A post-training presentationBy

Soorya Kalaiselvan110106269

HISTORY OF ROBOTICS• Like most other technological marvels, Robot is also an imaginary work

from a Czech play “R.U.R” by Karel Capek in 1921.

• The first ever description for a robot was given by Isaac Asimov in his science fiction stories in 1950. He devised laws of a robot.

1. A robot may not injure a human being, or through inaction, allow a human being to come to harm.

2. A robot must obey orders given to it by human beings except where such orders would conflict with the first law.

3. A robot must protect its own existence as long as such protection does not conflict with the first and second laws.

• Although many attempts were made, the first successful programmable robot was developed by George Devol in 1954.

The depiction of the humanoid robot in the play R.U.R (Rosumovi Umeli

Roboti) by Karel Capek. The play is about a company ‘Rossum’s Universal

Robots’ which produces these machines. These machines subsequently overthrow society and destroy humanity.

INDUSTRIAL ROBOT• Robots are basically created to handle material or tool to perform various

functions / operations.

ROBOTS

Manual control

Teleoperators /

Manipulators

Program Control

Fixed programming

Loading devices

Free programming

INDUSTRIAL ROBOTS

The Space Shuttle’s Remote Manipulator System—known to its builders as Canadarm—is a 50-foot robot arm used to deploy, retrieve or repair

satellites in orbit.

INDUSTRIAL ROBOTManipulators / teleoperators• These are robots that have a master-slave system.• The slave system replicates or amplifies the motion

input given by the master system which is controlled by the human operator.

• The manipulators are manually controlled and are capable of working with extreme payloads and environmental conditions which may prove harmful to the human beings.

• These manipulators are used where the machine is supposed to work in an environment which is not pre-defined.

ex. Aerospace applications.

DONALD F ADAMSKY and his “slave system”

Loading devices

• They work on a fixed program (say pick and drop)

• They are actuated by limit switches

• Used majorly in packing industries, assembly lines.

• The same handling task is repeated for a long period of time, hence fixed programming is used

INDUSTRIAL ROBOT

INDUSTRIAL ROBOT

• An industrial robot is a freely programmable handling device.

• Motion sequences of the robot can be programmed.

• The robot program can be thought via the teach pendent.

• Complex spatial motions sequences are possible. (Linear3D, circular 3D, spline motion etc.)

UNIMATE-THE FIRST INDUSTRIAL ROBOT

• Developed by George Devol• It was developed in Universal

Automation (Unimation, America.)• Electronically controlled, Hydraulic

heavy lifting robot• 4 degrees of freedom• RRTR type • The base link is capable of rotating

about the base axis and is pivoted to the base.

• The arm is capable of translating to and fro (hydraulic actuation)

• The wrist is capable of rotating about the wrist axis.

• First installed in General Motors in 1962. It was used to take hot metal pieces out of a metal press and stacking them.

Unimate carrying a casted component

KUKA ROBOTS (KR16)

• KUKA Roboter GmbH is a German based robotics industry that has been producing industrial robots since 1973.

• The KUKA engineering works founded in Augsburg by Hans Keller and Jakob Knappich in 1898. Hence the name KUKA (Keller Und Knappich, Augsburg)

• Its robots are named as KRxx meaning KUKA robot with xx payload capacity.

• KR 16 is a low payload robot with 16 Kgs payload capacity.

MAIN COMPONENTS OF AN INDUSTRIAL ROBOT SYSTEM

1. ROBOT CONTROLLER• It is the brain of the robotic system.• It contains the computer which contains control drives, safety drives, motion drives and

input/output relay interfaces.

2. ROBOT CONTROL PANNEL• It is the communication interface between the human and the robot.• It contains simple keys/ joy pads through which the robot can be thought , calibrated and

programmed

3. THE ROBOT• The end mechanical linkages which move with respect to each other to produce an end

effect.• It is generally driven by electric motors, but a few hydraulic and pneumatic actuated

robots exist.

ROBOT AXES

A1- Base axisA2-Link axisA3-arm Axis

A4-Wrist roll axisA5-Wrist pitch axisA6- Wrist yaw axis

How many axes /degrees of freedom must a robot contain?• For achieving a freely selected orientation and

position of the end effector, minimum of 6 degrees of freedom is required.

• The robots with less than 6 degrees of freedom are called globally degenerated system.

• The robots with more than 6 degrees of freedom/ more than 6 axes are called redundant systems.

• Redundant systems are developed just to give the user, more flexibility in controlling a robot.

• Redundant systems consume more power, more resources when compared to its 6 axis counterparts.

CO-ORDINATE SYSTEMS1. ROB ROOT COORDINATE SYSTEM

• The Cartesian coordinate system with the origin located at the base center of the robot.

2. WORLD COORDINATE SYSTEM• The Cartesian coordinate system

with any point in the world which always remains stationary with respect to the robot as the origin.

3. BASE COORDINATE SYSTEM• The Cartesian coordinate system in

which any point on the work piece is selected as the origin.

4. TOOL COORDINATE SYSTEM• It is the Cartesian coordinate system in which the TCP (tool center point) is taken as

the origin.• It is different from other coordinate systems as the origin is dynamic in this case.

PROCESS OF THE ROBOT CONTROL

ROBOT CONTROLLER

ROBOT CONTROL

DRIVES

SIGNALS TO ELECTRIC MOTORS

MOTION OF THE ROBOT

AXES

ENCODER FEEDBACK

TOOL CALIBRATION

• TOOL CALIBRATION is the process of setting the tool center point for a particular tool.

• By default, the TCP will be located at the flange center as shown.

• After tool calibration, the Flange center point is translated to the TCP by an offset “d” called the tool distance. (4 point method)

• Orientation of the tool is then set by moving the tool, manually along the desired axis as shown in the figure. (ABC 5 point method)

• By the methods depicted above, the robot learns the tool origin and the co-ordinate system. Hence, when a program is executed the TCP is approximated along the path.

• Maximum of 16 tool data can be saved in a KR 16 system.

BASE CALIBRATION• Similar to the tool calibration, the

robot system must also be aware of the orientation of the work piece or base.

• Moreover it is convenient to work with Base coordinate systems as the operations are specified with respect to the work piece in this system .

• The robot control unit saves the origin of the work piece and the orientation in space with respect to the World coordinate system.

• ABC 2 point method is used to calibrate the base. The user must specify the location of the origin and any point on the –ve X direction, +y direction respectively.

MOTION TYPES

PTP motion CIRC motion LIN motion

Point to point motion in which robot TCP follows thefastest possible path to travel from one point to another

Circular trajectory motion in which the robot TCP can traverse along the circular path made by three user defined points in 3D space

Linear trajectory motion in which the robot TCP can traverse the straight line joining two user defined points.

VERSATILITY OF INDUSTRAIL ROBOTS

VERSATILITY OF INDUSTRAIL ROBOTS

LIMITATIONS AND AREAS OF DEVELOPMENT

LIMITATIONS

The robots do not have sense of their environment

The robots are still hazardous, hence kept in closed fences

The robots are limited to specific motion sequences

AREAS OF DEVELOPMENT

The robot systems can be developed such that they are aware of their surroundings

The robot safety protocols are still to be improvised

New motion sequences inspired by human arms must be conceptualized and algorithms must be developed to write a robot’s own motion sequence

CONCLUSION

• Just like the industrial revolution, automation and robotics are the next upgrade to the industrial revolution.

• People mistake automation for eliminating manual labor. But automation is not something that can work on its own, without the involvement of humans. Automation is something that enhances humans to increase the productivity by accomplishing routine tasks in lesser cycle time, without the interference of human labor.

• Moreover automation is a job shifter rather than a job killer.

• As engineers, it is mandatory for us to learn the upcoming technology involved in automation.