Professional Documents
Culture Documents
Introduction
Robot configuration
Programming
End effectors
Sensors
Industrial applications
Introduction
Briefhistory of development
Definition of the ‘Robot Institute of America’:
A robot is a programmable, multi-function
manipulator designed to move material, tools or
special devices through variable programmed
motions for the performance of a variety of tasks
4
Robot Physical Configuration
• Cincinatti
Milacron T model
• Unimate PUMA model
Cartesian coordinate configuration
Cartesian 3 linear axes, easy to visualize, rigid structure, Can only reach front of itself, requires large
coordinates easy to program floor space, axes hard to seal
Cylindrical 2 linear axes +1 rotating, can reach all around Can’t reach above itself, base rotation axis as
coordinates itself, reach and height axes rigid, rotational axis less rigid, linear axes is hard to seal, won’t
easy to seal reach around obstacles
SCARA coordinates 1 linear + 2 rotating axes, height axis is rigid, 2 ways to reach point, difficult to program
large work area for floor space off-line, highly complex arm
Spherical 1 linear + 2 rotating axes, long horizontal reach Can’t reach around obstacles, short vertical
coordinates reach
Revolute 3 rotating axes can reach above or below Difficult to program off-line, 2 or 4 ways to
coordinates obstacles, largest work area for least floor space reach a point, most complex manipulator
Other Technical Features
Work volume
Precision of movement
Speed of movement
Payload capacity
Type of drive system
Accuracy and Repeatability
Robot Programming
1. Manual method
2. Walkthrough method
3. Leadthrough method
4. Off-line programming
Manual method
VAL
• Developed by Victor Scheinman for the PUMA robot
• MOVE: Moves the robot to the location and orientation specified by the
symbol
• MOVES: Moves the robot along a st.-line trajectory, to the specified location
• APPRO: Moves the end effector to the position defined, but offset along the Z-
axis by the specified distance in mm
• APPROS: Similar as above, but along a st.-line trajectory
• DEPART: Moves the tool the distance given along the current Z-axis of the
tool
• OPENI: Opens the gripper immediately
• CLOSEI: Closes the gripper immediately
• EXIT: Exits from the program and transfers control to monitor mode
VAL Programming Example
TASK:
• PROGRAM PICK
1.APPRO A, 50
2.MOVES A
3.CLOSEI
4.DEPART 50
5.APPRO B, 50
6.MOVES B
7.OPENI
8.DEPART 50
LISTL A
X/JT1 Y/JT2 Z/JT3 P/JT4 Q/JT5
-105.5 87.8 119.0 -25.6 100.9
LISTL B
X/JT1 Y/JT2 Z/JT3 P/JT4 Q/JT5
-50.0 115.8 55.5 -10.7 100.2
End Effectors
Vacuum Gripper
Tools as End Effectors
• Drilling head
• Heating torches
SENSORS IN ROBOTICS
Voice sensors
Machine vision
Tactile and Proximity sensors
• Provides the robot with capability to respond to contact forces with other
objects within the work volume
• Two types: Touch sensors and stress sensors (tactile sensors)
• touch sensors will simply indicate that a contact has been made with an
object. A simple micro switch can serve the purpose
• Stress sensors measure the magnitude of the contact force. Starin gauges
are the most popular choice
• Tactile sensors are useful in assembly and inspection operations.
• In assembly, the robot can perform delicate part alignment and joining
operations
• In inspection, touch sensing would be useful in gauging operations and
dimensional measuring activities
• Proximity sensors are used to sense when one object is close to another
Voice sensors
• Interpretation
Image Acquisition and Digitization
Each
set of pixel values is referred to as a frame and stored in
computer memory as frame buffer
The data for each frame must be analysed within the time
required to complete one scan (1/30 sec)
Interpretation
Object/pattern recognition
Template matching
Feature weighting
Machine Vision Applications
1. Inspection
2. Part identification
4. Safety monitoring
Robotic Applications