FACULTY OF ELECTRICAL ENGINEERING & TECHNOLOGY
UNIVERSITI MALAYSIA PERLIS
INTRODUCTION
TO ROBOTICS
EMJ37303 ROBOTIC SYSTEMS
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Overview of robotics
History of robots
Classification of robots
Robot components
Robot Degree of Freedoms (DOF)
Robot Joints
Robot Coordinates and Frame
Robot Workspace
Resolution, accuracy and repeatability of robots
Advantages and disadvantages of robots
Robot applications
EMJ37303 ROBOTIC SYSTEMS
Contents
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EMJ37303 ROBOTIC SYSTEMS
Overview of Robotics
What is Robot?
Robot is “A machine capable of
carrying out a complex series of
actions automatically, especially
one programmable by a
computer”- Oxford Dictionary
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EMJ37303 ROBOTIC SYSTEMS
Overview of Robotics
Then , what is Robotics?
• The study of robots.
• The branch of technology that
deals with the design, construction,
operation, and application of
robots. - Oxford Dictionary
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• International Organization for Standardization (ISO)
EMJ37303 ROBOTIC SYSTEMS
Definitions
ISO8373:2021
Robot - programmed actuated mechanism with a degree of
autonomy (ability to perform intended tasks based on current state
and sensing, without human intervention) to perform locomotion,
manipulation or positioning
Robotics - science and practice of designing, manufacturing, and
applying robots
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• International Organization for Standardization (ISO)
EMJ37303 ROBOTIC SYSTEMS
Definitions
ISO8373:2021
Industrial Robot - automatically controlled, reprogrammable
multipurpose manipulator (mechanism consisting of an
arrangement of segments, jointed or sliding relative to one another),
programmable in three or more axes, which can be either fixed in
place or fixed to a mobile platform (assembly of the components
which enables locomotion) for use in automation applications in an
industrial environment
Industrial Robot System - machine comprising an industrial robot;
end-effector(s); any end-effector sensors and equipment (e.g. vision
systems, adhesive dispensing, weld controller) needed to support
the intended task; and a task program
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https://www.youtube.com/watch?v=2GxbXcPGhDg
EMJ37303 ROBOTIC SYSTEMS
Brief History of Robots
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• 1922: Karel Čapek’s novel, Rossum’s Universal Robots, word
“Robota” (worker)
EMJ37303 ROBOTIC SYSTEMS
Brief History of Robots
• 1952: NC machine (MIT)
• 1954: 1st Programmable Robot (George Devol)
• 1955: Denavit-Hartenberg Homogeneous Transformation
• 1962: First Robot by Unimation used by GM
• 1967: Mark II (Unimation Inc.)
• 1968: Shakey (SRI) - intelligent robot
• 1973: T3 (Cincinnati Milacron Inc.)
• 1978: PUMA (Unimation Inc.)
• 1983: Robotics Courses in Academia
• 21 C: Walking Robots, Mobile Robots, Humanoid Robots
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Industrial Revolution
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Industrial Revolution 4.0
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Industrial Robots
Source: https://ifr.org/industrial-robots
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Source: https://ifr.org/industrial-robots
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Industrial Applications
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EMJ37303 ROBOTIC SYSTEMS
Classification of Robots (Mobility)
Serial Robots
Stationary
Parallel Robots
Industrial
Robots
Wheeled
Robot
Legged
Mobile
Swimming
Flying
Etc..
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Hybrid Serial-Parallel Mechanism
EMJ37303 ROBOTIC SYSTEMS
Industrial Robots
Serial Kinematic Mechanism
Parallel Kinematic Mechanism
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• Power Source – electric (cheaper, cleaner, quieter),
hydraulic (response, torque, noisy), pneumatic
• Application Area – assembly and non-assembly robots
(paint, welding, material handling etc).
• Method of Control – servo (point-to-point, continuous path)
and non-servo robots.
• Geometry – Arrangement of the kinematic chains (Serial –
articulated, cylinder, spherical etc; Parallel – Stewart etc)
EMJ37303 ROBOTIC SYSTEMS
Classification of Industrial Manipulators
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• Manipulators/ Rover
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Robotic Systems
• End Effector
• Actuators
• Sensors
• Controller
• Processor/ Computer
• Software/
Programming
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Robot Manipulator
Arm
Wrist
End-effector
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EMJ37303 ROBOTIC SYSTEMS
Robot Manipulator
Joints
Links
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• The mechanical structure of a robot manipulator consists of
EMJ37303 ROBOTIC SYSTEMS
Robot Manipulator
• a sequence of rigid bodies (links) interconnected by means of
articulations (joints);
• a manipulator is characterized by an arm that ensures mobility, a
wrist that confers dexterity, and an end-effector that performs the
task required of the robot.
Open Kinematic Chain
Closed Kinematic Chain
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EMJ37303 ROBOTIC SYSTEMS
Robot Joints
(a) Prismatic (P)
(b) Revolute (R)
(d) Universal (U)
(c) Revolute (R)
(e) Spherical (U)
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• Degrees of Freedom: Number of independent position
variables which would has to be specified to locate all parts
of a mechanism.
• In most manipulators this is usually the number of joints.
• In general, a task consisting of arbitrarily positioning and
orienting an object in three-dimensional (3D) space, 6-DOFs
are required (three for positioning a point on the object and
three for orienting the object with respect to a reference
coordinate frame).
• If more DOFs than task variables are available, the
manipulator is said to be redundant from a kinematic
viewpoint.
EMJ37303 ROBOTIC SYSTEMS
Degrees of Freedom (DOF)
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• Cartesian robot (rectangular robot, gantry robot): manipulator which
has three prismatic joints, whose axes form a Cartesian coordinate system
EMJ37303 ROBOTIC SYSTEMS
Common Industrial Robots
• SCARA robot: manipulator which has two parallel rotary joints to provide
compliance in a selected plane
• Articulated robot: manipulator which has three or more rotary joints
• Parallel/Delta robot: manipulator whose arms have links which form a
closed loop structure
• Cylindrical robot: manipulator which has at least one rotary joint and at
least one prismatic joint, whose axes form a cylindrical coordinate system
• Polar robot (spherical robot): manipulator which has two rotary joints and
one prismatic joint, whose axes form a polar coordinate system
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EMJ37303 ROBOTIC SYSTEMS
Types of Robotic Arm
• Robot Manipulators
R2P
3P
2RP
3R
Selective Compliance Assembly Robot
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EMJ37303 ROBOTIC SYSTEMS
Joints and Links Representation
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Types of Robotic Arm
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The workspace represents that portion of the environment the manipulator’s endeffector can access. Its shape and volume depend on the manipulator
structure as well as on the presence of mechanical joint limits.
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Workspaces
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• Payload – The weight a robot can carry and still remain
within its other specifications.
• Reach – Maximum distance a robot can reach within its
working envelope.
• Precision (validity) – How accurately a specified point can
be reached.
• Repeatability (variability) – How accurately the same
position can be reached if the motion is repeated many
times.
EMJ37303 ROBOTIC SYSTEMS
Robot Characteristics
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• Σ𝑤 : World reference frame
𝚺𝐣𝐢
EMJ37303 ROBOTIC SYSTEMS
Robot Reference Frames
• Σ𝑒 : End-effector reference
frame
𝚺𝐞
• Σ𝑐 : Cylinder reference frame
• Σ𝑏 : Box reference frame
• Σ𝑗𝑖 : i-th joint reference frame
𝚺𝐛
𝚺𝐰
𝚺𝐜
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EMJ37303 ROBOTIC SYSTEMS
Find the Workspace
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EMJ37303 ROBOTIC SYSTEMS
Find the Workspace
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EMJ37303 ROBOTIC SYSTEMS
QR ATTENDANCE
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