Clase #2 3-10-2016

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Clase #2
Prof. MSc. Ing. Pablo Adames
Oct.-16
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Introduction
Robotics in humans minds since old times
Primarily study in industrial manipulator type robots
Venices San Marcos Clock Tower

Old Town Hall Tower in Prague
Marienplatze Clock Tower in Munich
Kinematics,dynamics, and trajectory planning
Same principles presented in manipulator can be used by

other types of robots (e.g. rovers, exoskeletal, humanoid,
walking machines and bionic robots)
Robots take much effort and many resources
Most Mid-1980 robot companies are gone

Only companies that make real industrial robots have remained ( Fanuc,
Kuka, Motoman, Fuji) or specialty robots (Mako Surgical Corp., Intuitive
Surgical, etc.)
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What is a Robot
The difference between a robot and a manipulator
Crane and Manipulator are controlled by a human who operates and

controls the actuators
Robot manipulator is controlled by a computer that runs a
programRun by a computer or microprocessor not a human
Controlled by feedback devices
Mostly autonomous
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Sept.-15
Classification of Robots
According to JIRA (Japanese Industrial Robots Association):
Class 1: Manual Handling Device: a device with multiple degrees of

freedom, actuated by an operator
Class 2: Fixed Sequence Robot: a device that performs the
successive stages of a task according to a predetermined,
unchanging method, which is hard to modify
Class 3: Variable Sequence Robot: same as in class 2, but easy to
modify
Class 4: Playback Robot: a human operator performs the task
manually by leading the robot, which records the motions for later
playback. The robot repeats the same motions according to the
recorded information
Class 5: Numerical Control Robot: The operator supplies the robot
with a movement program rather than teaching it the task manually
Class 6: Intelligent Robot: A robot with the means to understand its
environment, and the ability to successfully complete a task despite
changes in the surrounding conditions under which it is to be
performed
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Classification of Robots
The Robotics Institute of America (RIA) only considers

classes 3-6 of the JIRA (Japanese Industrial Robots
Association) as robots.
Class 3: Variable Sequence Robot: same as in class 2, but easy

to modify
Class 4: Playback Robot: a human operator performs the task
manually by leading the robot, which records the motions for later
playback. The robot repeats the same motions according to the
recorded information
Class 5: Numerical Control Robot: The operator supplies the
robot with a movement program rather than teaching it the task
manually
Class 6: Intelligent Robot: A robot with the means to understand
its environment, and the ability to successfully complete a task
despite changes in the surrounding conditions under which it is to
be performed
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What is Robotics?
Robotics is the art, knowledge base, and the know-how of designing,

applying, and using robots in human endeavors. Robotic systems consist
of robots with also other devices and systems used together with the
robots.
Robotics is an interdisciplinary engineering, computer science, cognitive
sciences, biology, and many other disciplines.
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History of Robotics
Czech author Karel Capek wrote Rossums Universal Robots and

introduced the word rabota (worker).
George Devol developed the magnetic controller, a playback device. Eckert
and Mauchley built the ENIAC computer at the University of Pennsylvania.
The first numerically controlled machine was built at MIT.
George Devol developed the first programmable robot.
1955. Denavit and Hartenberg developed homogeneous transformation
matrices.
U.S. patent 2,988,237 was issued to George Devol for Programmed
Article Transfer, a basis for Unimate robots.
Unimation was formed, the first industrial robots appeared, and GM
installed its first robot from Unimation.
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History of Robotics: Cont.
Unimate introduced MarkII robot. The first robot was imported to Japan
for paint spraying applications.
An intelligent robot called Shakey was built at the Stanford Research Institute
(SRI).
IBM worked on a rectangular coordinate robot for internal use. It eventually
developed the IBM 7565 for sale.
Cincinnati Milacron introduced T3 model robot which became very popular
in industry.
The first PUMA robot was shipped to GM by Unimation.
GM and Fanuc of Japan signed an agreement to build GMFanuc robots.
Robotics became a very popular subject, both in industry as well as
academia. Many programs in the nation started teaching robotic courses.
1983 Unimation was sold to Westinghouse Corporation, who subsequently
sold it to the Staubli of Switzerland in 1988.
1986 Honda introduced its first humanoid robot called H0. First Asimo was
introduced in 2000.
2005 Between January and March, over 5,300 robots were ordered by the
North American manufacturing companies at a value of $302 million.
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Advantages of Robots
Robotics and automation can, in many situations,

increase productivity, safety, efficiency, quality, and
consistency of products.
Robots can work in hazardous environments (such as
radiation, darkness, hot and cold, ocean bottoms,
space, and so on) without the need for life support,
comfort, or concern for safety.
Robots need no environmental comfort like lighting, air
conditioning, ventilation, and noise protection.
Robots have repeatable precision at all times unless
something happens to them, or unless they wear out.
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Advantages of Robots
Robots work continuously without tiring or fatigue or

boredom. They do not get mad, do not have hangovers,
and need no medical insurance or vacation.
Robots can be much more accurate than humans. Typical
linear accuracies are a few ten-thousandths of an inch.
New wafer-handling robots have micro-inch accuracies.
Robots and their accessories and sensors can have
capabilities beyond those of humans.
Robots can process multiple stimuli or tasks
simultaneously. Humans can only process one active
stimulus.
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Disadvantages of Robots
Robots replace human workers, causing economic

hardship, worker dissatisfaction and resentment, and the
need for retraining the replaced workforce.
Robots lack capability to respond in emergencies, unless
the situation is predicted and the response is included in
the system. Safety measures are needed to ensure that
they do not injure operators and other machines that are
working with them [3]. This includes:
Inappropriate or wrong responses

Lack of decision-making power
Loss of power
Damage to the robot and other devices
Injuries to humans
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Disadvantages of Robots
Robots, although superior in certain senses, have limited

capabilities in:
Cognition, creativity, decision making, and understanding.

Degrees of freedom and dexterity
Sensors and vision systems
Real-time response
Robots are costly due to:
Initial cost of equipment and installation

Need for peripherals
Need for training
Need for programming
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Robot Components
Manipulator or rover: Main body of robot (Links, Joints, other

structural element of the robot)
End effector: The part that is connected to the last joint (hand) of a
manipulator. Generally designed by companys engineers or outside
consultants. (E.g. welding torch, paint spray gun, glue laying device,
parts handler)
Actuators: Muscle of the manipulators (servomotor, stepper motor,
pneumatic and hydraulic actuators)
Sensors: To collect information about the internal state of the robot or
to communicate with the outside environment. Robots need to know
the location of each link of the robot in order to know the robots
configuration (e.g. feedback sensors in your central nervous system
embedded in muscle tendons send info to the brain). Sight, touch,
hearing, taste and speech = vision system, touch/ tactile sensors,
speech synthesizer.
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Robot Components
Controller: similar to cerebellum. It controls and coordinates the motion of

the actuators. It receives its data from the computer (the brain of the system),
control the motions of the actuators, and coordinates the motions with the
sensory feedback information. The controller will send a signal to the actuator
(current to an electric motor, air to pneumatic cylinder, or a signal to a
hydraulic servo valve). Can also control velocity and force in sophisticated
robots.
Processor: The brain of the robot. It calculates the motions and the velocity
of the robots joints, determines how fast each joint must move to achieve the
desired location and speeds, and oversees the coordinated actions of the
controller and the sensors. Sometime, the controller and processor are
integrated, sometimes are separated.
Software: operating system that operates the processor, robotic software
which calculates the necessary motions of each joint based on the kinematic
equations of the robot and sent it to the controller, and the collection of
application-oriented routines and programs developed to use the robot or its
peripherals for specific tasks such as assembly, machine loading, material
handling, and vision routines.
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Robot Components
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Robot Components
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Robot Components
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Robot Components
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Robot Components
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Robot Degrees of Freedom
Six DOF needed for complete control over positioning and

orientation
Fewer DOF is possible
Many robots have fewer than 6 DOF
More DOF is impossible to solve unless new constraint
equations or optimization routines are applied
DOF joints (specific locations within limits of the joint)
Example: PCB Insertion Robot 3.5 DOF: x-y Position=2,

Rotation=1 and insert or retract=0.5
Human arm
7 DOF: Shoulder=3, Elbow=1, Wrist=3

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PCB Insertion Robot 3 DF Example
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Human Arm 7 DF Example
https://www.youtube.com/watch?v=igAOt1ch4d0
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Robot Joints
Most robots are linear or rotary:

Linear or prismatic (P)
Rotary or revolute (R)
Hydraulic/ Pneumatic Cylinders

Linear Electric Actuator
Stepper Motors
Servomotors
Sliding
Spherical (S) posses multiple DOF therefore
difficult to control
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Robot Joints
Stepper Motor Joints
Hydraulic Cylinder Joints
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Robot Joints
Servomotor Joints
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Robot Coordinates
Cartesian/rectangular/gantry (3P)
Cylindrical (PRP)
1 Prismatic Joint and 2 Revolute Joint
Articulated/anthropomorphic (3R)
2 Prismatic Joint and 1 Revolute Joint
Spherical (P2R)
3 Prismatic joints
All revolute (Human Arm), most common config for industrial robots
Selective Compliance Assembly Robot Arm (SCARA)
2 paralleled revolute joint and 1 additional prismatic joint
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Robot Coordinates
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Robot Coordinates
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Robot Coordinates
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Robot Reference Frames
World Reference Frame

Joint Reference Frame
Tool Reference Frame
y
World Reference Frame
y
Joint Reference Frame
y
Tool Reference Frame
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Programming Modes
Physical Set-up through switches and hard
Lead Through or Teach Mode with a teach pendant
Teaching Pendant / Playback, p-to-p
Continuous Walk-Through Mode through sampling and

recording the motions
PLC
Simultaneous joint-movement
Software Mode through offline programming
Use of feedback information
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Programming Modes Example:
Teaching Pendant
https://www.youtube.com/watch?v=lDty3bSVeG8
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Playback
https://www.youtube.com/watch?v=JO_SLTUT7m8
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Offline Programming
https://www.youtube.com/watch?v=CQlrHnOAuzs
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Offline Programming
https://www.youtube.com/watch?v=-wU-703FyXI
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Offline Programming
https://www.youtube.com/watch?v=2CYKkdIv6Uw
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Robot Characteristics
Payload
Reach
The maximum distance a robot can reach within its work envelope.
Precision (validity)
Fanuc Robotics LR Mate (6.6/ 86 lbs), M-16i (35/ 594lbs)
Defined as how accurately a specified point can be reached

0.001inch or better
Repeatability (variability)
How accurately the same position can be reached if the motion is

repeated many times.
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Robot Workspace
Determined empirically or mathematically
Cartesian
Cylindrical
Spherical
Articulated
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Robot Workspace
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Robot Workspace
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Robot Workspace
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Robot Workspace
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Robot Workspace
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Robot Languages
Interpreter-based or compiler-based
Micro-Computer Machine Language Level
Programs with sensory info, branching and conditional statements
Structured Programming Level
Coordinates of the points are centered sequentially, it lacks branching,

sensory info and conditional statements
Primitive Motion Level (V+ by Adept, VAL by Unimation)
Machine language, most basic and very effivient, but difficult for others to
follow
Point-to-Point Level (Funky / MilacronT3)
One line of the program at a time
Compiler based, powerful, difficult to learn
Task Oriented Level
There are no actual languages in existence in this level
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Robot Languages V+ Example
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Robot Applications
Machine loading
Pick and place operations
Welding
Painting
Inspection
Sampling
Assembly tasks
Manufacturing
Medical applications
Assisting the disabled individuals
Hazardous environments
Underwater, space, and inaccessible locations
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Robot Applications
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Robot Applications
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Robot Applications
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Robot Applications
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Robot Applications
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Robot Applications
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Robot Applications
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Other Robots and Applications
Including but not limited to:

Roomba
ASIMO, Bluebotics Gilbert, Nestles Nesbot, Anybotss
Monty, Nao robot
Robots for emergency services, diffusing bombs and
other explosive devices.
SDA10 dual-arm robot by Motoman, Inc
Exoskeletal assistive devices such as Human Universal
Load Carrier (HULC)
Humanoid robots, insect robots, animal robots, walking
machines, and others
The Grand Challenge
Animatronics devices
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Other Robots and Applications
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Social Issues
Worker replacement
Economic consequences
Social consequences
Solutions
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1

Prof. MSc. Ing. Pablo Adames

Robotics in humans minds since old times

Primarily study in industrial manipulator type robots

Venices San Marcos Clock Tower

Same principles presented in manipulator can be used by

Most Mid-1980 robot companies are gone

Prof. MSc. Ing. Pablo Adames

The difference between a robot and a manipulator

Crane and Manipulator are controlled by a human who operates and

Prof. MSc. Ing. Pablo Adames

According to JIRA (Japanese Industrial Robots Association):

Class 1: Manual Handling Device: a device with multiple degrees of

Prof. MSc. Ing. Pablo Adames

The Robotics Institute of America (RIA) only considers

Class 3: Variable Sequence Robot: same as in class 2, but easy

Prof. MSc. Ing. Pablo Adames

Prof. MSc. Ing. Pablo Adames

Robotics is the art, knowledge base, and the know-how of designing,

Prof. MSc. Ing. Pablo Adames

Czech author Karel Capek wrote Rossums Universal Robots and

Prof. MSc. Ing. Pablo Adames

History of Robotics: Cont.

History of Robotics: Cont.

Prof. MSc. Ing. Pablo Adames

History of Robotics: Cont.

Prof. MSc. Ing. Pablo Adames

History of Robotics: Cont.

Prof. MSc. Ing. Pablo Adames

Prof. MSc. Ing. Pablo Adames

History of Robotics: Cont.

Prof. MSc. Ing. Pablo Adames

Robotics and automation can, in many situations,

Prof. MSc. Ing. Pablo Adames

Robots work continuously without tiring or fatigue or

Prof. MSc. Ing. Pablo Adames

Robots replace human workers, causing economic

Inappropriate or wrong responses

Prof. MSc. Ing. Pablo Adames

Robots, although superior in certain senses, have limited

Cognition, creativity, decision making, and understanding.

Robots are costly due to:

Initial cost of equipment and installation

Prof. MSc. Ing. Pablo Adames

Manipulator or rover: Main body of robot (Links, Joints, other

Controller: similar to cerebellum. It controls and coordinates the motion of

Prof. MSc. Ing. Pablo Adames

Prof. MSc. Ing. Pablo Adames

Prof. MSc. Ing. Pablo Adames

Prof. MSc. Ing. Pablo Adames

Prof. MSc. Ing. Pablo Adames

Robot Degrees of Freedom

Six DOF needed for complete control over positioning and

Example: PCB Insertion Robot 3.5 DOF: x-y Position=2,

7 DOF: Shoulder=3, Elbow=1, Wrist=3

Prof. MSc. Ing. Pablo Adames

PCB Insertion Robot 3 DF Example

Prof. MSc. Ing. Pablo Adames

Prof. MSc. Ing. Pablo Adames

Human Arm 7 DF Example

Prof. MSc. Ing. Pablo Adames

Most robots are linear or rotary:

Rotary or revolute (R)

Hydraulic/ Pneumatic Cylinders