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Robot: Defined by Robotics Industry Association (RIA) As

The document provides a comprehensive overview of robots, defining them as re-programmable manipulators with anthropomorphic characteristics and classifying them into various types such as variable-sequence, playback, numerical control, and intelligent robots. It details the key components of robots, including manipulators, end effectors, actuators, sensors, and controllers, as well as the concept of work envelope and control methods like non-servo and servo control. Additionally, it discusses robot programming techniques, including the use of teach pendants and programming languages, highlighting the diversity and lack of standardization in robot programming languages.

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Avadhut Mali
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2 views23 pages

Robot: Defined by Robotics Industry Association (RIA) As

The document provides a comprehensive overview of robots, defining them as re-programmable manipulators with anthropomorphic characteristics and classifying them into various types such as variable-sequence, playback, numerical control, and intelligent robots. It details the key components of robots, including manipulators, end effectors, actuators, sensors, and controllers, as well as the concept of work envelope and control methods like non-servo and servo control. Additionally, it discusses robot programming techniques, including the use of teach pendants and programming languages, highlighting the diversity and lack of standardization in robot programming languages.

Uploaded by

Avadhut Mali
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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ROBOT

• Defined by Robotics Industry Association (RIA) as


• a re-programmable, multifunctional manipulator designed to move material, parts,
tools or specialized devices through variable programmed motion for a variety of
tasks
• possess certain anthropomorphic characteristics
• mechanical arm
• sensors to respond to input
• Intelligence to make decisions
Robot Classification
• The following is the classification of Robots according to the Robotics
Institute of America
• Variable-Sequence Robot : A device that performs the successive stages of a
task according to a predetermined method easy to modify
• Playback Robot :A human operator performs the task manually by leading
the Robot
• Numerical Control Robot : The operator supplies the movement program
rather than teaching it the task manually.
• Intelligent Robot : A robot with the means to understand its environment
and the ability to successfully complete a task despite changes to the
environment.
Elements of Robot
Key components of a robot

https://www.researchgate.net/figure/Key-components-of-a-robot-The-figure-shows-the-components-used-by-robots-to-fulfill_fig4_355853399
Elements of Robot

https://www.sarthaks.com/885684/discuss-the-functions-of-key-components-in-robots
Elements of Robot

https://selfstudyhistory.com/2015/10/16/gs-paper-3-awareness-in-the-fields-of-robotics/
Elements of Robot
• A Robot is a system, consists of the following elements, which are integrated
to form a whole:
• Manipulator / Rover : This is the main body of the Robot and consists of
links, joints and structural elements of the Robot.
• End Effector : This is the part that generally handles objects, makes
connection to other machines, or performs the required tasks.
• It can vary in size and complexity from a endeffector on the space
shuttle to a small gripper
• It can be a tool or gripper
Elements of Robot
• Acutators : Actuators are the muscles of the manipulators. Common types of
actuators are servomotors, stepper motors, pneumatic cylinders etc.

• Sensors : Sensors are used to collect information about the internal state of
the robot or to communicate with the outside environment. Robots are often
equipped with external sensory devices such as a vision system, touch and
tactile sensors etc which help to communicate with the environment

• Controller : The controller receives data from the computer, controls the
motions of the actuator and coordinates these motions with the sensory
feedback information.
Work Envelope concept
• Depending on the configuration and size of the links and wrist joints, robots
can reach a collection of points called a Workspace.

• Alternately Workspace may be found empirically, by moving each joint


through its range of motions and combining all space it can reach and
subtracting what space it cannot reach
CONTROL METHODS
• Non Servo Control
• implemented by setting limits or mechanical stops for each joint and sequencing the
actuation of each joint to accomplish the cycle
• end point robot, limited sequence robot, bang-bang robot
• No control over the motion at the intermediate points, only end points are known

11
Non Servo Control
• Programming accomplished by
• setting desired sequence of moves
• adjusting end stops for each axis accordingly
• the sequence of moves is controlled by a “squencer”, which uses feedback received
from the end stops to index to next step in the program
• Low cost and easy to maintain, reliable
• relatively high speed
• repeatability of up to 0.01 inch
• limited flexibility
• typically hydraulic, pneumatic drives
• Servo Control
• Point to point Control
• Continuous Path Control
• Closed Loop control used to monitor position, velocity (other variables) of
each joint
Point-to-Point Control
• Only the end points are programmed, the path used to connect the end
points are computed by the controller
• user can control velocity, and may permit linear or piece wise linear motion
• Feedback control is used during motion to ascertain that individual joints
have achieved desired location
Point-to-Point Control
• Often used hydraulic drives, recent trend towards servomotors
• loads up to 500lb and large reach
• Applications
• pick and place type operations
• palletizing
• machine loading
Continuous Path Controlled
• in addition to the control over the endpoints, the path taken by the end
effector can be controlled
• Path is controlled by manipulating the joints throughout the entire motion,
via closed loop control
• Applications:
• spray painting, polishing, grinding, arc welding
ROBOT PROGRAMMING
• Typically performed using one of the following
• On line
• teach pendant
• lead through programming
• Off line
• robot programming languages
• task level programming
Use of Teach Pendant
• hand held device with switches used to control the robot motions
• End points are recorded in controller memory
• sequentially played back to execute robot actions
• trajectory determined by robot controller
• suited for point to point control applications
Use of Teach Pendant
• Easy to use, no special programming skills required
• Useful when programming robots for wide range of repetitive tasks for long
production runs
• RAPID
Lead Through Programming
• lead the robot physically through the required sequence of motions
• trajectory and endpoints are recorded, using a sampling routine which
records points at 60-80 times a second
• when played back results in a smooth continuous motion
• large memory requirements
Programming Languages
• Motivation
• need to interface robot control system to external sensors, to provide “real time”
changes based on sensory equipment
• computing based on geometry of environment
• ability to interface with CAD/CAM systems
• meaningful task descriptions
• off-line programming capability
Programming Languages
• Large number of robot languages available
• AML, VAL, AL, RAIL, RobotStudio, etc. (200+)
• Each robot manufacturer has their own robot programming language
• No standards exist
• Portability of programs virtually non-existent

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