Industrial Robotics
ME5510
Dr. M V A Raju Bahubalendruni
National Institute of Technology Puducherry
Syllabus
▰ Introduction of Robot - Classification and characteristics, Advantages and Disadvantages of
Robots –Robot selection - work cell – Vision –Accidents – Safety – Maintenance- Installation
▰ Introduction of Robotic sensors – Types of Sensors - Robot with sensors
▰ Robot end effectors – Classification of end effectors
▰ Robot Programming
▰ Applications of Robots – Manufacturing Applications – Material handling applications –
Cleanroom robots
2
Syllabus
▰ Introduction of Robot - Classification and characteristics, Advantages and Disadvantages of
Robots –Robot selection - work cell – Vision –Accidents – Safety – Maintenance- Installation
▰ Introduction of Robotic sensors – Types of Sensors - Robot with sensors
▰ Robot end effectors – Classification of end effectors
▰ Robot Programming
▰ Applications of Robots – Manufacturing Applications – Material handling applications –
Cleanroom robots
3
Methods of defining positions in Space
Irrespective of robot configuration, there are several methods that can be used
by the programmer during the teach mode to acute the robot arm and wrist.
• Joint movements
• x-y-z coordinate motions
• Tool coordinate motions
Joint Movements
The first method is the most basic and involves the
movement of each joint usually by means of teach
pendant.
Successive positioning of the robot arm in this way to
define a sequence of points can be very tedious and
time-consuming way of programming the robot.
x-y-z coordinate motions
To overcome this disadvantage, many robots can be controlled during the
teach mode to move in x-y-z coordinate motions.
This method, called world coordinate system, allows the wrist location to be
defined using the conventional Cartesian coordinate system with origin at
some location in the body of the robot.
In the case of the Cartesian coordinate robot, this method is virtually
equivalent to the joint mode of programming.
For polar, cylindrical, and jointed-arm-robots, the controller must solve a set of
mathematical equations to convert the rotational joint motions of the robot
into the Cartesian Coordinate System.
x-y-z coordinate motions
• The two or three additional Origin of axis System
joints which constitute the
wrist assembly are almost
always rotational.
(screwing) Z
Movement of tool parallel to
• While programming is done axis System
in x-y-z system to move
arm and body joints, the
wrist is usually being
maintained by the
controller in a constant Y
orientation. X
World mode or X-Y-Z method of defining points in space
Tool coordinate motions
• Some robots have the capability for
tool coordinate motions to be defined
for the robot
• This is cartesian coordinate system in
which the origin is located at some
point on the wrist and the XY plane is
oriented parallel to the faceplate of the
Y
wrist.
X
• Accordingly, the Z axis is perpendicular
to the faceplate and pointing in the
same direction as a tool or other end
effector attached to the faceplate. Z
Hence, this method of moving the robot could be used to provide a driving motion of the tool.
Reasons for defining the points (End and Intermediate points)
• If intermediate points are not defined, robot may take its own path due to
(sequence of actuations at the joints) may go to unwanted positions and
leads to collision.
• To define a working position for the end effector. (to give spot welding)
• To avoid obstacles. (while moving from one spot) to other spot
Speed Control
• Most robots allow for their motion, speed to be regulated during
the program execution.
• A dial or group of dials on the teach pendant are used to set the
speed for different portions of the program.
• It is good practice to operate the robot at a relatively slow speed
when the end effector is operating close to obstacles in the work
cell.
• Higher speeds can be maintained where it has to move over large
distances & no obstacles.
The robot end effector linear speed is dependent on
How many axes are moving at one time and which axes they are.
The speed of the robot depends on its current axis configuration.
For example, the top speed of a polar coordinate robot
will be much greater with its arm fully extended than will
the arm in the fully retracted position.
The speed of the robot will be affected by the load it is carrying due
to the force of acceleration and deceleration.
Motion Interpolation
Axis II
Step Move Comments
(1,2) (2,2)
1 1,1 Move to lower left corner
2 2,1 Move to lower right corner
3 2,2 Move to upper right corner
4 1,2 Move to upper left corner
5 1,1 Move back to start position Axis I
(1,1) (2,1)
As discussed earlier if the point (2,2) is removed our robot will execute step 4 by tracing a path along the
diagonal line from (2,1) to (1,2)
This process is called as interpolation.
Motion Interpolation Schemes
There are different interpolation schemes that can be specified by the robot to get from one point to other.
On many robots, the programmer can specify what type of interpolation scheme to use.
The possibilities include:
1. Straight line Interpolation
2. Circular Interpolation
3. Joint Interpolation
4. Irregular smooth motions (Manual lead through programming)
Joint Interpolation Schemes
• For many commercially available robots, joint interpolation is the default
procedure that is used by the controller.
• In joint interpolation, the controller determines how far each joint must move
to get from the first point defined in the program to the next.
• It then selects the joint that requires the longest time.
• This determines the time it will take to complete the move (at specified
speed).
• Based on the known move time, and the amount of the movement required
for other axes, the controller subdivides the move into small increments so
that all joints start and stop their motions at the same time.
* If robot controller develops the sequence of addressable points along the straight line path for the robot to pass through.(Straight
line Interpolation)
Joint Interpolation Scheme (Straight –Line)
Consider for example, to move from 1,1 to 7,4 in the 8x8 grid.
Linear joint 1 must move six increments and joint 2 must move three increments.
To determine the joint interpolated path the controller would determine a set of
intermediate addressable points along the path between 1,1 and 7,4 which would
be followed by the robot.
Y
Step Actual Move Comments
1 1,1 1,1 User specified starting point
2 2,1.5 2,2 Internally generated interpolation point
3 3,2 3,2 Internally generated interpolation point
7,4
4 4,2.5 4,3 Internally generated interpolation point
5 5,3 5,3 Internally generated interpolation point
6 6,3.5 6,4 Internally generated interpolation point
7 7,4 7,4 User specified end point 1,1
X
Joint Interpolation Scheme (Straight –Line)
It can be observed the controller alternatively moves in both axes, or
just one axis. Also, for each move requiring actuation of both axes, the
two axes start and stop together.
The controller does the equivalent of constructing a hypothetically
perfect path between the two points specified in the program, and then
generates the internal points as close to that line as possible
The resultant path is an approximation.
The controller approximates the perfect path as best it can within the
limitations imposed by the control resolution of the robot.
With much larger number of addressable points and a denser grid, the
approximation would be better.
Circular interpolation:
This requires the programmer to define a circle in the
robot’s workspace.
This is done by specifying three points that lie along
the circle.
The controller constructs the circle by selecting a series of points
8 7
that lie closer to the circle.
8
These movements are actually small straight lines. 6
7
5
6
4
5
4
3
3
2
2
1
1
1 2 3 4 5 6 7 8
Manual lead through Programming:
When the manipulator wrist is moved by the programmer
to teach, the movements consist of combination of smooth
motion segments.
These segments are sometimes approximately straight
lines or curves or back and forth motions.
These movements are referred as irregular smooth
motions and an interpolation is involved to achieve them.
Robot language structure
Communications link to other factory
computer systems
Operating System
Positions
Teach pendant Sensor data
Monitor mode
Robot
Controller
Actions
Program Execute Peripheral
language Edit Mode devices
Sequence Mode
and logic
Robot
manipulator
Robot Languages
• WAVE – 1973 – Stanford AI Lab, feasibility of robot
hand-eye coordination – AL – control multiple arm
• VAL – Victors Assembly Language (1979) – VAL II
• AML – A Manufacturing Language – developed by IBM
• MCL, RAIL, APT, HELP
Some Programming Commands
WAIT, SIGNAL & DELAY COMMANDS
• All industrial robots are instructed to send/receive the signals
• Common form is to actuate end effectors
• In grippers, its on or off or Binary• Grippers involve 2 interlocks – open & close
• Feedback might be added to verify actuation
Robot task – Unload a press
Communication with other devices is important.
• Ex of unloading from press
– Stop robot entering before press is open
– Remove gripper before press closes
• To do this we have 2 commands
• SIGNAL M – instructs to O/P signal thru M
• WAIT N – robot should wait until I/P thru N
https://www.youtube.com/watch?v=8_ezt42tPZc
Robot task – Unload a press
Example of loading and unloading
Press Outline
• 8,8 – press
1,8
• 1,8 – tote bin or collecting tray 8,8
Press Platten
(pick up)
• 1,1 & 8,1 will be safe locations for waiting
• Controller port 1-10 = Output lines (SIGNAL)
Press
• 4-actuate press, 6&5 – OPEN/CLOSE gripper columns
(4)
• Controller port 11-20 = Input lines (WAIT)
• 11- indicates gripper is open
Axis 1
1,1 8,1
Robot task – Unload a press
Step Move or signal Comments
Press Outline
0 1,1 Start at home position
1 8,1 Move to wait position 1,8
2 WAIT 11 Wait for press to open 8,8
Press Platten
3 8,8 Move to pickup point (pick up)
4 SIGNAL 5 Signal gripper to close
5 8,1 Move to safe position
6 SIGNAL 4 Signal press to actuate Press
columns
7 1,1 Move around press column (4)
8 1,8 Move to tote pan
9 SIGNAL 6 Signal gripper to open
10 1,1 Move to safe position Axis 1
1,1 8,1
Example Program
Step Move or signal Comments
DELAY
• DELAY X SEC 0 1,1 Start at home position
1 8,1 Move to wait position
• Robot should wait X seconds before going
2 WAIT 11 Wait for press to open
into next step
3 8,8 Move to pickup point
4 SIGNAL 5 Signal gripper to close
5 DELAY 1 SEC Wait for gripper to close
6 8,1 Move to safe position
7 SIGNAL 4 Signal press to actuate
8 1,1 Move around press column
9 1,8 Move to tote pan
10 SIGNAL 6 Signal gripper to open
11 DELAY 1 SEC Wait for gripper to open
12 1,1 Move to safe position
