21br563 Forp Module 02 Notes
Uploaded by
Thanmay JS21br563 Forp Module 02 Notes
Uploaded by
Thanmay JSMysore University School of Engineering
8J99+QC7, Manasa Gangothiri, Mysuru, Karnataka 570006
Fundamentals of Robotics and its Programming
(21BR563)
MODULE 02 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 02: Course Content
2.0 Robot Control Systems:
2.1 Introduction to Mathematical model of spring mass damper system.
2.2 The Four types of Robot controls:
a) Limited sequence robots,
b) Playback robots with point-to-point control,
c) playback robots with continuous path control,
d) intelligent control.
2.3 Robot controllers
a) On-off,
b) proportional,
c) integral,
d) proportional-plus-integral,
e) proportional-plus-derivative,
f) proportional-plus integral plus derivative.
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
2.0 Robot Control Systems
Robot control systems are crucial for defining how
robots perform tasks. The control system manages the
robot's movements, interactions with its environment,
and feedback to achieve desired objectives. In robotics,
there are various types of control strategies depending on the complexity and nature of the robot.
Understanding robot control systems is essential for designing and managing robots in various applications.
From basic sequence control to intelligent adaptive systems, the choice of control depends on the complexity
of the task and the robot's capabilities. Mathematical models like the spring-mass-damper system and different
types of controllers (on-off, proportional, integral, derivative) are tools used to achieve desired performance,
ensuring that robots operate efficiently and safely in diverse environments. Below is an example for Actual
Robot Control System
2.1 Introduction to Mathematical Model of Spring-Mass-Damper System
The spring-mass-damper system is a fundamental mechanical model used in control systems to describe how
a mechanical system responds to forces. It consists of three main components:
• Spring: Represents the elastic force that resists deformation
(following Hooke's Law, 𝐹𝑠𝑝𝑟𝑖𝑛𝑔 = −𝑘𝑥, where 𝑘 is the spring constant and 𝑥 is displacement).
• Mass: Represents the object that moves or oscillates in the system. Its response to forces is governed
by Newton's second law (𝐹𝑚𝑎𝑠𝑠 = 𝑚𝑎, where 𝑚 is the mass and 𝑎 is the acceleration).
• Damper: Represents resistance to motion due to friction or damping forces, often modeled as
𝐹𝑑𝑎𝑚𝑝𝑒𝑟 = −𝑐𝑥̇ , where 𝑐 is the damping coefficient and 𝑥̇ is the velocity.
In robot control, such a system can model the dynamics of a robotic arm or mobile robot. The system is
described by a second-order differential equation:
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
This model is essential in understanding the behavior of systems in motion, predicting the response to external
inputs, and designing controllers to manage the robot's behavior.
2.2 The Four Types of Robot Controls
There are different approaches to robot control, depending on the complexity and functionality required by
the robot:
a) Limited Sequence Robots
Limited sequence robots are designed to execute a predefined sequence
of motions. They follow a specific set of programmed instructions,
typically for repetitive tasks. The robot performs each step in a fixed
sequence without any feedback or adaptation based on external
conditions. Common examples include assembly line robots performing
simple tasks like pick-and-place.
b) Playback Robots with Point-to-Point Control
Playback robots operate based on a sequence of points or waypoints. The robot's
task is to move from one point to another in a specified order. The control system
records the path taken (playback), and the robot repeats the same actions when
needed. This approach does not require continuous feedback, but the robot must
follow predefined positions precisely.
c) Playback Robots with Continuous Path Control
Continuous path robots go beyond point-to-point control by enabling the robot to move continuously through
a path, rather than hopping from one point to
another. This type of control allows the robot to
handle more complex tasks, such as drawing,
welding, or surface inspection, where smooth and
continuous motion is essential. The system records
a continuous trajectory, and the robot follows it
during playback.
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
d) Intelligent Control
Intelligent control refers to advanced control
strategies where robots can adapt to environmental
changes and unforeseen circumstances. This control
system often involves artificial intelligence (AI)
algorithms like machine learning, fuzzy logic, or
neural networks. Intelligent robots can learn from
their environment, make decisions based on sensory data, and adjust their behavior in real-time. Autonomous
vehicles and robots for complex industrial tasks are examples of intelligent control systems.
2.3 Robot Controllers
Robot controllers regulate how a robot moves and interacts with its environment. There are several types of
controllers, each with varying degrees of complexity and performance.
a) On-Off Controller
An on-off controller is the simplest type of control
system. It works by switching between two states: on
or off. If the controlled parameter (e.g., position or
temperature) exceeds a certain threshold, the system
responds by turning the actuator on, and when the
parameter falls below the threshold, the actuator is
turned off. This type of control is simple but can lead
to oscillations or inefficiency in more complex systems.
b) Proportional Controller (P)
A proportional controller produces an output that is proportional to the error (the difference between the
desired and actual position or state). The controller's output u(t)u(t) is calculated as:
This type of controller provides more precise control than the on-off controller and reduces oscillations, but it
may still leave a steady-state error.
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
c) Integral Controller (I)
An integral controller is designed to eliminate steady-state error by accumulating the past errors over time.
The output of the controller is proportional to the integral of the error:
The integral controller helps to reduce long-term errors but can introduce overshooting or instability if not
carefully tuned.
d) Proportional-Plus-Integral Controller (PI)
The PI controller combines both proportional and integral actions. It helps eliminate both transient and steady-
state errors, resulting in a more stable and precise response. The controller’s output is:
The proportional term handles short-term fluctuations, while the integral term addresses steady-state errors.
e) Proportional-Plus-Derivative Controller (PD)
A PD controller uses both proportional and derivative terms. The derivative term anticipates the future
behavior of the error by considering its rate of change, thus helping to dampen oscillations. The controller's
output is:
The PD controller helps improve the system's responsiveness and stability but cannot completely eliminate
steady-state error.
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
f) Proportional-Plus-Integral-Plus-Derivative Controller (PID)
The PID controller combines all three terms: proportional, integral, and derivative. This controller offers a
well-rounded solution for a wide range of applications. It helps achieve fast response times (proportional),
eliminate steady-state errors (integral), and reduce overshoot or oscillations (derivative). The PID controller’s
output is:
The PID controller is one of the most widely used control strategies due to its versatility and effectiveness in
achieving desired performance in many robotic systems.
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
3- or 4-Marks Questions
1) Define Robot Control Systems
2) Demonstrate and Explain Mathematical model of spring mass damper system.
3) Explain types of Robot controls
4) Explain the principle of Limited sequence robots,
5) Explain the principle of Playback robots with point-to-point control,
6) Explain the principle of playback robots with continuous path control,
7) Explain the principle of intelligent control.
8) Explain briefly Types of Robot controllers
8- Marks Questions
1) Explain The Four types of Robot controls
2) Explain Different Types of Robot controllers
Prepared by: Mr Thanmay J S, Assistant Professor, Bio-Medical & Robotics Engineering, UoM, SoE, Mysore 57006
