Basics of Robotics_AO3I_ 22383 CH1

Chapter 1 Introduction to Robotics

1.1. Robot definition, robot anatomy, links, types of joints

1.2. Classification of robots, robot specifications.

1.3. Degree of freedom and its calculations, repeatability, precision, compliance

1.4. Safety measures in robots

1. Robot- definition and introduction

● In 1942 the term Robotics was introduced by Isaac Asimov in his story named Runaround.
● The origin of the word robot is from a Czech word called Robota which means forced or
compulsory labour.
● Machines that can replace human beings as regards to physical work and decision making are
categorised as Robots and their study as Robotic.
● Robotics deals with the design and manufacturing of robots.
● Robotics is interdisciplinary since it requires the knowledge of physics, mathematics,
mechanical engineering, electrical engineering, computer science engineering and
information technology.

● A Robot is defined by the International Standard of Organization (ISO) as a reprogrammable

multifunctional manipulator designed to perform the orders given to it by the human being
through the programmed motion.

2. Name of few Manufacturers of industrial robots:

1. ABB
2. Midea Group (KUKA)
3. The Fanuc Corporation
4. Kawasaki Heavy Industries
5. Epson Robots
6. TheYaskawa Electric corporation

3. Name of few industrial robots:

1. KUKA KR-5 3. ABBIRB120

2. FanucS430 4. EpsonC3A60CT

4. Definition of SCARA & PUMA

SCARA: Selective Compliance Assembly Robot Arm

PUMA: Programmable Universal Manipulator for Assembly

5. Laws of robotics

Manju K 1
Basics of Robotics_AO3I_ 22383 CH1

1. A robot must not harm a human being

2. Robot must always obey human beings unless that is in conflict with the first law
3. A robot must protect from harm unless that is in conflict with the first two laws
4. A robot may take a human being’s job but may not leave that person jobless

6. Robot anatomy: Components of a Robot:

The structure of a robot is mechanical and is called kinematic chain (functionally similar
to the skeleton of human body)

● Components of a Robot:

1. Manipulator 3. Controller
2. Sensors 4. Power source or power conversion unit

1) Manipulator:

● The manipulator is the physical/mechanical structure of the Robot which moves around. It is
similar to the human arm. It consists of several links (or bodies) connected in series by joints
(or kinematic pairs).
● Or, it is a collection of mechanical linkages connected by movable joints to perform the
assigned task. Each link is made up of steel or aluminium.
● The robot manipulator has three parts similar to a human arm, wrist, and hand.
● The function of an arm is to place an object in a certain position in three-dimensional
Cartesian space. For a typical 6° of freedom (6 DOF) robot the first three links and joins form
the arm and the last three mutually intersecting joints make the wrist.

End-effector:
○ It is a term used to specify what is attached at the end of a robot manipulator. This is
equivalent to the human hand. Examples of end-effectors are two-fingered gripper,
welding gun, paintbrush, welding electrode, gas-cutting torch, painting brush

2) Sensors: These are used to measure the parameters and feedback them to the controller. Thus
it informs the controller about the status of the manipulator. Sensors are spread throughout the
robotic system.
Types of sensors:
i) Non-visual sensors- example: position and velocity sensor, proximity sensor,
temperature sensor, voice sensor,
ii)Visual sensors- example: TV cameras with image detection software.

3) Controller: It functions as the "brain" of the robot and commands the robot memory and
logic. Controllers are run by programs or sets of instructions written in code. It starts and
stops the motion of the manipulator in a desired sequence and at specific points. It stores the
position and sequential data in memory. Microcomputers are used as controllers these days.

4) Power Source: It is the main source of energy and provides the power to the entire robotic
system. Examples are battery, alternate current from a power plant, solar energy or hydraulic
energy.
5) Actuators:. The actuators of a robot are devices which provide motion to the manipulator

Manju K 2
Basics of Robotics_AO3I_ 22383 CH1

links and the end-effector. It drives the robot including its grippers.

7. Robot anatomy: Manipulator, Links and joints

Manipulator:

● The manipulator of an industrial robot is a collection of mechanical linkages

connected by movable joints or kinematic pairs to perform the assigned tasks.

Manju K 3
Basics of Robotics_AO3I_ 22383 CH1

Industrial robots have series configuration i.e, links and joints are connected in series
pattern; therefore industrial robots are also called serial robots.
● Robot anatomy deals with the study of different joints and links and other aspects of
the manipulator's physical construction.

Link:
● The individual bodies that make up a robot manipulator are called 'links.' A robotic
link is the rigid component of the robot manipulator connecting the joints.
● But there are certain non-rigid links available such as chains, cables, or belts.

Joint:
● A robotic 'joint' joins two links (an input link and an output link) and provides
controlled relative movement between two links.The joints (also called axes) are the
movable components of the robot that cause relative motion between adjacent links.
● Most of the robots are mounted upon a stationary base, such as the floor. From this
base, a joint-link numbering scheme is recognized as shown in below Figure. The
robotic base and its connection to the first joint are termed as link-0. The first joint in
the sequence is joint-1. Link-0 is the input link for joint-1, while the output link from
joint-1 is link-1 which leads to joint-2. Thus link 1 is the output link for joint-1 and the
input link for joint-2. This joint-link-numbering scheme is further followed for all
joints and links in the robotic systems.

Fig: Manipulator

Summary:
● Manipulator consists of joints and links
● Joints provide relative motion

Manju K 4
Basics of Robotics_AO3I_ 22383 CH1

● Links are rigid members between joints

● Various joint types: linear and rotary
● Each joint provides a “degree-of-freedom”
● Body-and-arm is for positioning of objects in the robot's work volume
● Wrist assembly is for orientation of objects

8. Types of joints:

There are five types of joints for an industrial robot.

1. Linear joint (type L joint): The relative movement between the input link and the
output link is a translational sliding motion, with the axes of the two links being
parallel. It can be Prismatic Joint or Sliding Joint.
2. Orthogonal joint (type U joint): This is also a translational sliding motion, but the
input and output links are perpendicular to each other during the movement.
3. Rotational joint (type R joint): This type provides rotational relative motion, with the
axis of rotation perpendicular to the axes of the input and output links.
4. Twisting joint (type T joint): This joint also involves rotary motion, but the axis of
rotation of the joint is parallel to the axes of the two links.
5. Revolving joint (type V-joint, V from the “v” in revolving): In this type, the axis of
input link is parallel to the axis of rotation of the joint. However the axis of the output
link is perpendicular to the axis of rotation.

1. Linear joint (type L joint) 2. Orthogonal joint (type O joint)

3. Rotational joint (type R joint) 4. Twisting joint (type T joint)

5. Revolving joint (type V-joint)

Manju K 5
Basics of Robotics_AO3I_ 22383 CH1

9. Work Envelope or Workspace

The reachable points by the end-effector of a robot is called Work Envelope or Workspace

10. Coordinate system:

A coordinate system is a system consisting of a set of points (or lines or surfaces); each point
has a unique location, or coordinate, that is assigned to it. A coordinate system is a method for
identifying the location of a point on the earth.

11. Robotic Arm geometry or Robotic coordinate system or Robotic geometric work
envelope or type of manipulator movement or arm configuration:

It describes the volume of reachable coordinates of a point on the end-effector of the robot
(rather than its orientations). It classifies the arm of a robot without considering the wrist and
hand (or end-effector). Therefore it considers only 3 DOF.
There are four types:
1. Cartesian coordinate arm configuration
2. Cylindrical coordinate arm configuration
3. Spherical or polar coordinate arm configuration
4. Jointed arm or articulated or revolute coordinate arm configuration

1. Cartesian coordinate or rectangular coordinate arm configuration (PPP)

● It consists of three prismatic joints or linear joints, two of which are orthogonal.
● So it gives only linear motions along the three principal axes.
● Here, the arm of the robot moves in a rectilinear mode, that is, to the directions of x, y,
and z coordinates of the rectangular right-handed Cartesian coordinate system;
therefore it is called Cartesian or rectangular type.
● Its workspace has the shape of a rectangular box or prism.
● The movements are referred to as travel x, height or elevation y, and reach z of the
arm.
❖ Advantages and disadvantages:
● It has a rigid structure and provides an accurate position of the end-effector. Cartesian
arm gives high precision and is easy to program
● A Cartesian robot needs a large volume to operate.Maintenance of such robots is
difficult.
Diagram of Cartesian coordinate arm configuration and the rectangular work envelope:

Manju K 6
Basics of Robotics_AO3I_ 22383 CH1

Or,

2. Cylindrical coordinate arm configuration (RPP)

● Here the arm of a robot possesses one revolute and two prismatic joints.
● The prismatic joint can be raised or lowered about a horizontal revolute joint. The two
links are mounted on a rotating base.
● The arm endpoint moves within a partial spherical space. Therefore it is called
Spherical coordinate configuration.
● The work envelope is cylindrical.
● This configuration allows manipulation of objects on the floor.
❖ Advantages and disadvantages:
● It is used for machine loading operations and cylindrical surfaces, e.g., welding pipe
● Accuracy decreases as the horizontal stroke increases.

Diagram of Cylindrical coordinate arm configuration and the cylindrical work envelope:

Manju K 7
Basics of Robotics_AO3I_ 22383 CH1

3. Spherical or polar coordinate arm configuration (RRP)

● It consists of two revolute joints and one prismatic joint.

● The prismatic joint can be raised or lowered about a horizontal revolute joint.
● The two links are mounted on a rotating base.
● These various joints provide the capability of moving the arm endpoint within a partial
spherical space.Therefore it is called as ―Spherical coordinate‖ configuration.
● The work envelope is spherical

Drawbacks:
Low mechanical stiffness, Complex construction, Position accuracy decreases with the
increasing radial stroke.

Diagram of spherical coordinate arm configuration and the spherical work envelope:

Manju K 8
Basics of Robotics_AO3I_ 22383 CH1

4. Jointed arm or articulated or revolute coordinate arm configuration (RRR)

● Here, the robot arm consists of three revolute joints.

● Jointed arm configurations are similar to that of a human arm.
● The work envelope is spherical. This configuration is very widely used.
● Applications: Arc welding, Spray coating.
● Example: SCARA robot (Selective compliance Assembly Robot Arm)

Diagram of articulated coordinate arm configuration and the spherical work envelope:

12. DOF:

● In mechanics, the degree of freedom (DOF) of a mechanical system is the number of

independent movements that an object can perform in a 3D space.
● A degree of freedom in robotics determines an independent motion of the robot

Manju K 9
Basics of Robotics_AO3I_ 22383 CH1

● The robot’s degree of freedom (DOF) is equal to the number of joints in the
manipulator. Every joint axis defines a degree of freedom.
● The degree of freedom (DOF) of a mechanical system is the number of independent
coordinates or minimum coordinates required to fully describe its pose or
configuration.

13. Repeatability, precision, compliance

❖ Repeatability:
It is a measure of the difference in value between two successive measurements under the same
conditions.
In Robotics repeatability is defined as the closeness between the actual positions attained by the end
effector for the same command. Repeatability references a robot’s ability to return to the exact same
position over and over.

❖ Precision:
Precision means the ‘closeness of agreement’ between independent measurements of a quantity under
the same conditions without any reference to the true value.

❖ Compliance:
In industrial robotics, the term compliance refers to flexibility and suppleness (opposite to stiffness).
A compliant end effector can reach several positions and exert different forces on a given object.
A non-compliant (stiff) robot end effector has predetermined positions or trajectories.

14. Classification of robots

Robots are classified based on the following points:

● Power source
● Degree of freedom
● Arm geometry or coordinate system
● Intelligence level
● Types of motion
● Control Methods

1. Classification based on power source:

a. Electrical: electricity is the major source of energy.
b. Pneumatic: air pressure is used here.
c. Hydraulic: here,fluid pressure is used. It provides a large amount of power. Therefore
it is used to handle heavy loads.

2. Classification based on DOF:

● A joint is required for each degree of freedom. The more the DOF, greater the
flexibility. 6 DOF is required for maximum flexibility.

3. Classification based on Arm geometry:

● Classification of a robot based on its coordinate system is also referred to as
classification by arm configuration or geometric work envelope. It actually classifies
the arm of a robot without considering the wrist and its end-effector or hand. It tells
the volume of reachable coordinates of a point on the end-effector, rather than its

Manju K 10
Basics of Robotics_AO3I_ 22383 CH1

orientations.

There are four such types:

1. Cartesian coordinate arm configuration
2. Cylindrical coordinate arm configuration
3. Spherical or polar coordinate arm configuration
4. Jointed arm or articulated or revolute coordinate arm configuration

4. Classification based on Intelligence level:

● This classification is based on the level of technology applied to the robot. Intelligent
robots have a variety of sensors and artificial intelligence

5. Classification based on Types of motion

● This classification is based on straight line motion, circular motion or slew motion (the
rotation of an object around an axis, usually the z axis)

6. Classification based on control methods:

● This classification is based on

A. Motion control strategy
B. How the motion path is achieved

● Based on motion control strategy, it is classified as

1. Robot that is servo controlled (closed loop)
2. Robot that is non-servo controlled (open loop).
The majority of industrial robots today are servo controlled.

● Based on How the motion path is achieved, it is classified as

1. Point-To-Point (PTP) control: The robot arm moves from one desired
point to the next without regard to the path taken between them. It is
used for assembly, palletizing, and machine-tool loading/unloading
2. Continuous Path (CP) control: The robot arm moves along a continuous
path with specified orientations.

15. Robot specifications

These are used to define certain characteristics of an industrial robot

1. Axes - A robot axis represents a degree of freedom. A degree of freedom determines an

independent motion of the robot. The more axes a robot has the more flexibility or
movement it will be capable of. Most industrial robots have between three to seven axes.
2. Payload - Payload capacity represents the maximum amount of weight a robot arm can
tolerate. It includes the weight of the work piece and end effector. Robotic payload is
typically expressed in kilograms. Payload varies greatly among industrial robots, from 0.5
kg to over 1000 kg.
3. Repeatability - Repeatability references a robot’s ability to return to the exact same
position over and over. It defines how precise a robot may be. Repeatability is expressed
in millimeters plus or minus the point of alteration to determine the robot’s margin of

Manju K 11
Basics of Robotics_AO3I_ 22383 CH1

error.
4. Reach - It is the maximum distance a robot arm can obtain when extended vertical and
horizontal. A robot’s reach can determine the scope of its work envelope.
5. Robot Mass - Robot mass is the weight of a robot. It is usually expressed in kilograms
and references the weight of the robotic manipulator only.
6. Structure - It refers to the type of robot like articulated, delta, SCARA, and gantry.
7. Motion Speed - Motion speed lists the degrees traveled per second to define the speed of
each robotic axis.
8. Motion Range - This specification defines the scope of movement for each robotic axis as
expressed in degrees.

16. Safety measures in robots

● The robot working area should be closed by permanent barriers (e.g fences,rolls, and chains)
to prevent people from entering the area while the robot is working.
● Access gates to the closed working area of the robot should be interlocked with the robot
control. Once such a gate is opened, it automatically shuts down the robot system.
● An illuminated working sign, stating ‘robot at work’, should be automatically turned on when
the robot is switched on.
● Emergency stop buttons must be provided in easily accessible locations as well as on the
robot’s teach box and control console.
● Pressure-sensitive pads can be put on the floor around the robot that, when stepped on, turn
the robot controller off.
● During robot maintenance, the arm can be blocked up on a specially built holding device
before any service work is started.
● The reach box must be designed so that the robot can move as long as a switch is pressed by
the operator’s finger. Removing the finger must cease all robot motions.
● Proper grounding of the robot body is essential. Electric cables must be located where they
cannot be damaged by the movements of the robot.
● Mechanical stoppers, interlocks, and sensors can be added to limit the robot’s reach envelope
when the maximum range is not required.
● Sensor systems that can detect intruders that enter the robot area while it is operating should
be provided.

Manju K 12
Basics of Robotics_AO3I_ 22383 CH1

Important questions CH 1
1. Define robot
2. State the components of the robot. Explain with block diagram
3. Draw the diagram of the manipulator. Compare it with human arm
4. Define links and joints of robot arm
5. Name the types of joints in robot manipulators. Explain with diagram
6. Define work envelope
7. Name the robotic arm configurations. Explain each
8. Define DOF, Payload, End effector
9. Define Repeatability, precision, compliance
10. Describe the classification of robot
11. Describe the specifications of robot
12. Describe the safety measures in robotics
13. Define SCARA, PUMA
14. Name the manufacturers of robots
15. Name 4 industrial robots

Manju K 13