ELB1502

Study Guide

ELECTRICAL ENGINEERING ROBOTICS

Unit 1: Introduction to Robotics

Diploma in Electrical Engineering

In the Department of Electrical Engineering

School of Engineering

College of Science, Engineering & Technology (CSET)

University of South Africa

Compiled by: Dr. E.M. Migabo (PhD Computer Science & DEng Electrical Engineering)

Instructors: Dr. M.E. Migabo & Mr. A.M. Dlamini

March, 2023
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Study Guide

I. Learning objectives

Based on Chapter 1 of "Introduction to Robotics Mechanics and Control" by John Craig, the
learning objectives of the study unit may include:

a. Define robotics and explain its applications in various fields such as manufacturing,
medicine, and space exploration.
b. Identify the components of a robot system and describe their functions.
c. Distinguish between rotary and prismatic joints in a robot and describe how they can be
actuated.
d. Explain the concept of robot configuration and state, and how they are represented.
e. Define the forward kinematics problem in robotics and explain how it can be solved.
f. Define the inverse kinematics problem in robotics and explain how it can be solved.
g. Define robot dynamics and explain how it relates to robot motion.
h. Compare and contrast open-loop and closed-loop control systems in robotics.
i. Describe the role of the control system in a robot and how it is used to achieve desired
robot motion.
j. Identify examples of real-world robotic systems and explain how they utilize the
concepts discussed in Chapter 1.

II. Unit summary

More details about the study unit must be read through the provided slides as well as
within the prescribed textbook: "Introduction to Robotics Mechanics and Control" by John
Craig
However, the following is the summary of what to understand from this first study unit:

Chapter 1 of "Introduction to Robotics Mechanics and Control" by John Craig is an introduction

to robotics and covers the basics of robot systems, their components, and their design. Below are
some of the key points covered in this chapter:

a. Robots are machines designed to perform tasks that are either too dangerous or too
monotonous for humans. They are often used in manufacturing, medicine, and space
exploration.

Robots are machines that are designed to perform a wide range of tasks, from simple repetitive
tasks to complex operations that require precision and accuracy. One of the main reasons why
robots are so useful is that they can perform tasks that are either too dangerous or too monotonous
for humans to undertake. For example, robots can be used in hazardous environments, such as in
nuclear power plants, where the levels of radiation are too high for human workers. Similarly,
robots can be used to perform repetitive tasks in manufacturing, such as assembling components
on an assembly line, which can be too monotonous and physically demanding for human workers.

Another area where robots are increasingly being used is in the field of medicine. Robots are being
developed that can perform minimally invasive surgical procedures with greater precision and
accuracy than human surgeons. This can lead to better outcomes for patients, with fewer

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complications and shorter recovery times. Robots can also be used to perform tasks such as
cleaning and sterilizing hospital rooms, which can help to reduce the spread of infections.

Finally, robots are being used extensively in space exploration. Robotic systems are used to
explore other planets and moons, to collect samples, and to perform experiments. Robots are
particularly useful in space exploration because they can operate in harsh environments that are
inhospitable to human life, such as on the surface of Mars. Robotic systems can also be used to
assist human astronauts, by performing tasks such as maintenance and repairs on spacecraft and
equipment.

b. The components of a robot system include the manipulator (which is composed of a series
of links and joints), the end effector (which performs the task), and the control system
(which sends commands to the manipulator).

A robot system consists of several components that work together to achieve a desired task. The
manipulator is the primary component of a robot system and consists of a series of links and joints.
The links are connected by joints, which can be either rotary or prismatic, and can be actuated
using motors or other mechanisms. The manipulator is designed to move the end effector to
perform a specific task, such as picking up an object or moving it from one location to another.

The end effector is the component of the robot system that performs the task. It can be a gripper
or a tool, such as a welding torch or a cutting blade. The end effector is typically mounted at the
end of the manipulator and is designed to interact with the environment to perform the desired
task. The choice of end effector depends on the specific application and the type of task that needs
to be performed.

The control system is another important component of a robot system. It is responsible for sending
commands to the manipulator to achieve the desired motion. The control system can be either
open-loop or closed-loop. In an open-loop control system, the control signals are sent to the
manipulator without any feedback from the environment or the system. In a closed-loop control
system, feedback from sensors is used to adjust the control signals and ensure that the manipulator
moves accurately and precisely. The control system is typically programmed using a computer or
a microcontroller and can be either centralized or distributed.

In addition to the manipulator, end effector, and control system, a robot system may also include
other components such as sensors, power sources, and communication systems. Sensors are used
to provide feedback about the environment and the system, and can include cameras, proximity
sensors, and force sensors. Power sources are used to provide the energy needed to move the
manipulator and perform the task, and can include batteries or electrical power supplies.
Communication systems are used to transmit commands and feedback between the robot system
and other components of the system.

Overall, the design and implementation of a robot system depend on the specific application and
the type of task that needs to be performed. By carefully selecting and integrating the components
of a robot system, engineers can create a system that can perform a wide range of tasks with high
precision and accuracy, and can do so safely and efficiently.

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One way to describe the motion of a robot manipulator is using Denavit-Hartenberg (DH)
parameters, which use four parameters to define each joint of the manipulator. The DH parameters
include the length of the link, the angle between adjacent links, the distance between adjacent links
along the previous link, and the angle between the normal to the previous link and the normal to
the current link. These parameters can be used to derive the transformation matrices that describe
the position and orientation of the end effector relative to the base of the robot.

Fig 1: DH parameters diagram [1]

In addition to DH parameters, kinematic equations can be used to describe the motion of a robot
manipulator. These equations relate the joint angles to the position and orientation of the end
effector. One example of a kinematic equation is the forward kinematic equation, which describes
the position and orientation of the end effector in terms of the joint angles.

To control the motion of a robot manipulator, a control system is typically used. One example of
a control system is the proportional-derivative (PD) controller, which uses feedback from sensors
to adjust the control signals sent to the manipulator. The PD controller uses two parameters, the
proportional gain Kp and the derivative gain Kd, to adjust the control signals based on the error
between the desired position and the actual position of the end effector

c. The joints of a robot are typically rotary or prismatic, and they can be actuated by hydraulic,
pneumatic, or electric motors.
d. The configuration of a robot is described by the position and orientation of its end effector
with respect to a fixed reference frame. This configuration is represented by a set of
parameters called the robot's state.
e. The kinematics of a robot describe its motion without considering the forces that cause the
motion. The forward kinematics problem involves computing the position and orientation
of the end effector given the robot's joint angles, while the inverse kinematics problem

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involves computing the joint angles given the desired position and orientation of the end
effector.

f. The dynamics of a robot describe how its motion is affected by forces and torques. The
equations of motion can be derived using the principles of Newtonian mechanics.
g. The control system of a robot determines the commands that are sent to the manipulator in
order to achieve a desired motion. There are two main types of control systems: open-loop
control and closed-loop control. Open-loop control involves pre-programmed commands
that are executed without feedback, while closed-loop control involves using feedback
from sensors to adjust the commands in real-time.

Overall, Chapter 1 of "Introduction to Robotics Mechanics and Control" provides an overview

of the fundamental concepts and terminology that will be used throughout the rest of the book.
It is a useful starting point for anyone interested in learning about robotics, whether as a
hobbyist or a professional.

III. Video lecture

Here is a video lecture on robotics related to Chapter 1 from a reputable source to watch:

Title: "Introduction to Robotics - Lecture 1: Introduction to Robotics" University: Stanford

University Instructor: Oussama Khatib

Link:

https://www.youtube.com/watch?v=0yD3uBshJB0&list=PL64324A3B147B5578

In this lecture, Professor Khatib introduces robotics and covers many of the same topics as Chapter
1 of John Craig's book. He discusses the definition and history of robotics, as well as the
components of a robot system and their functions. He also introduces the concept of robot
kinematics and dynamics, and discusses how robots can be controlled using open-loop and closed-
loop control systems. This lecture is a great complement to the textbook and provides visual
examples and demonstrations to help students understand the material.

IV. Tutorials

Sure, here are some tutorial-style questions and answers based on Chapter 1 of "Introduction to
Robotics Mechanics and Control" by John Craig:

1. What are the components of a robot system?

Answer: The components of a robot system include the manipulator (composed of links and
joints), the end effector, and the control system.
2. What is the difference between rotary and prismatic joints in a robot?
Answer: Rotary joints allow for rotational motion, while prismatic joints allow for linear motion.
Rotary joints are typically actuated by electric motors, while prismatic joints may be actuated by
hydraulic or pneumatic cylinders.
3. What is the configuration of a robot, and how is it represented?

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Answer: The configuration of a robot is described by the position and orientation of its end
effector with respect to a fixed reference frame. This configuration is represented by a set of
parameters called the robot's state, which can include joint angles, link lengths, and the position
and orientation of the end effector.
4. What is the forward kinematics problem in robotics?
Answer: The forward kinematics problem involves computing the position and orientation of the
end effector given the robot's joint angles.
5. What is the inverse kinematics problem in robotics?
Answer: The inverse kinematics problem involves computing the joint angles required to achieve
a desired position and orientation of the end effector.
6. What is the difference between open-loop and closed-loop control in robotics?
Answer: Open-loop control involves pre-programmed commands that are executed without
feedback, while closed-loop control involves using feedback from sensors to adjust the commands
in real-time. Closed-loop control is generally more accurate, but also more complex and expensive
to implement.
7. What is the role of the control system in a robot?
Answer: The control system determines the commands that are sent to the manipulator in order to
achieve a desired motion. It can be either open-loop or closed-loop, and may involve feedback
from sensors to adjust the commands in real-time.

Exercises and problems:

More exercises and problems are found at the end of the chapter and you are highly encouraged
to work through them

V. References

[1] J. Craig, "Introduction to Robotics Mechanics and Control," in Introduction to Robotics

Mechanics and Control, 4th ed. Harlow, England: Pearson Education Limited, 2015, pp. 1-35.

[2] O. Khatib, "Introduction to Robotics - Lecture 1: Introduction to Robotics," Stanford

University, 2013. [Online]. Available:
https://www.youtube.com/watch?v=0yD3uBshJB0&list=PL64324A3B147B5578. [Accessed:
March 24, 2023].