BMS COLLEGE OF ENGINEERING

Robotics and Automation

Faculty Incharge
Dr. Veena N Hegde,
 Syllabus
Introduction to Robotics

1.1 Types and components of a robot,

Classification of robots

1.2 Kinematics systems; Definition of

mechanisms and manipulators, Degrees of
Freedom
2. Robot Kinematics and Dynamics

2.1 Kinematic Modelling: Translation and Rotation

Representation, Coordinate transformation, DH
parameters, Forward and inverse kinematics,
Jacobian, Singularity, and Statics

2.2 Dynamic Modelling: Forward and inverse

dynamics, Equations of motion using
Euler-Lagrange formulation, Newton Euler
formulation
Sensors
3.1 Sensor: Contact and Proximity, Position,
Velocity, Force, Tactile etc.

3.2 Introduction to Cameras, Camera

calibration

3.3 Geometry of Image formation,

Euclidean/Similarity/Affine/Projective
Transformations

3.4 Vision applications in robotics.

Robot Actuation Systems
4.1 Actuators: Electric, Hydraulic a nd
Pneumatic; Transmission: Gears

Timing Belts and Bearings, Parameters for

selection of actuators.

Robot Control
5.1 Basics of control: open loop- closed loop,
Transfer functions, Control laws: P, PD, PID

5.2 Linear and Non-linear controls

Control Hardware and
Interfacing

6.1 Embedded systems : Microcontroller

Architecture and integration with sensors,
actuators, components, Programming
Applications for Industrial robot -
programming in – VAL II

7. AI in Robotics : Applications in
unmanned systems, defence, medical,
industries, etc.
8. Robotics and Automation for
Industry 4.0

9. Robot safety and social

robotics.
 Guidelines for your Upcoming TEQIP III Mid-term Assessment
Infrastructure Required
✔Laptop/Desktop computer with functional webcam —the webcam must be
installed strictly in front of the face, and it is not allowed to install the camera from
the side
✔Power backup/uninterrupted power supply

Technical Requirements (Minimum Requirements)

✔Web Browser —Google Chrome, Mozilla Firefox (Updated Version)
✔Operating System —Windows 7 and above
✔Webcam for communication
✔Internet Connectivity —minimum 512 Kbps speed
✔Firewall/Antivirus —Any Firewall/Antivirus (Except default Windows ones) should
be disabled.

Other Requirements
✔Pen and paper

A phone and email helpline will also be available during the test to assist with
any technical issues.
 Guidelines for your Upcoming TEQIP III Mid-term Assessment

Important Instructions
•This is an auto-proctored exam—a sophisticated software will be monitoring
your activities throughout the test. As such, you must ensure your webcam is
switched on throughout the duration of the test.

•This software will record your also monitoring the feed for any red flags that
indicate malpractice using advanced audio & video analytics.
•Multiple red-flags or warnings during the test might lead to you being logged out
of the test.

Non-adherence to these instructions, rules and regulations, might lead to your

candidature being cancelled.
•As such, you are advised to not resort to any unfair practices during the exam.
 Introduction to Robots and Robotics
A Few Questions

•What do we mean by robot?

•What is robotics?
•Why do we study robotics?
•What are possible applications of robots?
•Can a human being be replaced by a robot?
and so on.
 Definitions

•The term: robot has come from the Czech word:

robota, which means forced or slave laborer

•In 1921, Karel Capek, a Czech playwright, used the

term: robot first in his drama named Rossum’s
Universal Robots (R.U.R)

•According to Karel Capek, a robot is a machine

look-wise similar to a human being
 •Robot has been defined in various ways:
1.According to Oxford English Dictionary A
machine capable of carrying out a complex series of actions
automatically, especially one programmable by a computer
2.According to International Organization for Standardization
(ISO): An automatically controlled, reprogrammable,
multipurpose manipulator programmable in three or more axes,
which can be either fixed in place or mobile for use in industrial
automation applications
3.According to Robot Institute of America (RIA) It is a
reprogrammable multi-functional manipulator designed to move
materials, parts, tools or specialized devices through variable
programmed motions for the performance of a variety of tasks

Note: A CNC machine is not a robot

•Robotics
It is a science which deals with the issues related to design,
manufacturing, usages of robots
•In 1942, the term: robotics was introduced by Isaac Asimov in
his story named Runaround
•In robotics, we use the fundamentals of Physics, Mathematics,
Mechanical Engg., Electronics Engg., Electrical Engg., Computer
Sciences, and others
3 Hs in Robotics
3 Hs of human beings are copied into Robotics, such as
•Hand
•Head
•Heart
Motivation
To cope with increasing demands of a dynamic and competitive
market, modern manufacturing methods should satisfy the
following requirements:
• Reduced production cost
• Increased productivity
• Improved product quality

Notes: (1) Automation can help to fulfill the above requirements

(2) Automation: Either Hard or flexible automation
(3) Robotics is an example of flexible automation
A Brief History of Robotics

Year Events and Development

1954 First patent on manipulator by George Devol, the father
of robot
1956 Joseph Engelberger started the first robotics company:
Unimation
1962 General Motors used the manipulator: Unimate in
die-casting application
1967 General Electrical Corporation made a 4-legged
vehicle
1969 1. SAM was built by the NASA, USA
2. Shakey, an intelligent mobile robot, was built by
Stanford Research Institute (SRI)
1970 1. Victor Scheinman demonstrated a manipulator
known as Stanford Arm
2. Lunokhod I was built and sent to the moon by USSR
3. ODEX 1 was built by Odetics
Year Events and Development
1973 Richard Hohn of Cincinnati Mialcron Corporation
manufactured T3 (The Tomorrow Tool) robot
1975 Raibart at CMU, USA, built a one-legged hopping
machine, the first dynamically stable machine
1978 Unimation developed PUMA (Programmable Universal
Machine for Assembly)
1983 Odetics introduced a unique experimental six-legged
device
1986 ASV (Adaptive Suspension Vehicle) was developed at
Ohio State University, USA
1997 Pathfinder and Sojourner was sent to the Mars by the
NASA, USA
2000 Asimo humanoid robot was developed by Honda
2004 The surface of the Mars was explored by Spirit and
Opportunity
 A Robotic System

Various Components
1.Base, 5. Drive / Actuator
2.Links and Joints, 6. Controller
3.End-effector / gripper, 7. Sensors
4.Wrist,
Interdisciplinary Areas in Robotics
Mechanical Engineering
•Kinematics: Motion of robot arm without considering the
forces and /or moments
•Dynamics: Study of the forces and/or moments
•Sensing: Collecting information of the environment.

Computer Science
•Motion Planning: Planning the course of action
•Artificial Intelligence: To design and develop suitable brain
for the robots
Electrical and Electronics Engg.
•Control schemes and hardware implementations
General Sciences
•Physics
•Mathematics
Connectivity / Degrees of Freedom of a Joint
It indicates the number of rigid (bodies) that can be connected to a
fixed rigid body through the said joint
Joints with One dof
Revolute Joint (R)
Prismatic Joint (P)
Joints with Two dof
Cylindrical Joint (C)
Hooke Joint or Universal Joint (U)
Joints with Three dof
Ball and Socket Joint / Spherical Joint (S|)
Representation of the Joints
Revolute joint (R)

Prismatic joint (P)

Cylindrical joint (C)

Spherical joint (S|)

Hooke joint (U)

Twisting joint (T)

 A Robotic System

Various Components
1.Base, 5. Drive / Actuator
2.Links and Joints, 6. Controller
3.End-effector / gripper, 7. Sensors
4.Wrist,
Degrees of Freedom of a System

It is defined as the minimum number of independent

parameters / variables / coordinates needed to describe a
system completely

Notes
•A point in 2-D: 2 dof; in 3-D space: 3 dof
•A rigid body in 3-D: 6 dof
•Spatial Manipulator: 6 dof
•Planar Manipulator: 3 dof
•Redundant Manipulator

Either a Spatial Manipulator with more than 6 dof

or a Planar Manipulator with more than 3 dof

•Under-actuated Manipulator
Either a Spatial Manipulator with less than 6 dof
or a Planar Manipulator with less than 3 dof
Classifications of Robots
• Based on the Type of Tasks Performed
1. Point-to-Point Robots
Examples:
Unimate 2000
T3

2. Continuous Path Robots

Examples
PUMA
CRS
• Based on the Type of Controllers
1. Non-Servo-Controlled Robots
• Open-loop control system
Examples: Seiko PN-100
• Less accurate and less expensive

2. Servo-Controlled Robots
• Closed-loop control system
Examples: Unimate 2000
PUMA
T3
•More accurate and more expensive
• Based on Configuration (coordinate system) of the Robot
1. Cartesian Coordinate Robots
• Linear movement along three different axes
• Have either sliding or prismatic joints, that is, SSS or
PPP
• Rigid and accurate
• Suitable for pick and place type of operations
• Examples: IBM’s RS-1, Sigma robot
2. Cylindrical Coordinate Robots
•Two linear and one rotary movements
•Represented as TPP, TSS
•Used to handle parts/ objects in manufacturing
•Cannot reach the objects lying on the floor
•Poor dynamic performance
•Examples: Versatran 600
3. Spherical Coordinate or Polar Coordinate Robots
• One linear and two rotary movement
• Represented as TRP, TRS
• Suitable for handling parts/objects in manufacturing
• Can pick up objects lying on the floor
• Poor dynamic performance
• Examples: Unimate 2000B
4. Revolute Coordinate or Articulated Coordinate Robots
• Rotary movement about three independent axes
• Represented as TRR
• Suitable for handling parts/components in manufacturing
system
• Rigidity and accuracy may not be good enough
• Examples: T3, PUMA
• Based on Mobility Levels
1. Robots with fixed base (also known as manipulators)

Manipulators

Serial Parallel
PUMA, CRS Stewart platform

2. Mobile robots
Mobile robots

Wheeled robots Tracked robots Multi-legged robots

Workspace of Manipulators
It is the volume of space that the end-effector of a manipulator
can reach

Workspace

Dextrous Reachable

Dextrous Workspace
It is the volume of space, which the robot’s end-effector can
reach with various orientations
Reachable Workspace
It is the volume of space that the end-effector can reach with a
minimum of one orientation
Note
Dextrous workspace is a subset of the reachable workspace
Workspace of Cartesian Coordinate Robot
Workspace of Cylindrical Coordinate Robot

Workspace of Spherical Coordinate Robot

Workspace of Revolute Coordinate Robot
Resolution, Accuracy and Repeatability
Resolution
It is defined as the smallest allowable position increment of a robot
Resolution

Programming resolution Control resolution

Smallest allowable position Smallest change in position
increment in robot programme that the feedback device can
Basic Resolution Unit measure say 0.36 degrees per
BRU = 0.01 inch/0.1degree pulse
 Accuracy (mm)
It is the precision with which a computed point can be reached
Repeatability (mm)
It is defined as the precision with which a robot re-position itself
to a previous taught point

Applications of Robots
•In Manufacturing Units
Advantages of Robots
1.Robots can work in hazardous and dirty environment
2.Can increase productivity after maintaining improved quality
3.Direct labour cost will be reduced
4.Material cost will be reduced
5.Repetitive tasks can be handled more efficiently
 Application Areas
1.Arc Welding
2.Spot Welding
3.Spray Painting
4.Pick and Place Operation
5.Grinding
6.Drilling

•Under-Water Applications
Purposes
1.To explore various resources
2.To study under-water environment
3.To carry out drilling, pipe-line survey, inspection and repair of
ships
 Notes
•Robots are developed in the form of ROV (Remotely Operated
Vehicle) and AUV (Autonomous Under-water Vehicle)
•Robots are equipped with navigational sensors, propellers/
thrusters, on-board softwares, and others
• Medical Applications
1. Telesurgery
2. Micro-capsule multi-legged robots
3. Prosthetic devices
• Space Applications
1. For carrying out on-orbit services, assembly job and interplanetary
missions
2. Spacecraft deployment and retrieval, survey of outside space
shuttle; assembly, testing, maintenance of space stations; transport
of astronauts to various locations
3. Robo-nauts
4. Free-flying robots
5. Planetary exploration rovers
Robot End-Effectors
An end-effector is a device attached to the wrist of a manipulator
for the purpose of holding materials, parts, tools to perform a
specific task

End-Effectors

Grippers Tools
End-effectors used to End-effectors designed to
grasp and hold objects perform some specific tasks
Ex: Spot welding electrode,
spray gun
Classification of Grippers
1. Single gripper and double gripper
Single gripper: Only one gripping device is mounted on the
wrist
Double gripper: Two independent gripping devices are
attached to the wrist
Example: Two separate grippers mounted on the wrist for
loading and unloading applications
2. Internal gripper vs. External gripper

Internal gripper External gripper

3. Soft gripper vs. Hard gripper
Hard gripper: Point contact between the finger and object
Soft gripper: Area (surface) contact between the finger and
object

4. Active gripper vs. Passive gripper

Active gripper: Gripper with sensor(s)
Passive gripper: Gripper without sensor(s)
Ex: Remote Center Compliance (RCC)
A Few Robot Grippers
1. Mechanical Grippers
• Use mechanical fingers (jaws) actuated by some mechanisms
• Less versatile, less flexible and less costly
Examples
(i) Gripper with linkage actuation
(ii) Gripper with rotary actuation
(iv) Gripper with cam actuation

2. Vacuum Gripper (used for thin parts)

• Suction cup is made of elastic material like rubber or soft
plastic
• When the object to be handled is soft, the cup should be made
of hard substance
• Two devices can be used: Either Vacuum pump or venturi
3. Magnetic Gripper (for magnetic materials only. For example:
various steels but not stainless steel)
• Can use either electro-magnets or permanent magnets
• Pick up time is less
• Can grip parts of various sizes
• Disadvantage: residual magnetism
• Stripping device: for separating the part from the permanent
magnet
• For separating the part from electro-magnet, reverse the
polarity
 4. Adhesive Gripper
•Grasping action using adhesive substance
•To handle lightweight materials

5. Universal Gripper
Example: Human gripper
Passive Gripper
Task: To insert a peg into a hole

Solution: Use Remote Center Compliance (RCC)

RCC is inappropriate for
assembly of pegs in
horizontal direction
Insertion angle must be less
than 45 degrees
Cannot be used in
chamferless insertion tasks
 Robot Teaching
• To Provide necessary instructions to the robot

Teaching Methods
Robot Kinematics
Representation of an object in 3-D
Representation of the position

; 3x1 matrix
Representation of the Orientation

3x3 matrix
Frame Transformations

Frame: A set of four vectors

carrying position and orientation
information
Translation of a Frame
Rotation of a Frame
Translation and Rotation of a Frame

where T: transformation
Let [T]: Homogeneous transformation matrix
Say
Translation Operator
Trans : Translation of q units along x-direction

Trans =

Note: Trans operators are commutative in nature

Rotational Operator
Rot : Rotation about axis by an angle θ (anticlockwise sense)
In matrix form:
Similarly, we get
Properties of Rotation Matrix

•Each row/column of a rotation matrix is a unit vector

•Inner (dot) product of each row of a rotation matrix with each
other row becomes equal to 0. The same is true for each column
also.
•Rotation matrices are not commutative in nature

•Inverse of a rotation matrix is nothing but its transpose

•
Composite Rotation Matrix
Composite rotation matrix representing a rotation of α angle about ,
followed by a rotation of β angle about axis , followed by a
rotation of γ angle about axis.
Representations of Position in Other Than
Cartesian Coordinate System
Cylindrical Coordinate System

Steps:
1.Starting from the origin O, translate by r units along axis
2.Rotate in anti-clockwise sense about axis by an angle θ
3.Translate along axis by z units
We get qx = rcosθ
qy = rsinθ
qz = z
General relationships
Spherical Coordinate System

Steps:
1.Starting from the origin O, translate along axis by r units
2.Rotate in anti-clockwise sense about axis by an angle α
3.Rotate in anti-clockwise sense about axis by an angle β
We get qx = rsinαcosβ
qy = rsinαsinβ
qz = rcosα
General relationships
Representations of Orientation in
Other Than Cartesian Coordinate
System
 Roll, Pitch and Yaw Angles

Steps:
1.Rotate {B} about by an angle α rolling
2.Rotate {B|} about by an angle β pitching
3.Rotate {B||} about by an angle γ yawing
We compare with
We get
Using Euler Angles

Steps:
1. Rotate {B} about by an angle α in anti-clockwise sense
2. Rotate {B} about by an angle β in anti-clockwise sense
3. Rotate {B} about by an angle γ in anti-clockwise sense
We compare with
 Denavit-Hartenberg Notations
•Proposed in the year 1955

Link and Joint Parameters

•Length of linki (ai): It is the mutual perpendicular distance
between Axisi-1 and Axisi
•Angle of twist of link_i (αi): It is defined as the angle between
Axisi-1 and Axisi
•Offset of linki (di): It is the distance measured from a point where
ai-1 intersects the Axisi-1 to the point where ai intersects the Axisi-1
measured along the said axis
•Joint Angle (θ_i): It is defined as the angle between the extension
of ai-1 and ai measured about the Axisi-1

Notes:
•Revolute joint: θi is variable
•Prismatic joint: di is variable
Rules for Coordinate Assignment

•Zi is an axis about which the rotation is considered or along

which the translation takes place
•If Zi-1 and Zi axes are parallel to each other, X axis will be
directed from Zi-1 to Zi along their common normal
•If Zi-1 and Zi axes intersect each other, X axis can be selected
along either of two remaining directions
•If Zi-1 and Zi axes act along a straight line, X axis can be selected
anywhere in a plane perpendicular to them
•Y axis is decided as Y = ZxX

We have
Now,