rotational, and three are rotary
types, in which the relative motion involves rotation between links. The arm-and-body
section of robotic manipulators is based on one of four configurations. Each of these
anatomies provides a different work envelope and is suited for different applications.
Question Type: Direct and Scenario Based
Gantry Robots
These robots have linear joints and are mounted overhead. They are also called
5%
Cartesian and rectilinear robots.
Question Type: Direct and Scenario Based
Cylindrical Robots
Named for the shape of its work envelope, cylindrical anatomy robots are fashioned
from linear joints that connect to a rotary base joint.
Question Type: Direct and Scenario Based
Polar Robots
The base joint of a polar robot allows for twisting and the joints are a combination of
rotary and linear types. The workspace created by this configuration is spherical.
Question Type: Direct and Scenario Based
Jointed-Arm Robots
This is the most popular industrial robotic configuration. The arm connects with a
twisting joint, and the links within it are connected with rotary joints. It is also called
an articulated robot.
Question Type: Direct and Scenario Based
5 5 0
5 5 0
Robot Kinematics and
Dynamics
Kinematic Modelling:
Translation and Rotation
Representation
Coordinate transformation
Translational envelopes :
5%
Moving forward and backward on the X-axis. (Surge)
Moving left and right on the Y-axis. (Sway)
Moving up and down on the Z-axis. (Heave)
Rotational envelopes :
5 3 2
3 3 0
4 4 0
Jacobian, Singularity, and Statics
Module 2
Robot Jacobian
Velocity kinematics
The robot Jacobian results in a set of linear equations that relate the joint rates to the
six-vector formed from the angular and linear velocity of the end-effector, known as a
twist. Specifying the joint rates yields the end-effector twist directly.
The inverse velocity problem seeks the joint rates that provide a specified end-effector
twist. This is solved by inverting the Jacobian matrix. It can happen that the robot is in
a configuration where the Jacobian does not have an inverse. These are termed
singular configurations of the robot.
The principle of virtual work yields a set of linear equations that relate the resultant
force-torque six vector, called a wrench, that acts on the end-effector to the joint
torques of the robot. If the end-effector wrench is known, then a direct calculation
yields the joint torques.
The inverse statics problem seeks the end-effector wrench associated with a given set
of joint torques and requires the inverse of the Jacobian matrix. As in the case of
inverse velocity analysis, at singular configurations, this problem cannot be solved.
However, near singularities small actuator torques result in a large end-effector
wrench. Thus near singularity configurations robots have a large mechanical
advantage.
Singularities are caused by the inverse kinematics of the robot. When placed at a
singularity, there may be an infinite number of ways for the kinematics to achieve the
same tip position of the robot. If the optimal solution is not chosen, assuming there is
one, the robot joints could be commanded to move in an impossible way. Infinite
velocity is not the only type of singularity that causes problems and certain types of
singularities can be more problematic than others. Some robots can be put in such a
bad position that they need to be turned off, moved, and restarted manually.
Wrist singularities – These happen when two of the robot’s wrist axes (joints 4 and 6)
line up with each other. This can cause these joints to try and spin 180 degrees
instantaneously.
Shoulder singularities – These happen when the center of the robot’s wrist aligns with
the axis of joint 1. It causes joints 1 and 4 to try and spin 180 degrees instantaneously.
A subset of this is an Alignment Singularity, where the first and last joints of the robot
(joints 1 and 6) line up with each other.
Elbow singularities – These happen when the center of the robot’s wrist lies on the
same plane as joints 2 and 3. Elbow singularities look like the robot has “reached too
far”, causing the elbow to lock in position.
Sensors
Robot dynamics is concerned with the relationship between the forces acting on a
robot mechanism and the accelerations they produce. Typically, the robot mechanism
is modeled as a rigid-body system, in which case robot dynamics is the application of
rigid-body dynamics to robots. The two main problems in robot dynamics are:
- Forward dynamics: given the forces, work out the accelerations.
Sensors 39%
3 3 0
39 3 36
Contact and Proximity
Contact & Proximity ( This topic relate to robot sensors )
A sensor is a window for a robot to the environment. Sensors allow robots to
understand and measure the geometric and physical properties of objects in their
surrounding environment, such as position, orientation, velocity, acceleration,
distance, size, force, moment, temperature, luminance, weight, etc.
Sensors are generally classified into two groups: internal sensors and external sensors.
Internal sensors such as its position sensor, velocity sensor, acceleration sensors,
motor torque sensor, etc obtain the information about the robot itself, while external
sensors such as cameras, range sensors (IR sensor, laser range finder, and ultrasonic
sensor) contact and proximity sensors (photodiode, IR detector, RFID, touch, etc.) and
force sensors gather the information in the surrounding environment.
Light Sensor
A light sensor detects light and creates a difference in voltage. A robot’s vision system
has a computer-controlled camera that allows the robot to see and adjust its
movements accordingly. The two primary light sensors in robots are Photoresistor and
Photovoltaic cells. Other light sensors like phototubes, phototransistors, CCDs, etc. are
rarely used.
a) A photoresistor b) Photovoltaic cells and 2D & 3D Vision
Question Type: Direct and Scenario Based
Sound Sensor
Sound sensors are generally a microphone used to detect the equivalent voltage of
sound and return. The sound it receives can be navigated by a simple robot. Imagine a
robot turning right to a pulpit, turning left for two palpitations. Complex robots may
use the same microphone for voice recognition. Sound sensors are not as easy as light
sensors because sound sensors generate a minimal voltage difference which should be
amplified to produce a measurable change in voltage. Voice systems also use robots
with voice commands. This is useful if the trainer has to handle other objects when
training robots.
Question Type: Direct and Scenario Based
Proximity Sensor
The nearby object can be detected by a proximity sensor without physical contact. The
transmitter transmits electromagnetic radiation in the adjacent sensor and receives
and analyzes the interruption feedback signal. Thus, the amount of light received in
the area can be used to detect the presence of nearby objects. The sensors provide a 5%
collision avoidance method for the robot.
Infrared (IR) transceiver, Ultrasound Sensor and Photoresistor
Question Type: Direct and Scenario Based
Tactile Sensors
Tactile Sensor is a device specifying an object’s contact. Often used in everyday
objects such as elevator buttons and lamps, which dim or brighten by touching the
base, a tactile sensor allows the robot to touch and feel. These sensors are used to
measure applications and gently interact with the environment. It can be sorted into
two principal types: Touch Sensor and Force Sensor.
a) Touch Sensor or Contact Sensor b) Force Sensor
Question Type: Direct and Scenario Based
Temperature Sensor
Temperature sensors are used to detect the surrounding temperature change. It is
based on the principle of voltage difference change for a temperature change; this
voltage change will provide the surrounding temperature equivalent. Temperature
sensing applications include air temperature, surface temperature, immersion
temperature.
Question Type: Direct and Scenario Based
Velocity Sensor
A velocity or speed sensor measures consecutive position measurements at known
intervals and computes the time rate of change in the position values.
Question Type : Direct and Secnario Based
Camera calibration
Geometric camera calibration also referred to as camera resectioning, estimates the
parameters of a lens and image sensor of an image or video camera. You can use
these parameters to correct for lens distortion, measure the size of an object in world
units, or determine the location of the camera in the scene. These tasks are used in
applications such as machine vision to detect and measure objects. They are also used
in robotics, for navigation systems, and 3-D scene reconstruction.
Question Type: Direct and Scenario Based
Camera Models
Pinhole Camera Model
A pinhole camera is a simple camera without a lens and with a single small aperture.
Light rays pass through the aperture and project an inverted image on the opposite 9%
side of the camera. Think of the virtual image plane as being in front of the camera
and containing the upright image of the scene.
Question Type: Direct and Scenario Based
9 0 9
Geometry of Image formation,
Euclidean/Similarity/Affine/Proj
ective transformations
Module 4
"Image Formation
The geometry of image formation which determines wherein the image plane the
projection of a point in the scene will be located. The physics of light determines the
brightness of a point in the image plane as a function of illumination and surface
properties.
Question Type: Direct and Scenario Based
Euclidean affine space Ratio of Isometries and Invariance of the mixed product of 3
vectors Displacements Orientation-preserving isometries rigid-body motions
Question Type: Direct and Scenario Based
Vision-Guided Robots
Vision system applications, some of the exciting and popular options right now include
7%
facial recognition, safety systems, part finding, and quality control.
Question Type: Direct and Scenario Based
• Pneumatic linear actuators consist of a piston inside a hollow cylinder. Pressure from
an external compressor or manual pump moves the piston inside the cylinder. As
pressure increases, the cylinder moves along the axis of the piston, creating a linear
force. The piston returns to its original position by either a spring-back force or fluid
being supplied to the other side of the piston.
7 0 7
20 3 17
10 3 7
Transmission: Gears, Timing
Belts and Bearings
Module 4
Total
Gears
Gears are mechanical parts with cut teeth designed to mesh with teeth on another
part so as to transmit or receive force and motion. The cut teeth are also sometimes
called cogs. Others like in chainsaws and motors can be tweaked. In Robotics Gears
are used to transfer rotational forces between axles. They can change speed and
direction. The axles can stand in any orientation, however not all orientation can be
done with 2 gears. Commonly gears are used to reduce the speed of a motor. When
they reduce the speed, the torque of the output axle increases.
Spur gear
Spur gears found on a piece of farm equipment
Spur gears are the best-known gears. These are the simplest form of gears and are
commonly used in light machines as bikes, mixers, etc. They aren't used in cars as they
are very noisy and their design puts a lot of stress on the teeth.
You might use them to transfer rotation from a motor output shaft (coming directly
from the motor or from the gearbox) to the axle on which the wheels are attached.
This poses a limitation: the motor output axle and the wheel axle have to be parallel.
Bevelled gear
Beveled gears are used when you wish to transfer work between two perpendicular
5%
shafts that are on the same plane (if the axles were to be extended they would hit).
They can have straight, spiral, or hypoid teeth.
Worm Gear
This is a gear that resembles a screw, with parallel helical teeth, and mates with a
normal spur gear. The worm is in most cases the driving gear, there are however a few
exceptions where the spur gear drives the worm. The worm gear can achieve a higher
gear ratio than spur gears of comparable size. Designed properly, a built-in safety
feature can be obtained: This gear style will self-lock if power is lost to the drive
(worm) however this feature doesn't work if the pinion is powered.
Question Type: Direct and Scenario Based
100%
5 0 5
5 0 5
100 40 60