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1. NAME- X Y Z
ROLL NO.- 871898654
B.TECH MECHATRONICS

3. Introduction to robots and
robotics
Robot Kinematics
Robot Dynamics
Sensors
Robot Vision

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Introduction to Robots and Robotics
A Few Questions
 What is a robot?
 What is robotics?
 Why do we study robotics?
 How can we teach a robot to perform a particular task?
 What are possible applications of robots?
 Can a human being be replaced by a robot?,
and so on.

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A Brief History of Robotics
Year Events and Development
1954 First patent on manipulator by
George Devol, the father of robot
1956 Joseph Engelberger started the first
robotics company: Unimation
1962 General Motors used the
manipulator: Unimate in die-casting
application

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3 Hs in Robotics
3 Hs of human beings are copied into Robotics, such as
Hand
Head
Heart

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A Robotic System
Various Components
1.Base
2.Links and Joints
3.End-effector /
gripper
4.Wrist
5.Drive / Actuator
6.Controller
7. Sensors

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Connectivity / Degrees of Freedom of a Joint
Rigid bodies connection
Joints with 1 dof
Revolute Joint (R)

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Joints with One
dof
Prismatic Joint
(P)

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Joints with two dof
Cylindrical Joint (C)

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Joints with three dof
Ball and Socket Joint / Spherical Joint (𝑺′)

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Representation of the Joints
Revolute joint (R)
Prismatic joint (P)
Cylindrical joint (C)

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Representation of the Joints
Spherical joint (𝑺′)
Hooke joint (U)
Twisting joint (T)
Kinematic Diagram

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 Based on the Type of Tasks Performed
1. Point-to-Point Robots
Examples:
Unimate 2000
T3

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Continuous Path Robots
Examples:
PUMA
CRS

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Revolute Coordinate or Articulated
Coordinate Robots
 Rotary movement about three
independent axes
 Represented as TRR
 Suitable for handling
parts/components in
manufacturing system
 Rigidity and accuracy may not be
good enough
 Examples: T3, PUMA

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• Based on Mobility Levels
1. Robots with fixed base (also known as manipulators)
Serial Parallel
PUMA, CRS Stewart platform
Manipulators

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• Based on Mobility Levels (contd.)
2. Mobile robots
Wheeled robots Tracked robots Multi-legged robots
Mobile robots

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• Based on Mobility Levels (contd.)
2. Mobile robots
Wheeled Robot Six-legged Robot

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Workspace of Manipulators
volume of space reached…….
Dextrous Reachable
Workspace

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Resolution
Programming resolution
Smallest allowable position
increment in robot programme
Basic Resolution Unit
BRU = 0.01 inch/0.1degree
Control resolution
Smallest change in position
that the feedback device can
measure say 0.36 degrees per
pulse

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Accuracy (mm)
It is the precision with which a computed point can be reached
Repeatability (mm)
It is defined as the precision with which a robot re-position itself to a
previous taught point

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Specification of a Robot
 Control type
 Drive system
 Coordinate system
 Teaching/Programming methods
 Accuracy, Repeatability, Resolution
 Pay-load capacity
 Weight of the manipulator
 Applications
 Range and speed of arms and wrist
 Sensors used
 End-effector/ gripper used

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Robot Dynamics
 To determine joint torques/forces
 Robotic joint torque consists of inertia,
centrifugal and Coriolis and gravity
terms
Inertia Term
Depends on mass distribution of the links
and it is expressed in terms of moment
of inertia tensor

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Inverse Dynamics

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Forward Dynamics

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1.
SENSORS
Classification of Sensors
Internal Sensors
Ex. Position sensors, velocity
sensors, Acceleration
sensors, Force/Moment
sensor
External Sensors
Ex. Temperature sensors, Visual
sensor, Proximity sensor,
Acoustic sensor

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2. SENSORS
Classification of Sensors (Cont.)
Contact Sensors
(Physical contact between sensor
mounted on robot and object)
Non-Contact Sensors
(No physical contact)
Proximity sensor
Visual sensor
Acoustic sensor
Range sensor
Touch sensor/ Tactile
sensor/ Binary sensor
(indicates presence or
absence of an object)
Ex. Micro-switch, Limit
switch
Force sensor/ Analog
sensor (not only the contact
is made but also the force is
measured)
Ex. Sensors using strain
gauges

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Connected to robot’s wrist
Micro – switches
Figure: Micro – switches placed on two
fingers of a robotic hand
Finger

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Robot Vision
• To extract, characterize and interpret objects present in
an image/photograph captured using a camera.

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Steps to be Followed
• Step 1: Capturing image of the environment using CCD camera.
• Step 2: Light intensity is measured along a particular direction say Y
using Electron Beam Scanner (in which the charge accumulated in
photo-sites is proportional to light intensity). Analog plot of light
intensity is digitized and it is known as A/D conversion or digitizing.

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Robot Vision

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Steps to be Followed (contd.)
• Step 3: Image is stored as an array of pixels (each pixel may have
different light intensity values). It is known as frame grabbing.
• Step 4: Preprocessing of the data collected in Step 3 is done for
noise reduction, restoration of lost information etc.

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Robot Motion Planning
Gross motion planning /
Free space motion planning
Fine motion planning /
Compliant motion planning
Manipulation Navigation

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Task identification Motion Planning Kinematics
Trajectory planning
Dynamics
Control scheme
Motor action
Sequence of Robotic Action

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Intelligent Robot – Adaptive Motion Planner & Controller (AI
to be merged with Robotics); Ex. Robot Soccer
Ultimate Goal of the RoboCup: “By the mid-21st century, a
team of autonomous humanoid robots shall beat the human
World Cup champion team under the official regulations of
FIFA”

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Application Areas
 Arc Welding
 Spot Welding
 Spray Painting
 Pick and Place Operation
 Grinding
 Drilling
 Milling
Applications of Robots

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Under-Water Applications
Purposes
 To explore various resources
 To study under-water environment
 To carry out drilling, pipe-line survey, inspection and repair of
ships

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Space Applications
 For carrying out on-orbit services, assembly job
and interplanetary missions
 Spacecraft deployment and retrieval, survey of
outside space shuttle; assembly, testing,
maintenance of space stations; transport of
astronauts to various locations
 Robo-nauts
 Free-flying robots
 Planetary exploration rovers

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In Agriculture
For spraying pesticides
For spraying fertilizers in liquid form
Cleaning weeds
Sowing seeds
Inspection of plants

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Some Other Applications
 Replacement of maid-servant
 Garbage collection
 Underground Coal mining
 Sewage-line cleaning
 Fire-fighting etc.

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