INTRODUCTION TO

ROBOTICS
 Robotics is an interdisciplinary field that combines science,
engineering, and technology to design, build, operate, and
use robots to replicate, substitute, or assist humans in
completing tasks
A robot is a computer-controlled machine that is
programmed to move, manipulate objects, and accomplish
work while interacting with its environment.
 Accordingto the Robot Institute of America (1979), a robot is
defined as “a reprogrammable, multifunctional manipulator
designed to move material, parts, tools, or specialized
devices through various programmed motions for the
performance of a variety of tasks.”
LAWS FOR ROBOTICS
 Isaac
Asimov proposed three laws of robotics and he later
added a “zeroth law.”
 Law One: A robot may not injure a human being, or, through
inaction, allow a human being to come to harm, unless this
would violate a higher order law.
 Law Two: A robot must obey orders given to it by human
beings, except where such orders would conflict with a
higher order law.
 Law Three: A robot must protect its own existence as long
as such protection does not conflict with a higher order law.
 Law Zero: A robot may not injure humanity, or, through
inaction, allow humanity to come to harm.
 THE ADVANTAGES OF ROBOTS
1. Increase in productivity, safety, efficiency, quality, and
consistency of products with the use of robots.
2. Robots can work in hazardous environments without the need
for life support, comfort, or concern about safety.
3. Robots need no environmental comfort such as lighting, air
conditioning, ventilation, and noise protection.
4. Robots can work continuously without experiencing fatigue or
boredom, do not have hangovers, and need no medical
insurance or vacation.
5. Robots have repeatable precision at all times, unless something
happens to them or unless they wear out.
6. Robots can be much more accurate than humans.
 THE DISADVANTAGES OF
1.ROBOTS
Robots replace human workers creating economic
problems, such as lost salaries, and social problems such as
dissatisfaction and resentment among workers.
2. Robots lack capability to respond in emergencies, unless
the situation is predicted and the response is included in
the system.
3. Safety measures are needed to ensure that they do not
injure operators and machines working with them. Robots
are costly due to initial cost of equipment, installation costs,
need for training, and need for programming.
MAIN COMPONENT OF ROBOT

 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 where each link of the robot is, in order to know the
robot’s configuration.
 Manipulator

This is the main body of Robot comprise of all mechanical

supports, Base , Joints and all other structural Elements
 MAIN COMPONENT OF ROBOT
 Drive/ Power supply
The drive system supplies the power, which enables the
robot to move. Drive for a robot may be hydraulic,
pneumatic, or electric
 Control System
Controller is the brain of the robot. Controller is a
communication and information-processing device that
initiates, terminates, and coordinates the motions and
sequences of a robot. Most industrial robots incorporate
computer or microprocessor based controllers
 MAIN COMPONENT OF ROBOT

 Actuators

Are part of robot that convert energy (e.g., electrical,

pneumatic, hydraulic) into mechanical motion or action,
enabling a robot to perform a specific task or function
End Effector
Is a part of robot which is connected to the last joint of
Manipulator. End effecter is a part which is doing intended
work of a robot.
There are two main types of end effectors: grippers and
tools.
How Robot resemble with
Human Body
How human hand manipulator
resemble Robot manipulator
 Other Robot Terminologies
 Links

Links are the solid structural members of a robot

 Joints

Joints are the movable couplings between joints, It is the

point where two links meet
A robot joint is a mechanism that permits relative
movement between parts of a robot arm. The joints of a
robot are designed to enable the robot to move its end-
effector along a path from one position to another as
desired
 Classification of Robot joints

 Prismatic joints
Prismatic joints are also known as sliding as well as linear
joints. They are called prismatic because the cross section of
the joint is considered as a generalized prism. They permit
links to make a linear displacement along a fixed axis. In
other words, 2. one link slides on the other along a straight
line
 Revolute joints
Revolute joint is a type of joint where a pair of links rotates
about a fixed axis
Classification of Robot joints
Types of Revolute Joints
 Rotational joint (R)
 Twisting joint (T)
 Revolving joint (V)
A rotational joint (R) is identified by its motion, rotation
about an axis perpendicular to the adjoining links. Here,
the lengths of adjoining links do not change but the relative
position of the links with respect to one another changes as
the rotation takes place
A twisting joint (T) is also a rotational joint, where the
rotation takes place about an axis that is parallel to both
adjoining links
A revolving joint (V) is another rotational joint, where
the rotation takes place about an axis that is parallel to
one of the adjoining links. Usually, the links are aligned
perpendicular to one another at this kind of joint. The
rotation involves revolution of one link about another
Identify links and Joints
Identify links and Joints
Other Robot Terminologies
 Degree of freedom
Degree of freedom is the number of independent
movements a robot can realize with respect to its base
 Consider Robot With 7 degree of Freedom
industrial robot with three basic degrees of freedom plus
three degrees of freedom in the wrist and a seventh in its
ability to move back and forth along the floor
Other Robot Terminologies
 Orientation Axis:
Basically, if the tool is held at a fixed position, the orientation
determines which direction it can be pointed in
 Position Axis:
The tool, regardless of orientation, can be moved to a
number of positions in space
 Tool Center Point (TCP):
The tool center point is located either on the robot or the
tool, Typically, the TCP is used when referring to the robots
position, as well as the focal point of the tool
Other Robot Terminologies
 Accuracy:

Accuracy specification describes how close the arm will be when

it moves to the desired point.
 Precision (validity):
Precision is defined as how accurately a specified point can be
reached. This is a function of the resolution of the actuators, as
well as its feedback devices
 Repeatability (variability):
Repeatability is how accurately the same position can be
reached if the motion is repeated many times
Other Robot Terminologies
 Work envelope/Workspace:
A robot can only work in the area in which it can move. This
area is called the work envelope.
Other Robot Terminologies
 Stability:
Stability refers to robot motion with the least
amount of oscillation. A good robot is one that is fast
enough but at the same time has good stability
 Speed: Speed refers either to the maximum velocity
that is achievable by the Tool Center Point (TCP), or by
individual joints. This number is not accurate in most
robots, and will vary over the workspace as the geometry
of the robot changes
 Other Robot Terminologies
 Payload:

Payload is the weight a robot can carry and still remain within
its specifications. For example, a robot’s maximum load
capacity may be much larger than its specified payload, but at
the maximum level, it may become less accurate, may not
follow its intended path accurately, or may have excessive
deflections. The payload of robots compared with their own
weight is usually very small.
Other Robot Terminologies
 Reach:

Reach is the maximum distance a robot can reach within its

work envelope.
 Settling Time:
During a movement, the robot moves fast, but as the robot
approaches the final position it slows down, and slowly
approaches at final position. The settling time is the time
required for the robot to be within a given distance from the
final position
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