Robotics

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The document discusses the definition, types, and applications of robots, emphasizing their roles in tasks that are dangerous, repetitive, or require high precision. It contrasts robots with automation machinery and details various types of robotic systems, including pick-and-place robots and those employing sensory feedback for accuracy. Key performance measures such as working volume, speed, accuracy, and degrees of freedom are also highlighted.

“Robot” coined by Karel Capek in a 1921 science-fiction Czech play

Definition:

“A robot is a reprogrammable, multifunctional manipulator designed to move
material, parts, tools, or specialized devices through variable programmed
motions for the performance of a variety of tasks.” (Robot Institute of America)
Alternate definition:
“A robot is a one-armed, blind idiot with limited memory
and which cannot speak, see, or hear.”

MIT’s Kismet: a robot
which exhibits expressions,
e.g., happy, sad, surprise,
disgust.

Ideal Tasks
Tasks which are:
– Dangerous
• Space exploration
• chemical spill cleanup
• disarming bombs
• disaster cleanup
– Boring and/or repetitive
• Welding car frames
• part pick and place
• manufacturing parts.
– High precision or high speed
• Electronics testing
• Surgery
• precision machining.

Automation vs. robots

•

Automation –Machinery designed to carry out a specific task
– Bottling machine
(These are always better
than robots, because they
– Dishwasher
can be optimally designed
– Paint sprayer
for a particular task).

•

Robots – machinery designed
to carry out a variety of tasks
– Pick and place arms
– Mobile robots
– Computer Numerical Control
machines

Types of robots
•

Pick and place
– Moves items between points
A SCARA robot (Selective Compliant
Articulated Robot Arm): A pick-andplace robot with angular
x-y-z positioning (Adept Technology)

•

Continuous path control
– Moves along a programmable path
A six-axis industrial robot ($60K)(Fanuc
Robotics), but an additional $200K is often
spent for tooling and programming.

•

Sensory
– Employs sensors for feedback

Pick and Place
•

Moves items from one point to
another

•

Does not need to follow a specific
path between points

•

Uses include loading and
unloading machines, placing
components on circuit boards, and
moving parts off conveyor belts.

A cartesian robot for picking and
placing circuits on circuit-boards

Continuous path control
•

Moves along a specific path

•

Uses include welding, cutting,
machining parts.

Robotic seam welding

Sensory
•

Uses sensors for feedback.

•

Closed-loop robots use sensors in
conjunction with actuators to gain
higher accuracy – servo motors.

•

Uses include mobile robotics,
telepresence, search and rescue, pick
and place with machine vision.

Measures of performance
•

Working volume
– The space within which the robot operates.
– Larger volume costs more but can increase the
capabilities of a robot

•

Speed and acceleration
– Faster speed often reduces resolution or
increases cost
– Varies depending on position, load.
– Speed can be limited by the task the robot
performs (welding, cutting)

•

Resolution
–

Often a speed tradeoff

–

The smallest step the robot can take

Performance (cont.)
• Accuracy
–The difference between the
actual position of the robot and
the programmed position
• Repeatability
Will the robot always return to the
same point under the same
control conditions?
Increased cost
Varies depending on position,
load

Control
•Open loop, i.e., no feedback, deterministic
•Closed loop, i.e., feedback, maybe a sense of
touch and/or vision

Kinematics and dynamics
•

Degrees of freedom—number of independent motions
–
–
–
–

Translation--3 independent directions
Rotation-- 3 independent axes
2D motion = 3 degrees of freedom: 2 translation, 1 rotation
3D motion = 6 degrees of freedom: 3 translation, 3 rotation

Kinematics and dynamics (cont.)
•

•

Actions
– Simple joints
• prismatic—sliding joint, e.g., square cylinder
in square tube
• revolute—hinge joint
– Compound joints
• ball and socket = 3 revolute joints
• round cylinder in tube = 1 prismatic, 1
revolute
Mobility
– Wheels
– multipedal (multi-legged with a sequence of
actions)

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Robotics

1. Robotics

2. “Robot” coined by Karel Capek in a 1921 science-fiction Czech play

3. Definition: “A robot is a reprogrammable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks.” (Robot Institute of America) Alternate definition: “A robot is a one-armed, blind idiot with limited memory and which cannot speak, see, or hear.” MIT’s Kismet: a robot which exhibits expressions, e.g., happy, sad, surprise, disgust.

4. Ideal Tasks Tasks which are: – Dangerous • Space exploration • chemical spill cleanup • disarming bombs • disaster cleanup – Boring and/or repetitive • Welding car frames • part pick and place • manufacturing parts. – High precision or high speed • Electronics testing • Surgery • precision machining.

5. Automation vs. robots • Automation –Machinery designed to carry out a specific task – Bottling machine (These are always better than robots, because they – Dishwasher can be optimally designed – Paint sprayer for a particular task). • Robots – machinery designed to carry out a variety of tasks – Pick and place arms – Mobile robots – Computer Numerical Control machines

6. Types of robots • Pick and place – Moves items between points A SCARA robot (Selective Compliant Articulated Robot Arm): A pick-andplace robot with angular x-y-z positioning (Adept Technology) • Continuous path control – Moves along a programmable path A six-axis industrial robot ($60K)(Fanuc Robotics), but an additional $200K is often spent for tooling and programming. • Sensory – Employs sensors for feedback

7. Pick and Place • Moves items from one point to another • Does not need to follow a specific path between points • Uses include loading and unloading machines, placing components on circuit boards, and moving parts off conveyor belts. A cartesian robot for picking and placing circuits on circuit-boards

8. Continuous path control • Moves along a specific path • Uses include welding, cutting, machining parts. Robotic seam welding

9. Sensory • Uses sensors for feedback. • Closed-loop robots use sensors in conjunction with actuators to gain higher accuracy – servo motors. • Uses include mobile robotics, telepresence, search and rescue, pick and place with machine vision.

10. Measures of performance • Working volume – The space within which the robot operates. – Larger volume costs more but can increase the capabilities of a robot • Speed and acceleration – Faster speed often reduces resolution or increases cost – Varies depending on position, load. – Speed can be limited by the task the robot performs (welding, cutting) • Resolution – Often a speed tradeoff – The smallest step the robot can take

11. Performance (cont.) • Accuracy –The difference between the actual position of the robot and the programmed position • Repeatability Will the robot always return to the same point under the same control conditions? Increased cost Varies depending on position, load

12. Control •Open loop, i.e., no feedback, deterministic •Closed loop, i.e., feedback, maybe a sense of touch and/or vision

13. Kinematics and dynamics • Degrees of freedom—number of independent motions – – – – Translation--3 independent directions Rotation-- 3 independent axes 2D motion = 3 degrees of freedom: 2 translation, 1 rotation 3D motion = 6 degrees of freedom: 3 translation, 3 rotation

14. Kinematics and dynamics (cont.) • • Actions – Simple joints • prismatic—sliding joint, e.g., square cylinder in square tube • revolute—hinge joint – Compound joints • ball and socket = 3 revolute joints • round cylinder in tube = 1 prismatic, 1 revolute Mobility – Wheels – multipedal (multi-legged with a sequence of actions)

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