ROBOT GENERATIONS

• THE FIVE GENERATIONS OF ROBOT CONTROLLERS AFTER THE HIGH-TECH INCEPTION

IN 1960 ARE AS FOLLOWS:

– FIRST GENERATION: REPEATING ROBOTS. THESE WERE GENRALLY PICK AND PLACE ROBOTS,
WITH MECHANICAL SEQUENCES DEFINING STOP POINTS.
– SECOND GENERATION: HARDWIRED CONTROLLERS PROVIDED THE FIRST PROGRAMMABLE
UNITS.
– THIRD GENERATION: PROGRAMMABLE LOGIC CONTROLLERS (PLC), INTRODUCED IN THE
INDUSTRY OVER THIRTEEN YEARS AGO, PROVIDED A MICROPROCESSOR-BASED ROBOTIC
CONTROLLER THAT IS EASY TO PROGRAM.
– FOURTH GENERATION: WHEN CONTROL BEYOND THE PLC IS REQUIRED, A MICROCOMPUTER
MAY CONTROL THE ENTIRE SYSTEM, INCLUDING OTHER PROGRAMMABLE MACHINERY IN A
ROBOT WORKCELL.
– FIFTH GENERATION: ROBOT CONTROLLER WILL INVOLVE COMPLETE ARTIFICAIL
INTELLIGENCE (AI), MINIATURED SENSORS, AD DECISION MAKING CAPABILITIES.

• AN ARTIFICIAL BIOLOGICAL ROBOT MIGHT PROVIDE THE IMPETUS FOR SIXTH AND
HIGHER GENERATION ROBOTS.

1
 ROBOTICS
Industrial Robots Definition
A robot is a programmable arm simulator

“A robot is a re-programmable, multifunction manipulator

designed to move material, parts, tools, or special devices
through variable programmed motions for the performance of
a variety of tasks”
Robot Institute of America

2
Laws of Robotics
• Asimov proposed three “Laws
of Robotics”

• Law 1: A robot may not injure

a human being or through
inaction, allow a human being
to come to harm

• Law 2: A robot must obey

orders given to it by human
beings, except where such
orders would conflict with a
higher order law

• Law 3: A robot must protect its

own existence as long as such
protection does not conflict
with a higher order law
What is a Robot: I
Manipulator
 What is a
Robot: II
Legged Robot Wheeled Robot
 What is a
Robot: III
Autonomous Underwater Vehicle Unmanned Aerial Vehicle
 What Can Robots Do: I

Jobs that are

dangerous for
humans

Decontaminating Robot
Cleaning the main circulating pump housing
in the nuclear power plant
 What Can Robots Do: II

Repetitive jobs that are

boring, stressful, or labor-
intensive for humans

Welding Robot
 What Can Robots Do: III

Menial tasks that

human don’t want to
do

The SCRUBMATE Robot

 Knowledgebase for Robotics
•Typical knowledgebase for the design and operation of robotics systems
–Dynamic system modeling and analysis
–Feedback control
–Sensors and signal conditioning
–Actuators and power electronics
–Hardware/computer interfacing
–Computer programming

Disciplines: mathematics, physics, biology,

mechanical engineering, electrical engineering,
computer engineering, and computer science
 Key Components
Power conversion
unit
Senso Actuators
rs
Controller
User
interface
Manipula
tor
linkage Base
 Robot Base: Fixed v/s Mobile
Robotic manipulators used in Mobile bases are typically
manufacturing are examples of platforms with wheels or tracks
fixed robots. They can not attached. Instead of wheels or
move their base away from the tracks, some robots employ
work being done. legs in order to move about.
 Main Components of Industrial Robots

– Arm or Manipulator
– End effectors
– Drive Mechanism
– Controller
– Custom features: e.g. sensors and transducers

13
14
 MANIPULATOR
• IS A MECHANICAL UNIT THAT PROVIDES MOTION SIMILAR TO
THAT OF A HUMAN ARM.

• ITS PRIMARY FUNCTION IS TO PROVIDE THE SPECIFIC

MOTIONS THAT WILL ENABLE THE TOOLING AT THE END OF
THE ARM TO DO THE REQUIRED WORK.

• A ROBOT MOVEMENT CAN BE DIVIDED INTO TWO GENERAL

CATEGORIES: ARM AND BODY (SHOULDER AND ELBOW)
MOTIONS AND WRIST MOTIONS.

• THE INDIVIDUAL JOINT MOTIONS ASSOCIATED WITH THESE

CATEGORIES ARE REFERRED TO AS DEGREE OF FREEDOM.

• EACH AXIS IS EQUAL TO ONE DEGREE OF FREEDOM.

TYPICALLY AN INDUSTRAIL ROBOTS ARE EQUIPPED WITH 4-6
DEGREES OF FREEDOM.

15
• THE WRIST CAN REACH A POINT IN SPACE WITH SPECIFIC
ORIENTATION BY ANY OF THREE MOTIONS: A PITCH, OR UP-
AND-DOWN-MOTION; A YAW, 0R SIDE-TO-SIDE MOTION; AND A
ROLL, OR ROTATING MOTION.
– THE JOINT LABELED PITCH, YAW, AND ROLL ARE CALLED
ORIENTATION AXES.

• THE POINTS THAT MANIPULATOR BENDS, SLIDES, OR ROTATES

ARE CALLED JOINTS OR POSITION AXES.

• MANIPULATION IS CARRIED OUT USING MECHANICAL

DEVICES, SUCH AS LINKAGES, GEARS, ACTAUTORS, AND
FEEDBACK DEVICES.

• POSITION AXES ARE CALLED AS WORLD COORDINATES, IS

IDENTIFIED AS BEING FIXED LOCATION WITHIN THE
MANIPULATOR THAT SERVES AS ABSOLUTE FRAME OF
REFERENCE.

16
• THE X-AXIS TRAVEL MOVES THE MANIPULATOR IN AN IN-AND-
OUT MOTION.

• THE Y-AXIS MOTION CAUSES THE MANIPULATOR TO MOVE

SIDE-TO-SIDE.

• THE Z AXIS MOTION CAUSES THE MANIPULATOR TO MOVE IN

AND UP-AND-DOWN MOTION.

• THE MECHANICAL DESIGN OF A ROBOT MANIPULATOR

RELATES DIRECTLY TO ITS WORK ENVELOPE AND MOTION
CHARACTESTICS.

17
18
 Types of Robots
• Mobile robots – robots that move freely in their
environment
– We can subdivide these into indoor robots, outdoor robots,
terrain robots, etc based on the environment(s) they are
programmed to handle
• Robotic arms – stationary robots that have manipulators,
usually used in construction (e.g., car manufacturing
plants)
– These are usually not considered AI because they do not
perform planning and often have little to no sensory input
• Autonomous vehicles – like mobile robots, but in this case,
they are a combination of vehicle and computer controller
– Autonomous cars, autonomous plane drones, autonomous
helicopters, autonomous submarines, autonomous space
probes
– There are different classes of autonomous vehicles based on
the level of autonomy, some are only semi-autonomous
19
 Continued
• Soft robots – robots that use soft computing
approaches (e.g., fuzzy logic, neural networks)
• Mimicking robots – robots that learn by mimicking
– For instance robots that learn facial gestures or those
that learn to touch or walk or play with children
• Softbots – software agents that have some degrees
of freedom (the ability to move) or in some cases,
software agents that can communicate over
networks
• Nanobots – theoretical at this point, but like mobile
robots, they will wander in an environment to
investigate or make changes
– But in this case, the environment will be microscopic
worlds, e.g., the human body, inside of machines
20
 GENERAL CHARACTERISTICS
• A SPECIALIZED MACHINE TOOLS WITH A DEGREEN OF FLEXIBILITY THAT
DISTINGUISHES THEM FROM FIXED-PURPOSE AUTOMATION.

• IS ESSENTIALLY A MECHANICAL ARM THAT IS BOLTED TO THE FLOOR, A MACHINE, THE

CEILING, OR, IN SOME CASES THE WALL FITTED WITH ITS MECHANICAL HAND, AND
TAUGHT TO DO REPETITIVE TASK IN A CONTROLLED, ORDERED ENVIRONMENT.

• ABILITY TO MOVE MECHANICAL ARM TO PEROFRM WORK.

• ROBOT INTERFACE WITH THEIR WORK ENVIRONMENT ONCE A MECHANICAL HAND

HAS BEEN ATTACHED TO THE ROBOT’S TOOL-MOUNTING PLATE.

DEFINITIONS:

• WORK ENVELOPE: THE SET OF POINTS REPRESENTING THE MAXIMUM EXTENT OR

REACH OF THE ROBOT HAND OR WORKING TOOL IN ALL DIRECTIONS.

21
• PAYLOAD: THE ABILITY TO CARRY, CONTINOUSLY AND SATISFACTORILY, A GIVEN MAXIMUM
WEIGHT AT A GIVEN SPEED.

• VELOCITY: THE MAXIMUM SPEED AT WHICH THE TIP OF A ROBOT IS CAPABLE OF MOVING AT
FULL EXTENSION, EXPRESSED IN INCHES OR MILLIMETERS PER SECOND.

• CYCLE: TIME IT TAKES FOR THE ROBOT TO COMPLETE ONE CYCLE OF PICKING UP A GIVEN
OBJECT AT A GIVEN HEIGHT, MOVING IT TO A GIVEN DISTANCE, LOWERING IT, RELEASING IT,
AND RETURNING TO THE STARTING POINT.

• ACCURACY: A ROBOT’S ABILITY TO POSITION THE END EFFECTOR AT A SPECIFIED POINT IN

SPACE UPON RECEIVING A CONTROL COMMAND WITHOUT PREVIOUSLY HAVING ATTAINED
THAT POSITION.

• REPEATIBILITY: THE ABILITY OF A ROBOT TO RETURN CONSISTENTLY TO A PREVIOUSLY

DEFINED AND ACHIEVED LOCATION.

• RESOLUTION: THE SMALLEST INCREMENTAL CHANGE IN POSITION THAT IT MAKE OR ITS

CONTROL SYSTEM CAN MEASURE.

• SIZE: THE PHYSICAL SIZE OF A ROBOT, WHICH INFLUENCES ITS CAPACITY AND ITS
CAPABILITIES.

22
 Robotics Terminology
Link: A rigid piece of material connecting joints in a robot.

Joint: The device which allows relative motion between two adjoining
links in a robot.

• A robot joint is a mechanism that

permits relative movement between
parts of a robot arm.
• The joints of a robot are designed to
enable the robot to move its end-
effectors along a path from one position
to another as desired.
23
 The Robotic Movements
The basic movements required for a
desired motion of most industrial robots
are:

Rotational movement: This enables the

robot to place its arm in any direction on a
horizontal plane.

Radial movement: This enables the robot

to move its end-effectors radially to reach distant
points.

Vertical movement: This enables the robot

24
to take its end-effector to different heights.
 The Robotic Joints
Types of JOINTS
A robot joint
1) Linear Joint (L) 2) Rotational Joint (R)
3) Twisting Joint (T) 4) Revolving Joint (V)

1) Linear Joints are also known as sliding as well as Prismatic joints (L)

They are called prismatic because the cross section of the joint is
considered as a generalized prism. They permit links to move in a linear
relationship.

Revolute joints permit only angular motion between links. Their variations
include:
Rotational joint (R)
Twisting joint (T)
Revolving joint (V)
25
A rotational joint (R)
is identified by its motion, rotation about
an axis perpendicular to the adjoining
links.

A twisting joint (T)

is also a rotational joint, where the
rotation takes place about an axis that
is parallel to both adjoining links.

26
27
A revolving joint (V)
is another rotational joint, where the rotation
takes place perpendicular to one another at
this kind of joint. The rotation involves
revolution of one link about another.

28
Wrist Movement
The Wrist movement is designed to enable the robot to orient the end
effector properly with respect to the task to be performed.
Eg. Human hand
To solve the orientation problem, the wrist is normally provided with upto 3
DOF.
1) Wrist Roll- which involves rotation of the wrist mechanism about the
arm axis. Also called as wrist swivel.
2) Wrist Pitch- If the wrist roll is in its center position , the pitch would
involve the up and down rotation of the wrist. Also called as wrist bend.
3) Wrist Yaw- If the wrist roll is in its center position of its range, wrist yaw
would involve the right or left rotation of the wrist.

29
30
 Robotics Terminology
DOF degrees-of-freedom: can be defined as the number
of independent motions a device can make. (Also called
mobility)

five degrees of freedom

31
Accuracy
•The ability of a robot to go to the specified position
without making a mistake.
•It is impossible to position a machine exactly.
•Accuracy is therefore defined as the ability of the robot to
position itself to the desired location with the minimal
error (usually 25 mm).

Repeatability
•The ability of a robot to repeatedly position itself when
asked to perform a task multiple times.
•Accuracy is an absolute concept, repeatability is relative.
•A robot that is repeatable may not be very accurate, visa
versa.

32
33
 ROBOT CLASSIFICATION
1) Depending on Configuration
2) Depending on type of control system
3) Fixed or variable sequence robot
4) Depending upon generation
5) Servo / nonservo robots
6) Point to Point or continuous controlling robots

34
 ROBOT CLASSIFICATION
Classification Based on Physical
Configuration:
1. Cartesian configuration
2. Cylindrical configuration
3. Polar configuration
4. Joint-arm configuration
5. SCARA

35
 ROBOT CLASSIFICATION
Cartesian Configuration:
• Robots with Cartesian configurations consists
of links connected by linear joints (L). Gantry
robots are Cartesian robots (LLL).

36
 Cartesian Robots
A robot with 3 prismatic joints
– the axes consistent with a
Cartesian coordinate system.

Commonly used for:

•pick and place work
•assembly operations
•handling machine tools
•arc welding

37
 Cartesian Robots
Advantages:
• ability to do straight line insertions into furnaces.
• easy computation and programming.
• most rigid structure for given length.

Disadvantages:
• requires large operating volume.
• exposed guiding surfaces require covering in corrosive or
dusty environments.
• can only reach front of itself
• axes hard to seal

38
 ROBOT CLASSIFICATION
Cylindrical Configuration:
• Robots with cylindrical configuration have one
rotary ( R) joint at the base and linear (L) joints
succeeded to connect the links.

39
 Cylindrical Robots
A robot with 2 prismatic joints
and a rotary joint – the axes
consistent with a cylindrical
coordinate system.

Commonly used for:

•handling at die-casting
machines
•assembly operations
•handling machine tools
•spot welding
40
 Cylindrical Robots
Advantages:
• can reach all around itself
• rotational axis easy to seal
• relatively easy programming
• rigid enough to handle heavy loads through large working space
• good access into cavities and machine openings

Disadvantages:
• can't reach above itself
• linear axes is hard to seal
• won’t reach around obstacles
• exposed drives are difficult to cover from dust and liquids

41
Joint Notation Scheme
Physical configuration of the robot manipulator can be described by
means of a joint notation scheme .
Considering the arm and body joints first, the letters can be used to
designate the particular robot configuration starting with the joint
closest to the base and proceeding to the joint configuration that
connects to the wrist.

Robot configuration Symbol

Polar configuration TRL

Cylindrical configuration TLL,LTL,LVL

Cartesian configuration LLL

Joint arm configuration TRR, VVR

42
 ROBOT CLASSIFICATION
Polar Configuration:
• Polar robots have a
work space of spherical
shape. Generally, the
arm is connected to the
base with a twisting (T)
joint and rotatory (R)
and linear (L) joints
follow.

43
 ROBOT CLASSIFICATION
• The designation of the arm for this
configuration can be TRL or TRR.
• Robots with the designation TRL are also
called spherical robots. Those with the
designation TRR are also called articulated
robots. An articulated robot more closely
resembles the human arm.

44
 ROBOT CLASSIFICATION
Joint-arm Configuration:
• The jointed-arm is a combination of cylindrical
and articulated configurations. The arm of the
robot is connected to the base with a twisting
joint. The links in the arm are connected by
rotatory joints. Many commercially available
robots have this configuration.

45
ROBOT CLASSIFICATION

46
 Robot Drive Systems

• Electric
– Uses electric motors to actuate individual joints
– Preferred drive system in today's robots
• Hydraulic
– Uses hydraulic pistons and rotary vane actuators
– Noted for their high power and lift capacity
• Pneumatic
– Typically limited to smaller robots and simple material
transfer applications

47
 Actuators: I
• Common robotic actuators utilize combinations of
different electro-mechanical devices
– Synchronous motor
– Stepper motor
– AC servo motor
– Brushless DC servo motor
– Brushed DC servo motor

http://www.ab.com/motion/servo/fseries.h
48
 Actuators: II

Pneumatic Cylinder
Stepper Motor
Hydraulic Motor

Pneumatic Motor DC Motor

Servo Motor49
 Articulated Robots
A robot with at least 3 rotary
joints.

Commonly used for:

•assembly operations
•welding
•weld sealing
•spray painting
•handling at die casting or
fettling machines

50
 Articulated Robots
Advantages:
all rotary joints allows for maximum flexibility
any point in total volume can be reached.
all joints can be sealed from the environment.

Disadvantages:
extremely difficult to visualize, control, and
program.
restricted volume coverage.
low accuracy

51
 SCARA (Selective Compliance
Articulated Robot Arm) Robots
A robot with at least 2 parallel
rotary joints.

Commonly used for:

•pick and place work
•assembly operations

52
 SCARA (Selective Compliance
Articulated Robot Arm) Robots
Advantages:
high speed.
height axis is rigid
large work area for floor space
moderately easy to program.

Disadvantages:
limited applications.
2 ways to reach point
difficult to program off-line
highly complex arm 53
 Spherical/Polar Robots
A robot with 1 prismatic joint
and 2 rotary joints – the axes
consistent with a polar
coordinate system.

Commonly used for:

•handling at die casting or
fettling machines
•handling machine tools
•arc/spot welding

54
 Spherical/Polar Robots
Advantages:
• large working envelope.
• two rotary drives are easily sealed against liquids/dust.

Disadvantages:
• complex coordinates more difficult to visualize, control, and
program.
• exposed linear drive.
• low accuracy.

55
 ROBOT CLASSIFICATION
Classification Based on Control Systems:
– 1. Point-to-point (PTP) control robot
– 2. Continuous-path (CP) control robot
– 3. Controlled-path robot

56
Point to Point Control Robot (PTP):
• The PTP robot is capable of moving from one point to
another point.
• The locations are recorded in the control memory.
PTP robots do not control the path to get from one
point to the next point.
• Common applications include:
– component insertion
– spot welding
– hole drilling
– machine loading and unloading
– assembly operations

57
 Continuous-Path Control Robot (CP):
• The CP robot is capable of performing movements along the
controlled path.
• With CP from one control, the robot can stop at any specified
point along the controlled path.
• All the points along the path must be stored explicitly in the
robot's control memory.
• Applications Straight-line motion is the simplest example for
this type of robot. Some continuous-path controlled robots
also have the capability to follow a smooth curve path that
has been defined by the programmer.
• In such cases the programmer manually moves the robot arm
through the desired path and the controller unit stores a large
number of individual point locations along the path in
memory (teach-in).

58
 Continuous-Path Control Robot (CP):

Typical applications include:

– spray painting
– finishing
– gluing
– arc welding operations

59
 Controlled-Path Robot:

• In controlled-path robots, the control equipment can generate

paths of different geometry such as straight lines, circles, and
interpolated curves with a high degree of accuracy.
• Good accuracy can be obtained at any point along the
specified path.

• Only the start and finish points and the path definition
function must be stored in the robot's control memory.
• It is important to mention that all controlled-path robots have
a servo capability to correct their path.

60
 Robot Specifications

Characteristics Units
No of Axes Numbers(eg 1,2)
Max speed/cycle mm/sec
time
Load carrying Kg
capacity (pay load)
Reach & stroke mm
Total orientation Degrees
Repeatability --
Precision & Accuracy mm
61
 ROBOT SELECTION
• Robot must be matched properly by capabilities to task requirements.

• An objective approach to robot selection provides fewer restrictions in system design by

allowing for the optimum system design to be achieved regardless of the specific robot need.

• Criteria for robot selection:

– Techinical issues:
• Type: nonservo, servo, servo-controlled
• Work envelope: rectangular, cylindircal, spherical, jointed arm, scara
• Payload
• Cycle time
• Repeatability
• Drive: electric, pneumatic, hydraulic, any combination
• Unique capabilities

– Non-technical issues:
• Cost and benefit consideration
• Commonality of equipment
• Training and maintenance requirements
• Reliability
• Service
• “Systems” help
• Safety

62
 SUMMARY
• Robot technology is an applied science that is referred to as combination of
machine tool fundamentals and computer applications.

• The basic components of an industrial robot are, manipulator, end effector,

power supply and control system.

• Robot anatomy is concerned with the physical construction and operation of

the manipulator and has five basic configurations: rectangular,
cylindrical,
spherical,
jointed-arm, and
scara.

• So far, there have been five generations of robot controllers, and we are
merging now to sixth, seventh, and even higher generations.

63
• Robots with increasing intelligence, sensory capability, dexterity, and
sophisticated control systems have become dominant factor in modern
manufacturing.

• The three factors that influence the selection of robots in manufacturing are:
• Dynamic properties and performance,
• Economics and safety.

64
THANK YOU

65