LECTURE – 1

INTRODUCTION TO ROBOTICS
28/07/2021
 What Is a Robot?
Robots today are being utilized in a wide variety of industrial applications. The
most majority of industrial robots are mechanical arms attached to a fixed base,
with some form of programmable control for automatic execution of motion.

There are a variety of definitions of an industrial robot, two of which are as

follows:

An industrial robot is a re-programmable device designed to both manipulate and

transport parts, tools or specialised manufacturing implements through variable
programmed motions for the performance of specific manufacturing tasks.
(British Robots Association)
 An electromechanical device that is:

• Reprogrammable
• Multifunctional
• Sensible for environment

Robotics is the engineering science and technology of robots, and their

design, manufacture, application, and structural disposition. It requires a
working knowledge of electronics, mechanics, and software.
The word 'robot' first appeared in 1921 but was not a technical term. It was used
by a Czech playwright called Karel Capek in a satirical play called 'Rossums
Universal Robots' to describe slave labourers who had their souls removed to
make them work harder. In, 1942 Isaac Asimov wrote a short science fiction story
in which the word 'robotics' was first used and presented 3 laws of robotics.
 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.
DIFFERENCE BETWEEN

MANIPULATOR

AND

ROBOT

CONTROL
 Classification of Robots
The following is the classification of robots according to the Japanese Industrial
Robot Association (JIRA):
• Class 1: Manual handling Device: a device with multiple degrees of freedom,
actuated by an operator
Class 2: Fixed Sequence Robot: a device that performs the successive stages of a
task according to a predetermined, unchanging method, which is hard to
modify

• Class 3: Variable Sequence Robot: same as in class 2, but easy to modify

• Class 4: Playback Robot: a human operator performs the task manually by

leading the robot, which records the motions for later playback; the robot
repeats the same motions according to the recorded information

• Class 5: Numerical Control Robot: the operator supplies the robot with a
movement program rather than teaching it the task manually

• Class 6: Intelligent Robot: a robot with the means to understand its

environment and the ability to successfully complete a task despite changes in
the surrounding condition under which it is to be performed
 What Is Robotics?

Robotics is the art, knowledge base, and the know-how of designing,

applying, and using robots in human endeavors. Robotic systems
consist of not just robots, but also other devices and systems used
together with the robots. Robots may be used in manufacturing
environments, in underwater and space exploration, for aiding the
disabled, or even for fun. In any capacity, robots can be useful, but
they need to be programmed and controlled. Robotics is an
interdisciplinary subject that benefits from mechanical
engineering, electrical and electronic engineering, computer
science, cognitive sciences, biology, and many other disciplines.
Why Use Robots?
 Advantages and Disadvantages of Robots
• Robotics and automation can, in many situations, increase productivity, safety, efficiency, quality,
and consistency of products.
• Robots can work in hazardous environments such as radiation, darkness, hot and cold, ocean
bottoms, space, and so on without the need for life support, comfort, or concern for safety.
• Robots need no environmental comfort like lighting, air conditioning, ventilation, and Noise
protection.
• Robots work continuously without tiring or fatigue or boredom. They do not get mad, and need no
medical insurance or vacation.
• Robots have repeatable precision at all times unless something happens to them or unless they
wear out.
• Robots can be much more accurate than humans.
• Robots and their sensors can have capabilities beyond those of humans.
• Robots can process multiple tasks simultaneously.
• Robots replace human workers, causing economic hardship, worker dissatisfaction and resentment.
• Robots lack capability to respond in emergencies, unless the situation is predicted and the response
is included in the system. Safety measures are needed to ensure that they do not injure operators and
other machines that are working with them :Tl1is includes: Inappropriate or wrong responses; Lack
of decision-making power; Loss of power; Damage to the robot and other devices; injuries to humans
• Robots, although. superior in certain senses, have limited capabilities in: Cognition, creativity,
decision making, and understanding; Degrees of freedom and dexterity; Sensors and vision systems;
Real-time response;
• Robots are costly due to: iniitial cost of equipment and installation; Need for peripherals; Need for
training; Need for programing
 General Robot Components
Manipulator or the rover: This is the main body of the robot which consists of the
links, the joints, and other structural elements of the robot. Without other elements, the
manipulator alone is not a robot
End effector: This part is connected to the last joint (hand) of a manipulator that
generally handles objects, makes connections to other machines, or performs the
required tasks
Sensors: Sensors are used to collect information about the internal state of the robot
or to communicate with the outside environment. As in humans, the robot controller
needs to know the location of each link of the robot in order to know the robot's
configuration.
Controller: The controller is rather similar to your cerebellum; although it does not
have the power of the brain, it still controls motions. The controller receives its data
from sensors and controls the motions of the actuators
Processor: The processor is the brain of the robot. It calculates the motions of the
robot's joints, determines how much and how fast each joint must move to achieve
the desired location and speeds, and oversees the coordinated actions of the controller
and the sensors. The processor is generally a computer
Software: Three groups of software programs are used in a robot.
 Robot Degrees of Freedom

To locate a point in space, we require the three coordinates of the point (x,y,z). But
for an Object, apart from these three coordinates, the orientation about the three
axes is also required.
Thus an object can be located uniquely by knowing the three coordinates and
three orientations.
These kinematically independent coordinates are called DOF

A robot that has 6 degrees of

freedom can be requested to place
objects at any desired location and
orientation
a 3.5 DOF arm
 Robot Joints

Robots may have different types of joints, such as linear, rotary, sliding, or
spherical.
Spherical joints are common in many systems but they possess multiple degrees
of freedom, and therefore, are difficult to control. Consequently, they are not
common in robotics except in research.4 Most robots have either a linear
(prismatic) joint or a rotary (revolute) joint. Prismatic joints are linear; there is no
rotation involved. They are either hydraulic or pneumatic cylinders or linear
electric actuators. These joints are used in gantry, cylindrical, or spherical robot
variations. Revolute joints are rotary, and although hydraulic and pneumatic
rotary joints are common, most rotary joints are electrically driven, either by
stepper motors or, more commonly, by servomotors.

Prismatic Joint P
Revolute Joint R
Spherical Joint S
 Configuration of Industrial Robot

Cartesian (PPP),
Cylindrical (RPP),
Spherical (RRP),
SCARA (RRP),
Articulate/Revolute (RRR)

The work envelope or work volume is defined as the space within which the robot can
manipulate the end of its wrist. The shape of work volume is determined by the type
of robot configuration.
 Cartesian Type Configuration (PPP),( X Y Z )

It is formed by 3 prismatic joints

These robots move in three directions, in translation, at
right angles to each other
 Cylindrical Type Configuration (RPP), ( θ, r, z )

For cylindrical type manipulator, its first joint is revolute which

produces a rotation about the based, while its second and third
joints are prismatic
 Spherical Type Configuration (RRP), ( θ, β, z )

The first two joints of this type of manipulators are revolute, while
its third Joint is prismatic.