Specification of robots

ABSTRACT

The use of autonomous robots in both industry and everyday life has increased significantly in
the recent years. A growing number of robots is connected to and operated from networks,
including the World Wide Web. Consequently, the Robotics community is exploring and
adopting REST (Representational State Transfer) architectural principles and considers the use
of Linked Data technologies as fruitful next step. However, we observe a lack of concise and
stable specifications of how to properly leverage the RESTful paradigm and Linked Data
concepts in the Robotics domain. Introducing the notion of Linked Robotic Things, we provide a
minimalistic, yet well-defined specification covering a minimal set of requirements with respect
to the use of HTTP and RDF.
1 INTRODUCTION

Robotic systems are widely used in modern society and have significant impact to economics
and social aspects. However, most of these robots are not able to act in a context aware manner.
For example, many industry robots execute hard coded programs in a caged working space. With
the increasing demand for flexibility in production processes and enhanced human-robot
collaboration, robotic systems have to interact naturally with their environment, other robots and
humans. To achieve this, robotic systems must acquire deeper knowledge about their
environment, for example by tapping into other software and information systems. In this
respect, Kamei et al. [17] argue that for the successful design of flexible, extendable, re-usable
applications, robots are required to be provided as abstracted resource in a “cloud of robots”.
Subsequently, parts of the robots, the actions that can be performed, and tasks that are to be
fulfilled by performing the described actions need to be provided in a unified format. © 2017
Copyright held by the author/owners. SEMANTiCS 2017 workshops proceedings: LIDARI
September 11-14, 2017, Amsterdam, Netherlands Consequently, the Robotics community is
exploring and adopting REST (Representational State Transfer) architectural principles and
considers the use of Linked Data technologies as fruitful next step. However, we observe a lack
of concise and stable specifications of how to properly leverage the RESTful paradigm and
Linked Data concepts in the Robotics domain. In the scope of this paper, we identify a set of
desiderata that we consider vital for successfully implementing Linked Data-driven robotic
systems and applications. Introducing the notion of Linked Robotic Things, we provide a
minimalistic, yet well-defined specification covering a minimal set of requirements with respect
to the desiderata identified. Our contributions include in particular: (1) the Robotic Thing Model,
a minimalistic core specification for truly RESTful “Web Robotics”. (2) the notion of Linked
Robotic Things as a semantic extension of Web-enabled robots. (3) the Linked Robotic Thing
Model, a basic contract allowing clients to automatically discover and interoperate with Linked
Robotic Things. The remainder of this paper is organized as follows. We outline the
development of “Web Robotics” and report on recent research in the Linked Data community
(cf. Section 2). Next, several high-level desiderata for Linked Data-driven robotic systems and
applications (cf. Section 3) are discussed. Section 4 presents a minimal specification of Web-
enabled robots meeting the criteria for level 3 of the Richardson Maturity Model. We propose a
semantic extension of Web-enabled robots in Section 5, and define the Linked Robotic Thing
Model in Section 6. Future work is outlined in Section 7 , and we conclude with summary in
Section 8.
Specification of Robots

Every industrial robot is defined by certain measurements, payload, and design features.
RobotWorx lists robot specifications to help customers determine which model is right for their
application and facility. Learn what robot specifications mean, and you'll be able to select the
right robot in no time.  
Axis Movement Specifications:  

Axes –

 The individual segments of each robot manipulator are connected with mechanical joints - each
serves as an axis of movement. The most common industrial robots have six axes of movement.
The number and placement of axes determines the flexibility of each model. 
Robot Motion Range –

Much like the joints between bones, robot axes have limits to each movement. Every axis has a
specific scope of motion. On a typical specifications sheet, the degree of movement shows up as
positive or negative degree of movement from the center base position of each axis. 
Robot Motion Speed –

Each axis moves at a different speed. They are listed as degrees traveled per second. Focus on
this criterion when you need to match certain speed specifications for your application.  
Repeatability –

 Industrial robots are known for their accuracy. But this ability to return to an exact location
again and again,known as a robot's repeatability, can vary with each model. More precision-
driven applications will require tighter repeatability figures. Repeatability is listed as a
millimeter of alteration plus or minus from the point.
Robot Specifications for Weight:

Payload –

The weight capacity of each robot manipulator is its payload. This is a critical specification and
includes the tooling weight as well. You can rule out a number of robots with this robot
specification category alone. 
Robot Mass –

Every robot has a specific weight or mass. This number only indicates how much the robot
manipulator weighs. It does not include the weight of the robot's controller. This specification
may not be quite as important unless you are trying to install your robot on a table or shelf.

Specifications and Work Envelope:

Vertical Reach –

How high can the robot go? A robot's vertical reach specification refers to the height of the robot
when it extends upwards from the base. Use this to determine whether or not a model is tall
enough for your application and location.  
Horizontal Reach –

How far can a robot reach? The horizontal reach measures the distance of the fully extended
arm - from the base to the wrist. Some applications will require a wider work envelope with a big
reach, others are satisfied with a contained, short horizontal reach. 
Structure –

Robots are engineered with different structures. The most common by far is the
vertical articulated type, sometimes called a vertical jointed-arm robot. Other structure types
include SCARA, Cartesian, and parallel kinematic robots.
Technical specification in Robotics

 
Accuracy:

  The robot's program instruct the robot to move to a specified point, it does not
actually perform as per specified. The accuracy measures such variance. That is, the distance
between the specified position that a robot is trying to achieve (programming point), and the
actual X, Y and Z resultant position of the robot end effector.
 

Repeatability:

The ability of a robot returns repeatedly to a given position. It is the ability of a

robotic system or mechanism to repeat the same motion or achieve the same position.
Repeatability is is a measure of the error or variability when repeatedly reaching for a single
position. Repeatability is often smaller than accuracy.
 
Degree of Freedom (DOF):

Each joint or axis on the robot introduces a degree of

freedom. Each DOF can be a slider, rotary, or other type of actuator. The number of DOF that a
manipulator possesses thus is the number of independent ways in which a robot arm can move.
Industrial robots typically have 5 or 6 degrees of freedom.
 Three of the degrees of freedom allow positioning in 3D space (X, Y, Z), while the other 2 or 3
are used for orientation of the end effector (yaw, pitch and roll). 6 degrees of freedom are enough
to allow the robot to reach all positions and orientations in 3D space. 5 DOF requires a restriction
to 2D space, or else it limits orientations. 5 DOF robots are commonly used for handling tools
such as arc welders.
Resolution:

  The smallest increment of motion can be detected or controlled by the robotic

control system. It is a function of encoder pulses per revolution and drive (e.g. reduction gear)
ratio. And it is dependent on the distance between the tool center point and the joint axis.
 
Envelope:

  A three-dimensional shape, that defines the boundaries that the robot

manipulator can reach; also known as reach envelope.
 
Reach:

  The maximum horizontal distance between the center of the robot base to the end of
its wrist.
 
Maximum Speed:

 A robot simultaneously moving with all joints in complimentary directions at full speed with
full extension. The maximum speed is the theoretical values which does not consider under
loading condition.
 
Payload:

The maximum payload is the amount of weight carried by the robot manipulator at
reduced speed while maintaining rated precision. Nominal payload is measured at maximum
speed while maintaining rated precision. These ratings are highly dependent on the size and
shape of the payload due to variation in inertia.

Robotics technology influences every aspect of work and home. Robotics has the potential to
positively transform lives and work practices, raise efficiency and safety levels and provide
enhanced levels of service. Even more, robotics is set to become the driving technology
underpinning a whole new generation of autonomous devices and cognitive artefacts that,
through their learning capabilities, interact seamlessly with the world around them, and hence,
provide the missing link between the digital and physical world. Robotics is already the key
driver of competitiveness and flexibility in large scale manufacturing industries. In these
industries robotics already underpins employment. Increasingly robotics is becoming more
relevant for smaller manufacturing industries which are central to Europe’s manufacturing and
employment capacity.
By the same token, service robotics will show far more disruptive effects on the competitiveness
of non-manufacturing industries such as agriculture, transport, healthcare, security and utilities.
The growth in these areas over the coming decade will be much more dramatic. From what is
currently a relatively low base, service robots used in non-manufacturing areas are expected to
become the largest area of global robot sales.
10 Good Reasons to Invest in Robots

1. Reduced operating costs

Robots enable you to reduce direct and overhead costs, making a dramatic difference to your
competitiveness. Take energy for example. With no requirement for minimum lighting or heating
levels, robots offer a great opportunity to cut your energy bills. Current estimates point to a
potential saving of 8% for every 1oC reduction in heating levels, while savings of up to 20% can
be achieved by turning off unnecessary lighting.
2. Improved product quality

The inherent accuracy and repeatability of robots means you can achieve a consistently high
quality finish for every product produced. Robots eliminate the problems associated with
tiredness, distraction and the effects of repetitive and tedious tasks.
3. Improved quality of work for employees 

With robots you can improve working conditions for your staff. They’ll no longer have to work
in dusty, hot or hazardous environments. In addition, by teaching them how to use robots they
can learn valuable programming skills and do work that is more stimulating and challenging.
4. Increased production output 

Robots can be left running overnight and during weekends with little supervision, so you can
increase your output levels and meet customer order deadlines. A robotic solution will not need
time away from production for breaks, sickness, distractions or lapses of concentration. Robots
can now also be programmed offline, ensuring new production processes can be quickly
introduced for faster production
5. Increased product manufacturing flexibility 

Robots can add flexibility to your production line. Once programmed, they can easily switch
between processes, helping you to meet changes in product design or customer demand with the
minimum of effort.
6. Reduced waste and increased yield 

By using robots, you can vastly increase the quality of your products. You will have more
products finished on the first run to the standard required by your customers, and reduce the
amount of breakages and waste produced as a result of poor quality or inconsistent finishing.
With products being produced to such a high level each time, you will gain greater yields.
7. Improved health and safety 

Robots can readily take over unpleasant, arduous or health threatening tasks that may be
currently undertaken by manual workers. By using robots, you can decrease the likelihood of
accidents caused by contact with machine tools or other potentially hazardous production
machinery or processes. They can also help to eliminate ailments associated with repetitive or
intensive processes, such as repetitive strain injuries (RSI) and vibration white finger (VWF).
8. Reduced labour turnover and recruitment difficulty 

The high precision demanded by today’s industrial processes requires the highest levels of skill
and training. With highly-skilled manual workers becoming harder to find and more expensive to
employ, robots can provide an ideal alternative. Once programmed for your process, robots are
ready to begin work with none of the costs associated with recruitment or ongoing training.
Robots can also offer greater flexibility, both in terms of work patterns and the ability to handle
different production tasks.
9. Reduced capital costs

Using robots to achieve faster, more efficient production lines can help reduce capital costs
associated with inventory and work in progress. By moving products faster in production,
businesses can better predict the production rate and ensure a fast and efficient service is
delivered.
10. Save space 

Robots can be mounted in multiple configurations to help you save highly valuable space in
manufacturing areas. They can also be programmed to work in confined spaces so you don’t lose
valuable floor space.
Overviews

Robots have advanced dramatically over the past few decades since their initial use in the
automotive industry. Over the years, they’ve come to be a reliable way to automate difficult,
dirty and dangerous tasks that require excessive physical exertion for human workers or even put
them in harm’s way.

Today’s robots are flexible and profitable, able to automate a wide range of tasks in an even
wider range of industries inside and outside of the factory setting. To understand today’s robots,
it’s important to understand how they’ve evolved.

Challenges that Modern Robots Have Overcome

Robots today are much different than they were even just ten years ago. As they’ve evolved,
robots have incorporated built-in safety features to minimize workplace incidents and even work
directly alongside human workers. With a diverse range of end-effectors and robot designs,
they’ve also been able to greatly expand their potential uses compared to earlier robots.

Robots are now easier to program than ever before, with some robots not even needing
programming knowledge, whereas traditional robots required unique expertise for programming.
On top of this, robots are now connected to internal MES and ERP systems to provide
performance feedback and advanced production analytics. Most impressively, as all these new
features have been added to modern robots, their initial costs have been steadily decreasing,
making them a viable solution for just about any industrial operation.