Mysore University School of Engineering

8J99+QC7, Manasa Gangothiri, Mysuru, Karnataka 570006

Fundamentals of Robotics and its Programming

(21BR563)

MODULE 01 NOTES

Prepared by: Mr Thanmay J S, Assistant Professor, Bio-Medical & Robotics Engineering, UoM, SoE, Mysore 57006
 Mysore University School of Engineering
8J99+QC7, Manasa Gangothiri, Mysuru, Karnataka 570006

Module 01: Course Content

Introduction to Robotics:
1.1 Introduction to Robotics
1.2 Introduction to Automation technologies
1.3 Brief history of robotics
1.4 Robot Anatomy,
1.5 Four common configurations of Robot,
a) Articulated Robots
b) Selective Compliance Assembly Robot Arm Robots (SCARA-Robots)
c) Delta Robots
d) Cartesian Robots
1.6 Robot motions
a) Linear
b) Orthogonal
c) Rotational
d) Revolving
e) Twisting

Degrees of Freedom of Robot (DOF)

1.7 Introduction to degrees of freedom,
1.8 Three degrees of freedom associated with arm and body
1.9 Three degrees of freedom associated with robot wrist
1.10 Joint notation scheme.
1.11 Work Volume
1.12 Links and joints
1.13 Introduction to End Effectors
 Basic Definitions of End Effectors
 Types of End Effectors
 Operations done by End Effectors
1.14 Terminologies in Robotics
 Spatial Resolution
 Accuracy
 Repeatability
 Compliance

Prepared by: Mr Thanmay J S, Assistant Professor, Bio-Medical & Robotics Engineering, UoM, SoE, Mysore 57006
 Mysore University School of Engineering
8J99+QC7, Manasa Gangothiri, Mysuru, Karnataka 570006
1.1 Introduction to Robotics
Robotics is a multidisciplinary field that combines mechanical engineering, electrical engineering,
computer science, and artificial intelligence to design and build robots. Robots are autonomous or semi-
autonomous machines capable of performing
tasks traditionally done by humans. These
tasks can range from industrial applications to
advanced research or even entertainment. Key
components of a robot include:
• Sensors: To perceive the environment.
• Actuators: To produce movement.
• Control Systems: To process inputs and control actions.
• End Effectors: To interact with objects or environments.

1.2 Introduction to Automation Technologies

Automation refers to the use of control systems
(such as computers, robots, or other technology) to
operate equipment without human intervention. It
can be used to control machinery, processes in
factories, boilers, switching on telephone networks,
steering aircraft, software processes, or even
steering ships. Benefits of automation:
• Increases production efficiency.
• Reduces human error.
• Enhances precision and repeatability.
• Lowers operational costs.

1.3 Brief History of Robotics

• Ancient History: Concepts of automaton-like devices have been found in ancient cultures, with early
examples in Greek mythology (e.g., Talos, the bronze giant).
• 15th Century: Leonardo da Vinci designed a mechanical knight that could sit, wave its arms, and
move its head.
• 20th Century: The first industrial robots were introduced in the 1950s. In 1956, George Devol and
Joseph Engelberger created Unimate, the first industrial robot, which was used in an automobile
assembly line.
• Modern Era: Robotics technology has progressed significantly with the development of autonomous
robots, artificial intelligence, and advanced sensors.
Prepared by: Mr Thanmay J S, Assistant Professor, Bio-Medical & Robotics Engineering, UoM, SoE, Mysore 57006
 Mysore University School of Engineering
8J99+QC7, Manasa Gangothiri, Mysuru, Karnataka 570006
1.4 Robot Anatomy
The anatomy of a robot consists of several essential components:
• Base: The stationary part that provides stability.
• Body: Includes the structure and framework that holds the robot's components.
• Joints: Provide movement between links.
• Links: Rigid components that connect joints.
• Actuators: Devices that produce motion by converting energy into mechanical force.
• Sensors: Devices that allow the robot to perceive its environment (e.g., cameras, touch sensors).
• End Effectors: The tool or device attached to the robot's arm to interact with objects.

1.5 Common Configurations of Robots

The Common Robot Configurations includes Cartesian Robots, Cylindrical Robots, Polar or Spherical
Robots, SCARA Robots, and Angular Robots. These configurations are designed for various tasks in
automation, manufacturing, and other fields.

1. Cartesian Robots (Linear Robots)

Structure: Cartesian robots use three linear axes (X, Y, and Z), enabling movement along straight lines in a
three-dimensional rectangular coordinate system.
Degrees of Freedom (DOF): Typically 3 degrees of freedom, corresponding to movement along the X, Y, and
Z axes.
Movement: The robot moves in a straightforward manner, making only linear motions along the axes.
Applications:
o 3D printing.
o CNC (Computer Numerical Control) machines.
o Material handling and assembly.
Advantages:
o Simple design, easy to program.
o Cost-effective and reliable for repetitive tasks.
o Precise linear movements and high repeatability.
Prepared by: Mr Thanmay J S, Assistant Professor, Bio-Medical & Robotics Engineering, UoM, SoE, Mysore 57006
 Mysore University School of Engineering
8J99+QC7, Manasa Gangothiri, Mysuru, Karnataka 570006
2. Cylindrical Robots
Structure: Cylindrical robots operate within a cylindrical work envelope. They consist of a vertical linear
movement (along the Z-axis) and rotational movement (around the Z-axis) with a horizontal movement (along
the X-axis).
Degrees of Freedom (DOF): Typically 3 degrees of freedom, including two linear movements (X and Z axes)
and one rotational movement (θ around the Z-axis).
Movement: The robot can extend or retract along the Z-axis, rotate around the Z-axis, and move horizontally
along the X-axis.
Applications:
o Assembly tasks.
o Handling materials in a cylindrical work volume.
o Picking and placing applications in confined spaces.
Advantages:
o Simple construction and programming.
o Compact and adaptable for confined spaces.
o Suitable for applications involving a combination of horizontal and vertical motions.

3. Polar or Spherical Robots

Structure: Polar robots, also known as spherical robots, have a rotational base and a moving arm that operates
within a spherical workspace. The movement consists of a radial arm with rotation about a vertical axis and a
pitch motion along the radial axis.
Degrees of Freedom (DOF): Typically, 3 degrees of freedom, which include:
o One rotational motion about the base (azimuth).
o One radial movement (extension/retraction).
o One vertical rotational motion (elevation or pitch).
Movement: The end effector can move in a spherical range, with the robot arm pivoting around a central base
and moving along a curved path.
Applications:
o Welding, painting, and other tasks requiring a spherical motion.
o Material handling in circular or radial workspaces.
o Robotics in large-scale manufacturing.
Advantages:
o Provides flexibility in reaching a wide range of points in a spherical
workspace.
o Suitable for large and open-area tasks.

Prepared by: Mr Thanmay J S, Assistant Professor, Bio-Medical & Robotics Engineering, UoM, SoE, Mysore 57006
 Mysore University School of Engineering
8J99+QC7, Manasa Gangothiri, Mysuru, Karnataka 570006
4. SCARA Robots (Selective Compliance Assembly Robot Arm)
Structure: SCARA robots consist of two parallel rotational joints in the horizontal plane (X and Y), and a
vertical prismatic joint (Z-axis). This structure gives them flexibility for horizontal movement while
maintaining rigidity along the vertical axis.
Degrees of Freedom (DOF): Typically 4 degrees of freedom, with 2 rotational and 1 prismatic (vertical)
movement, providing flexibility in two dimensions (X, Y) and rigidity along the Z-axis.
Movement: SCARA robots are capable of precise horizontal movements while being more rigid and stable
vertically. They offer both rotational and linear movement in a highly controlled manner.
Applications:
o Assembly operations.
o Pick-and-place tasks.
o Packaging and material handling.
Advantages:
o High speed and accuracy for horizontal motions.
o Ideal for high-throughput, repetitive tasks.
o Cost-effective for simple operations requiring precision.

5. Angular Robots (also referred to as Articulated Robots)

• Structure: Angular robots, or articulated robots, have multiple rotary joints (revolute joints) that allow
for complex movement. These robots often resemble a human arm with multiple segments (links)
connected by joints that can rotate.
• Degrees of Freedom (DOF): Typically 4 to 7 degrees of freedom, allowing for a wide range of
rotational and translational movements. These robots can rotate around their joints and move in many
directions.
• Movement: These robots have highly flexible movements due to their multiple joints and can perform
a variety of complex motions, including rotation, bending, and extending.
• Applications:
o Applications such as welding, painting, and assembly.
o Handling heavy-duty materials.
o Robotics in hazardous environments.
• Advantages:
o Extremely flexible and capable of complex movements.
o Can reach into tight spaces or around obstacles.
o Suitable for a wide range of manufacturing and industrial tasks.

Prepared by: Mr Thanmay J S, Assistant Professor, Bio-Medical & Robotics Engineering, UoM, SoE, Mysore 57006
 Mysore University School of Engineering
8J99+QC7, Manasa Gangothiri, Mysuru, Karnataka 570006
Summary of Robot Configurations:
Robot Type Key Features Advantages Common Applications
Linear motion along X, Y, Simple design, easy to 3D printing, CNC,
Cartesian Robots
and Z axes program, cost-effective material handling
Cylindrical Vertical and horizontal Compact, suitable for Assembly, material
Robots motion with rotation confined spaces, adaptable handling, pick-and-place
Polar/Spherical Radial movement with Wide-reaching workspace, Welding, painting, large-
Robots rotation and vertical pitch high flexibility scale manufacturing
Two parallel rotational High speed, precision in Electronics assembly,
SCARA Robots joints, vertical prismatic horizontal motions, cost- pick-and-place
motion effective
Multiple rotary joints, Complex movements, Welding, assembly,
Angular Robots highly flexible suitable for a wide range of hazardous environments
tasks

1.6 Robot Motions

a) Linear Motion
Involves movement along a straight line in one direction.

b) Orthogonal Motion
Involves movement of Output in Orthogonal to Arm motion

b) Rotational Motion
Movement around a fixed axis, allowing for turning or twisting.

c) Revolving Motion
A form of rotational motion where an object moves in a circular path around a central
point.

d) Twisting Motion
A motion that involves rotating around an axis, often used in complex robotic
movements.

Prepared by: Mr Thanmay J S, Assistant Professor, Bio-Medical & Robotics Engineering, UoM, SoE, Mysore 57006
 Mysore University School of Engineering
8J99+QC7, Manasa Gangothiri, Mysuru, Karnataka 570006
Degrees of Freedom (DOF) of Robots
1.7 Introduction to Degrees of Freedom
Degrees of freedom (DOF) refer to the number of independent movements a robot can make. Each DOF
corresponds to one movement in a specific direction (translation or rotation).

1.8 Three Degrees of Freedom Associated with Arm and Body

• DOF 1: Moving the robot arm along a linear axis (X, Y, or Z).
• DOF 2: Rotating the arm about an axis.
• DOF 3: Translational movement of the arm (e.g., up/down, forward/backward).

Or
1.9 Three Degrees of Freedom Associated with Robot Wrist
• DOF 4: Wrist rotation (yaw, pitch, roll).
• DOF 5: Tilting the wrist in another direction.
• DOF 6: Moving the wrist in space for precise positioning.

Or
1.10 Joint Notation Scheme
A systematic way to describe robot motions using joint variables, such as rotational (θ) or translational (d)
displacements. A common notation is Denavit-Hartenberg (DH) parameters, which describe the relative
positions and orientations of links.

Prepared by: Mr Thanmay J S, Assistant Professor, Bio-Medical & Robotics Engineering, UoM, SoE, Mysore 57006
 Mysore University School of Engineering
8J99+QC7, Manasa Gangothiri, Mysuru, Karnataka 570006
Example: Design Robotics Using the joint notation system for defining manipulator
configurations show in sketch:
• Base to Link 0,
• Link 0 to Joint 1,
• Link 1 between Joint 1 and Joint 2,
• Link 2 between Joint 2 and End of Arm, sketch Answer:

1.11 Work Volume

The work volume refers to the spatial area within which a robot can move its end effector. This volume varies
depending on the robot's configuration and the range of motion of its joints. A robot’s work volume determines
the types of tasks it can perform.

1.12 Links and Joints

• Links: Rigid segments of the robot that connect the joints.
• Joints: Allow relative movement between links and can be either rotational (revolute) or translational
(prismatic).
Below figure shows conceptual diagram of joints and links of the target articulated robot.

Prepared by: Mr Thanmay J S, Assistant Professor, Bio-Medical & Robotics Engineering, UoM, SoE, Mysore 57006
 Mysore University School of Engineering
8J99+QC7, Manasa Gangothiri, Mysuru, Karnataka 570006
1.13 Introduction to End Effectors
Basic Definitions of End Effectors
End effectors are devices or tools attached to the end of a robotic arm to interact with the environment. They
are essential for carrying out tasks such as gripping, welding, or cutting.

Types of End Effectors

• Grippers: Used for picking and placing objects.
• Welders: Tools used for welding operations.
• Suckers: Suction-based tools for lifting light or delicate objects.
• Sprayers: Used in tasks like painting or spraying.
End effectors may be broadly classified as grippers, tools or sensors depending on the intended purpose.
Grippers represent the majority of end effector types, they are able to grasp, manipulate, transport and position
a load. The following are just a few examples of the different types of grippers.

End effectors perform operations such as gripping, lifting, welding, painting, and assembly. Their design and
functionality depend on the specific task the robot is programmed to complete.

1.14 Terminologies in Robotics

Spatial Resolution: Refers to the smallest detectable change in a robot's movement or the precision of its
sensory perception.
Accuracy: The degree to which a robot can reach a predefined or desired position or orientation.
Repeatability: The robot's ability to return to the same position multiple times under the same conditions.
Compliance: The ability of a robot to adapt to external forces, ensuring safe interaction with its environment
or objects.

These concepts together form the foundation of understanding robotics, their applications, and their role in
automation technologies.
Prepared by: Mr Thanmay J S, Assistant Professor, Bio-Medical & Robotics Engineering, UoM, SoE, Mysore 57006
 Mysore University School of Engineering
8J99+QC7, Manasa Gangothiri, Mysuru, Karnataka 570006
Modal Questions
4 Marks Questions
1) Explain importance of Robotics in Automation technologies
2) Define Robot Anatomy with a Sketch
3) Explain types of Robot motions
4) Explain the importance in study of degrees of freedom in Robotics
5) Explain with example Three degrees of freedom associated with arm and body
6) Explain with example Three degrees of freedom associated with robot wrist
7) Explain with example Joint notation scheme.

8 Marks Questions
1) Define Robot and explain Four common configurations of Robot,
2) Write short notes on:
 Work Volume
 Links and joints
 End Effectors
3) Write short notes on Terminologies in Robotics
▪ Spatial Resolution
▪ Accuracy
▪ Repeatability
▪ Compliance

Prepared by: Mr Thanmay J S, Assistant Professor, Bio-Medical & Robotics Engineering, UoM, SoE, Mysore 57006