Introduction to robotics and control

What is robot?
Robot is an electromechanical device that is:
Reprogrammable
Multifunctional
Sensible to environmental change
What is robotics?
the engineering science and technology of robots that is:
their design
Manufacture
Application and
structural disposition
11/18/2024 By Elias Damite Mechatronics Lecturer
 3 laws of robotics
In, 1942 'robotics' was first used and presented 3
laws of robotics
Robots must not injure humans

Robots must obey orders

Robots must protect their own existence

11/18/2024 By Elias Damite Mechatronics Lecturer

 Issues of industrial robot usage
RIA has put up the following promise for the opponents
of robot usage in the industry:
 Not to replace workers, only replace equipment.
 Use only for (hazardous, boring, demoralizing, and
repetitive tasks).
 Only if it can result in shorter work week, higher pay, and
 better working conditions for human.

11/18/2024 By Elias Damite Mechatronics Lecturer

 Robot Anatomy
The Anatomy of Industrial Robots deals with the assembling of outer components
 End Effectors: A hand of a robot is considered as end effectors. May be grippers
and tools
 Robot Joints: for sliding and rotating movements
of a component
 Manipulator: integration of links and joints.
 Kinematics: It concerns with the assembling
of robot links and joints.

11/18/2024 By Elias Damite Mechatronics Lecturer

 Classes of Robot
Most of physical robots fall into one of the three categories:
 Manipulators/robotic arms: which are anchored to their workplace and
built usually from sets of rigid links connected by joints.
 Mobile robots: which can move in their environment using wheels,
legs, etc.
 Hybrid robots: which include humanoid robots are mobile robots
equipped with manipulators.
11/18/2024 By Elias Damite Mechatronics Lecturer
 Quality of robot
To qualify as a robot, a machine must be able to:
 Sensing and perception: get information from its surroundings.
Carry out different tasks: Locomotion or manipulation, do
something Physically such as move or manipulate objects
 Re-programmable: can do different things
 Function autonomously and/or interact with human beings
11/18/2024 By Elias Damite Mechatronics Lecturer
 Why We Use Robots
There are many different reasons for using a robot but the central reasons are:
4D environments Application
Dangerous for humans (exploring inside a
volcano)
Dirty
Dull :repetitive and boring
Difficult: (cleaning the inside of a long pipe and
space missions)
11/18/2024 By Elias Damite Mechatronics Lecturer
 Why Use Robots

4A tasks
Automation: semi- human intervention
Augmentation: increase interest

Assistance: need additional help

Autonomous: no human intervention
11/18/2024 By Elias Damite Mechatronics Lecturer
 Why we use robot in industry?

Quality improvement
 Better cost effectiveness
Flexibility to change
Improvement of working environments

11/18/2024 By Elias Damite Mechatronics Lecturer

 Limitations of Robotics

Are not creative or innovative

Cannot think independently
Cannot make complicated decisions
Cannot learn from mistakes
Cannot adapt quickly to changes in
their surroundings
11/18/2024 By Elias Damite Mechatronics Lecturer
 Types of Robots
Robot Manipulators

11/18/2024 By Elias Damite Mechatronics Lecturer

 Mobile robot

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 Aerial Robots and Humanoid

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 Underwater robots and Legged

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 Robot Co-ordinate System
A coordinate system defines a plane or space by axes from a
fixed point called the origin
 Robot targets and positions are located by measurements
along the axes of coordinate systems.
A robot uses several coordinate systems,
Each suitable for specific types of jogging or programming.

11/18/2024 By Elias Damite Mechatronics Lecturer

 Configuration of Industrial Robot
Over the year’s robot manufacturers have developed many types
of robots of differing configurations and mechanical design, to
give a variety of spatial arrangements and working volumes.
Cartesian (PPP)
Cylindrical (RPP)
Spherical (RRP)
SCARA (RRP)
Articulate/Revolute (RRR)
Parallel Type Configuration (RRR)
11/18/2024 By Elias Damite Mechatronics Lecturer
 type of robot configuration

11/18/2024 By Elias Damite Mechatronics Lecturer

 Cartesian Type Configuration (PPP), (X Y Z)
It is form by 3 prismatic joints, whose axes are coincident with the X, Y and Z
planes.
These robots move in three directions, in translation, at right angles to each other
Advantages:
 3 linear axes
 Easy to visualize
 Rigid structure
 Easy to program off-line
Disadvantage:
 Can only reach in front of itself
 Requires large floor space for size of work envelop
 Axes hard to seal
11/18/2024 By Elias Damite Mechatronics Lecturer
Cylindrical Type Configuration (RPP), (θ, r, z)
its first joint is revolute which produces a rotation about the based, while its
second and third joints are prismatic.
The robot arm is attached to the slide so that it can be moved radially with
respect to the column.
Advantages:
 2 linear axes, 1 rotating axis
 Can reach all around itself
 Reach and height axes rigid
Disadvantage:
 Cannot reach above itself
 Base rotation axis is less rigid than a linear axis
 Will not reach around obstacles
11/18/2024 By Elias Damite Mechatronics Lecturer
 Spherical Type Configuration (RRP), (θ, β, z)

The first two joints of this type of manipulators are revolute, while its
third Joint is prismatic.
 It used for a small number of vertical actions and is adequate for
loading and unloading of a punch.
Advantages:
 1 linear axis, 2 rotating axes
 Long horizontal reach
Disadvantage:
 Cannot reach around obstacles
 Generally, has short vertical reach
11/18/2024 By Elias Damite Mechatronics Lecturer
 Scara Type Configuration (RRP or PRR), (θ, φ, z)
There are two type of SCARA robot configuration:
either the first two joints are revolute with the third joint as prismatic, or the first joint
is revolute with the second and third Joints as prismatic.
 Although some of the SCARA robots have the RRP structure.
Advantages:
 1 linear axis, 2 rotating axes
 Height axis is rigid
 Large work area floor space
 Can reach around obstacles
 Two ways to reach a point
Disadvantage:
 Difficult to program off-line
 Highly
11/18/2024 complex arm By Elias Damite Mechatronics Lecturer
 Revolute Type Configuration (RRR), (θ, β, α)
looks like an arm with at least three rotary joints.
They are used in welding and painting; gantry and conveyor systems move
parts in factories.
Advantages:
 3 rotating, axes
 Can reach above or below obstacles
 Largest work area for least work space
 Two or four ways to reach a point
Disadvantage:
 Difficult to program off-line
 The most complex manipulator
11/18/2024 By Elias Damite Mechatronics Lecturer
 Parallel Type Configuration (RRR), (θ, β, α)
It is a complex mechanism which is constituted by two or more
kinematics chains in between, the base and the platform where the
end-effectors are located.
Advantages:
 Motors can be proximal
 higher bandwidth,
 easier to control
Disadvantage:
 Generally, less motion
 kinematics can be challenging
11/18/2024 By Elias Damite Mechatronics Lecturer
 Repeatability and Accuracy of an Industrial Robot

Accuracy: Accuracy refers to a robot's ability to position its

wrist end at a desired target point within the work volume.
Repeatability: Repeatability describes how points are
repeated at the same place or target.

11/18/2024 By Elias Damite Mechatronics Lecturer

 Robot Classification
based on arm configuration
Based on derive system
Control systems
Based on tooling applications
Based on field of application
Based on level of technology
11/18/2024 By Elias Damite Mechatronics Lecturer
 based on arm configuration

Cartesian Coordinate.
Cylindrical Coordinate.
Spherical Coordinate.
Scara Coordinate
Revolute Coordinate.
11/18/2024 By Elias Damite Mechatronics Lecturer
 Based on derive system

Electrical.
Hydraulic.
Pneumatic.
Mechanical (Direct Drive Robots
and Geared Robots)
11/18/2024 By Elias Damite Mechatronics Lecturer
Based on level of technology

Low Technology: (material handling, using simple

assemble 2-4 axes of movement, stop at extremes).
Medium Technology: (pick & place, material
handling, 4-6 axes).
High Technology: (material handling, pick and
place, loading, painting and welding, 6-9 axes).
11/18/2024 By Elias Damite Mechatronics Lecturer
Based on field of application

Industrial Robot.
Medical Robot.
Space Robot.
Military Robot.
Aerial Robot.
11/18/2024 By Elias Damite Mechatronics Lecturer
 Based on tooling applications

Painting robot.
Welding robot.
Gluing robot.
Deburring robot.
11/18/2024 By Elias Damite Mechatronics Lecturer
 Control systems
With respect to robotics, the motion control system used
to control the movement of the end-effector or tool.

Limited sequence robots (non-servo)

Playback robots with point to point (servo)
Play back robots with continuous path control,
 Intelligent robots.

11/18/2024 By Elias Damite Mechatronics Lecturer

 Limited sequence robots (non-servo)

Limited sequence robots do not give servo controlled to

inclined relative positions of the joints;
instead, they are controlled by setting limit switches & are
mechanical stops.
There is generally no feedback associated with a limited
sequence robot to indicate that the desired position, has been
achieved generally thin type of robots involves simple
motion as pick & place operations.
11/18/2024 By Elias Damite Mechatronics Lecturer
 Point to point motion

These type robots are capable of controlling velocity

acceleration & path of motion, from the beginning to the end of
the path.
 It uses complex control programs, PLC’s (programmable logic
controller’s) computers to control the motion.
The point-to-point control motion robots are capable of
performing motion cycle that consists of a series of desired point
location.
The robot is tough & recorded, unit.
11/18/2024 By Elias Damite Mechatronics Lecturer
 Continuous path motion

this robot are capable of performing motion cycle in which

the path followed by the robot in controlled.
The robot moves through a series of closely space point
which describe the desired path.
Ex: - Spray painting,
-arc welding &
-complicate assembly operations.

11/18/2024 By Elias Damite Mechatronics Lecturer

 Intelligent robots
This type of robots not only programmable motion cycle but
also interact with its environment in a way that years intelligent.
It taken make logical decisions based on sensor data receive
from the operation.
There robots are usually programmed using an English like
symbolic language not like a computer programming language.

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 Thank you!!
For your attention!!

11/18/2024 By Elias Damite Mechatronics Lecturer