Fundamentals of Robotics and

Applications
(Course Code:
BRA301)

Department of Robotics & Automation

JSS Academy of Technical Education, Bangalore-
 Books
• S.R. Deb, Robotics Technology and flexible automation, Tata McGraw-Hill Education,
2009.
• Mikell P. Groover et al., "Industrial Robots - Technology, Programming and
Applications", McGraw Hill, Special Edition, (2012).
• Ganesh S Hegde, “A textbook on Industrial Robotics”, University Science Press, 3rd
edition, 2017.

Reference
• Richard D Klafter, Thomas A Chmielewski, Michael Negin, "Robotics Engineering – An
Integrated Approach", Eastern Economy Edition, Prentice Hall of India Pvt. Ltd., 2006.
• Fu K S, Gonzalez R C, Lee C.S.G, "Robotics: Control, Sensing, Vision and Intelligence",
McGraw Hill, 1987. Further Learning
[Link]
applications
 Course Learning Objectives (CLO)

• Understand the fundamental/elementary concepts of Robotics.

• Provide insight into different types of robots.

• Explain the intelligent module for robotic motion control.

• Educate on various path-planning techniques.

• Illustrate the working of innovative robotic devices.

 Course outcomes (COs) (Course Skill Set)

At the end of the course, students will be able to,

CO1: Understand the significance, social impact and future prospects of

robotics and automation in various engineering applications

CO2: Identify and describe the components and anatomy of the robotic system.

CO3: Categorise various types of robots based on their design and applications.

CO4: Know about various path planning techniques and analyze different

motions of the robotics system

CO5: Use the suitable drives and end-effectors for a given robotics application.

CO6: Apply the robotics concept to automate monotonous and hazardous

 Continuous Internal Evaluation (CIE)
• Assignment Component = 25 Marks

• Internal Assessment (IA) component = 25 Marks

• Two IA Tests, each of 25 Marks

• Two assignments each of 25 Marks

• For the course, CIE marks will be based on a scaled-down sum of two tests

and other assessment methods.

The minimum passing mark for the CIE is 40% of the maximum marks (20 marks
out of 50)
 Semester End Examination(SEE)
• The question paper shall be set for 100 marks.

• The duration of SEE is 03 hours.

• The question paper will have 10 questions.

• 2 questions per module. Each question is set for 20 marks.

• The students have to answer 5 full questions, selecting one full question from

each module.

• The student has to answer for 100 marks and marks scored out of 100 shall

beminimum
• SEE proportionally reduced
passing mark is 35%to
of 50
the marks.
maximum marks (18 out of 50 marks).
• Students should secure a minimum of 40% (40 marks out of 100) in the sum total of the
CIE and SEE taken together.
Fundamentals of Robotics & Applications

MODULE 1: Introduction To
Robotics
 MODULE 1: Introduction To
Robotics

Content

• Introduction To Robotics: Introduction to Robotics and Automation

• Laws of robots.

• Brief history of robotics, basic components of the robot, and robot

specifications.

• Classification of robots, human systems and robotics.

• Safety measures in robotics, social impact.

• Robotics market and the future prospects.

• Advantages and disadvantages of robots.

 Introducti
Difference betweenonRobotics and
Automation

• Robotics is the design, creation, and use of robots to perform tasks. These are

physical robots that substitute for (or replicate) human actions.

• Robotics is a field that combines engineering and computer science to design and build
robots to perform tasks.

• Automation as a technology concerned with the use of Mechanical, Electronic and

Computer-based systems in the operation and control of Production.

• E.g. : Transfer lines, mechanised assembly machines, feedback control systems,

NC Machine tools and robots
 Introducti
on
Classification of Industrial
Automation

1. Fixed Automation

2. Programmable Automation

3. Flexible Automation
 Introducti
1. Fixed Automation / Hard on
Automation
• The sequence of processing is fixed for one particular product.
• Such a system can be used for mass production of a product.
• Initial cost is high, and any changes in product design can be incorporated with
difficulty.
• If the product has to be changed, then a lot of modifications, new additions, etc.,
may be required, and to accommodate the same would be very costly and time-
consuming.
Examples
• Automated assembly machines
• Chemical manufacturing processes
• Material handling conveyor systems
• Machining transfer lines
• Paint & coating automation
processes
2. Programmable Automation

• It is possible to accommodate the change in the sequence of operations for a new product by
changing the program (set of instructions).
• Suited for batch production.
• For new products, programs, new tools and fixtures may have to be loaded and machine
settings to be changed.
• Low volume products and variety products
3. Flexible
Automation
• Highly adaptable systems with computer input and controls.
• Commands are created and entered by human operators using computer code or
through Human Machine Interfaces (HMIs).
• Multiple machine tools can be connected to a sophisticated material-handling system
through robotic automation.
• A central computer system controls each aspect of the production and material-
handling system.
• Ideal for batch processes and shops that have low-to-medium production level needs
and high product-variety needs.
Example

Robotic arm used in a car assembly line can switch between tasks, such as welding, painting,

or installing parts, depending on the car's specific model.

 Definition of Industrial
Robot
• The Robotic Industries Association (RIA) defines robot as follows:

"A robot is a reprogrammable, multifunctional manipulator designed to move material,

parts, tools or special devices through variable programmed motions for the
performance of various tasks."

• The industry’s current working definition of a robot is “any piece of equipment that
has three or more degrees of movement or freedom”.
 Laws of
Robots
The Three Laws of Robotics (The Three Laws or Asimov's Laws) are a set of rules

devised by science fiction author Isaac Asimov, followed by robots in several of his

stories.
1. First Law: A robot may not injure a human being or, through inaction, allow a

human being to come to harm.

2. Second Law: A robot must obey the orders given by human beings except when

that conflicts with the First Law.

3. Third Law: A robot must protect its own existence unless that conflicts with the

First or Second Law.

 A HISTORICAL PERSPECTIVE OF ROBOTS

• The word robot was first used in 1921 by the Czech playwright, novelist,

and essayist Karel Capek in his satirical drama entitled R.U.R. (Rossum's

Universal Robots)

• It is derived from the Czech word robota, Which literally means "forced
Karel
labourer or "slave labourer” Čapek

• Although Capek introduced the word "robot" to the world. The term

"robotics“ was coined by Isaac Asimov in his short story * Runaround."

first published in 1942.

• This work is also notable because the so-called “Three Rules (or Laws) of

Robotics" are presented for the first time:

Isaac Asim
 A HISTORICAL PERSPECTIVE OF
ROBOTS
GENERATIONS OF
ROBOT

• Non-servo, pick-and-place or point-to-point robots are classified as 1st

First gen. robots.
Generation
• The technology is fully developed.
• Predicted that these will continue to be in use for another 20 years.
• Addition of sensing devices and enabling the robot to alter its
Second movements in response to sensory feedback
Generation
• These robots exhibit path control capabilities

• Robots with a brain having intelligence.

• Robots acquired AI, self-learning and conclusion drawing capabilities by
Third
past experiences.
Generation
• On-line computations and control, artificial vision and active
force/torque interaction with the environment are characteristics of
 A HISTORICAL PERSPECTIVE OF
ROBOTS
GENERATIONS OF
ROBOT

• This is futuristic and may be a reality only in the current millennium

Fourth • Prediction about its features is difficult
Generation
• True android or an artificial biological robot or a super humanoid robot of
producing its own clones.

A pictorial representation of overlapping generations

Brief History of
Robots
Brief History of
Robots
Brief History of
Robots
Brief History of
Robots
 Robot Development
Phases

Year Developments

Simple pick and place robots controlled by computers with limited

1950-1970
interaction

1980-1990 Interaction with the environment using force, touch sensors, vision

1999-2000 Intelligent robots

2000-present Micro, nano, robots, bio-robots humanoids, service robots

Future robots Personal robots, professional robots

Basic components of
Robot

The four major components of a robot are;

1) Manipulator or arm (the "mechanical

unit")

2) One or more sensors

3) Controller (the "brain")

4) Power supply
Basic components of
Robot
Basic components of
Robot
 Basic components of
Robot
1. Manipulator or arm (the
"mechanical unit")

Manipulator defined by the joint-link structure, has three main structural elements: the arm, the

wrist, and the hand (or end effector).

• Robot need to manipulate objects: pickup, place, hold, etc.

• Hands of robot are referred as end effectors (end of robotic arm)

• Robot Arm is referred as manipulator

• End effectors are the tools at the end of robotic arms, directly interact with objects.
 Basic components of
Robot
2. Sensors

• Sensors: allow robot to gather information about its environment.

• Sensors allow robotic arm to receive feedback about its environment

E.g., Camera, Vision sensor, Microphones, Thermometers, LIDAR (light detection and ranging

Sensors used in modern robots can be divided into two general classes.

1. Nonvisual: limit switches (e.g., proximity, photoelectric or mechanical), position sensors

(e.g., optical encoders, potentiometers) velocity sensors (e.g., tachometers), or force

and tactile sensors (for overload protection, path following, calibration, part recognition,

or assembly work).

2. Visual: TV cameras coupled to appropriate image-detection hardware.

 Basic components of
Robot
3. Robot controllers generally perform three
Controller functions;

1. They initiate and terminate the motion of the individual components of the manipulator

in a desired sequence and at specified points.

2. They store position and sequence data in their memory.

3. They permit the robot to be interfaced to the "outside" world via sensors

• To carry out these tasks, controllers must perform the arithmetic computations for
determining the correct manipulator path, speed, and position.
• They must also send signals to the joint-actuating devices (via interfaces) and utilize the
information provided by the robot's sensors.
• They must permit communication between peripheral devices and the manipulator.
 Basic components of
Robot
4. Power
Supply

• Provide the necessary energy to the manipulator's actuators.

• It can take the form of a power amplifier in the case of servomotor-actuated systems, or a

remote compressor when pneumatic or hydraulic devices are used

 Robot
Classification
According to Japanese Industrial Robot According to Association Francaise de
Association (JIRA) Robotique (AFR)
Class 1: Material Handling device: Man operated
multiple degree of freedom machine used for Type A: Manual Handling devices
handling
Class 2: Fixed Sequence Robot
Type B: Automatic handling devices with fixed
Robots performing unchangeable pre determined
cycles
stages of work in a sequence
Class 3: Variable Sequence robots:
Type C: Programmable with point to point or
Same as class 2, the sequence can be easily
continuous path controlled by servo motors
altered

Class 4: Playback robot: Type D: Programmable intelligent robots that

The motions are taught by operator which is can work gathering information from the
recorded and then the path is followed by robot surrounding

Class 5: Numerically controlled Robot

The operations are programmed by the operator
using APT and given to robot

Class 6: Intelligent robots: these can understand

tasks in a surrounding and act intelligently
 Robot
Classification
• Often referred to as "robot arms" or "robot legs”.
1. Prosthese • They can make use of either hydraulic or servomotor actuators.
s
• Utilize servo control, and have mechanical linkages.
• They do not have their own brains and are not truly
programmable.

• These are a collection of mechanical linkages that are

made to surround either human limbs or the entire human
2. frame.
Exoskeletons
• They have the ability to amplify a human's power
• They cannot act independently and, as such, are not
robots.
• When Exoskeletal device is used, the operator must
exercise
General Electric Hardiman, extreme device
an exoskeletal caution, due in
developed to the
the increased
1970s. forces
It allowed a human operator to lift
loads upspeeds
and/or to 1500that
lbs. are
and possible
utilized hydraulically actuated servos.
 Robot
Classification
• These devices permit manipulation or movement of materials and/or
tools that are located many feet away from an operator
3. • Telecheric mechanisms use either hydraulic or servo actuators, which are
Telecherics
usually controlled in a closed-loop manner, they are not robots, because
they require a human being to control and to make decisions about
position and speed.
• Such devices are useful in dealing with hazardous substances such as
radioactive waste

G.E. Manmate Industrial Manipulator is an articulating arm boom that can be used for
 Robot
Classification
4. Locomotive Mechanisms

• These are devices that imitate human beings or animals by having the ability to walk on
two or four legs.
• Linkages are hydraulically or electrically actuated under closed-loop control, a human
operator is still required to execute the locomotive process

• The General Electric four-legged walking machine.

• Because of severe stability problems, the project was never

 Robot
Classification
Classification by Coordinate System / Physical
Classification by Coordinate System / Physical
configuration

• The mechanics of a robotic manipulator (arm-like structure) can vary considerably.

• The major axes of the device, consist of the two or three joints or degrees of freedom
(DOF)

Today’s commercially available robots possess four basic configurations;

1. Polar Configuration

2. Cylindrical configuration

3. Cartesian coordinate configuration

4. Jointed arm robots

 Robot
Classification by Coordinate Classification
System
1. Polar / Spherical • This combination allows the robot to operate in a
Configuration
spherical work volume.

The robot arm has following movements.

1. Linear movement: allows the arm to extend and

retract because of one linear joint.

2. Rotary movement: occurs around an axis (vertical)

perpendicular to the base because of one twisting

joint.

3. Vertical lift of the arm about the pivot point because of

one rotational joint.

 Robot
Classification by Coordinate Classification
System Advantages
1. Polar / Spherical
Configuration • Long reach capabilities in horizontal position

• Good lifting capabilities

• Suitable for small amount of vertical applications

Limitations

• Low vertical reach

• Reduced mechanical rigidity

Applications: Machine loading, Material movement, stacking of components, Heat

treatment operations

Ref: [Link]
robot/
 Robot
Classification by Coordinate Classification
System
1. Polar / Spherical
Configuration

Workspace of robot / Work Geometry of robot major

 Robot
Classification by Coordinate Classification
System
2. Cylindrical Configuration
• This combination allows the robot to reach work space

in a rotary movement like a cylinder

The robot arm has following movements.

1. Rotational movement: of the column about its axis

because of one twisting joint

2. Linear movement: of the assembly along the column

because of one linear joint

3. Linear movement in and out, relative to the column

axis because of one orthogonal joint

 Robot
Classification by Coordinate Classification
System
Advantages
2. Cylindrical Configuration
• Higher load carrying capacity

• Provides high rigidity to the

manipulator
Geometry of robot major
axis • Suitable for pick and place
Limitations
applications
• Require more floor space

• Reduced mechanical rigidity because rotary

Workspace of robot / Work
volume axis must overcome inertia of the object
Applications: Conveyor pallet transfer, machine tool loading, forging , packing, precision small
when rotating
assembly etc.
Ref: [Link]
robot/
 Robot
Classification by Coordinate Classification
System
3. Cartesian Coordinate
Configuration • Also referred as Rectilinear robot or X-Y-Z robot of the

spherical configuration, as it is equipped wit three

sliding joints.

The robot arm has following movements.

1. Linear movement: allows vertical lift to the arm

because of one linear joint.

2. Two sliding movement: perpendicular to each other

because of two orthogonal joint.

This configuration robot process in a rectangular

workspace by three joints movement.

 Robot
Classification by Coordinate Classification
System Advantages
3. Cartesian Coordinate
Configuration • Higher load carrying capacity

• Rigid structure, high degree of mechanical rigidity and

accuracy

• High repeatability with least error at good speed.

Limitations

• Has small and rectangular work envelope

• Has reduced flexibility

Applications: Inspection, assembly, machining operations, welding,

finishing operations etc.

Ref: [Link]
robot/
3. Cartesian Coordinate
Configuration
 Robot
Classification by Coordinate Classification
System
4. Jointed arm
Configuration • Resembles to a human arm

1. Rotary movement: (vertical column that swivels

about base) occurs around an axis (horizontal) parallel

to the base because of twisting joint.

2. Rotary movement: at the top of the column about the

shoulder joint (along the horizontal axis) because of

one rotational joint.

3. Rotary movement at the output arm about the elbow

joint (along horizontal axis) because of one rotational

joint.
 Robot
Classification by Coordinate Classification
System Advantages
4. Jointed arm
• Huge work volume
Configuration
• Higher flexibility and quick in operation

• 2 rotational joints allows for higher reach from the base

• Provides reaching congested small opening without

restrictions
Limitations

• Difficult operation procedure

• Plenty of components

Applications: spray painting, spot welding, arc welding etc.

Ref: [Link]
arm-robot/
 Robot
Classification
SCARA (Selective Compliance Assembly Robot
Arm)

1. Linear movement: allows the arm to extend and

retract because of one orthogonal joint

2. Rotary movement: at the top of the column about the

shoulder joint (along vertical axis) because of one

revolving joint.

3. Rotary movement at the output arm about the elbow

joint (along vertical axis) because of one rotational

joint.
Applications: Perform insertion tasks (for assembly) in vertical
direction

Ref: [Link]
arm-robot/
SCARA (Selective Compliance Assembly Robot
Arm)
 Robot
Classification
Articulated /
Anthropomorphic (3R)

• The articulate or jointed arm robot (Anthropomorphic

arms) closely resembles Human arm

• The mechanical structure as three rotary joints which

forms a polar coordinate system

 Robot
Classification
Classification by Control
Method

Classification based on the technique used to control the various axes of the

robot.

1. Non-Servo controlled / limited-sequence robot

2. Servo controlled

3. Point to point servo-controlled robots

4. Continuous path servo-controlled robots

 Classification by Control
Non-servo-controlled Method
robots
• Also referred as limited sequence robots, end-point robots, pick & place robots.
• Robot are controlled by setting mechanical stops or limit switches to establish end points of
travel of each joint.
• The mechanical setup to give the proper position.
• Sequence of stops serves as a basic programming approach rather than a computer intensive
robot programming language

• Drive signals are sent to the actuator via the solenoid valve.
• Actuator drives the wrist or end effector to the desired
position.
• A signal through limit switch is sent back indicating that the
arm has reached the position.
Non servo
 Classification by Control
Servo-controlled Method
robots
• Reference signals are sent to the actuator via
servo valve.
• Actuator moves its arm, wrist or finger to a
current position.
• Continuous measurement is taken to estimate
the error between the desired position and the
current position
• Error signal is fed back continuously to monitor
the position.
• As the error becomes zero, the desired location
is achieved and the actuator stops moving
• Positional sensors are employed at the joints,
wrist or suitable locations to feed back the
positional information to the comparator
Positional Servo
System
 Classification by Control
Method
Point-to-point servo-controlled
robots

• Most robots today operate on a system called point-to-point control.

• Control is achieved by moving the robot to a specific location (point) during programming and

recording the coordinates of the point into memory by pressing a button on the teach

pendant.

• During the programming phase, all points are recorded in the order the robot must move to

them.

• When the robot runs the program, it moves sequentially from point to point.

• When the robot reaches a point, it can energize or de-energize output signals to energize end

effectors or send output signals that are used for interfacing to other equipment in the cell

such as pneumatic cylinders that are used to move parts into location.
 Classification by Control
Method
Point-to-point servo-controlled
robots

• Control is achieved by moving the robot to a specific location (point)

during programming and recording the coordinates of the point into

memory by pressing a button on the teach pendant.

• During the programming phase, all points are recorded in the order

that the robot must move to them.

• When the robot runs the program, it moves sequentially from point

to point.

• When the robot reaches a point, it can energize or de-energize

output signals to energize end effectors or send output signals that

are used for interfacing to other equipment in the cell such as

Classification by Control
Method
Point-to-point servo-controlled
robots

• Use of a robot in a palletizing operation.

• When a part moves on a conveyor, and interrupts the

light beam from a photo emitter, the controller

commands the robot to acquire the part.

• This part is then moved to and placed in one of the

empty locations in a partitioned carton.

• This process is repeated until all such locations are

filled, the carton is removed from the loading station,

an empty one replaces it, and the operation is

repeated.
 Classification by Control
Method
Continuous path servo-controlled robots.

• Robots follow a complex path through space and possibly have the end of the arm move at

high speeds.

• Examples of these applications include spray painting, polishing, grinding, and arc welding.

• This type of robot must follow a precise path when it's spray painting; each location in the

path the robot takes to move from point to point is recorded during the programming phase

of the project and replayed when the robot is in the run phase.
Advantages and
Disadvantages
• This type of robot is easy to program because no special programming language is
needed to get the robot to repeat the exact path it was taught.
• The drawback of this type of controller is that programming requires large amounts of
memory to record the exact path and the speed during each part of the program.
 Cylindric
Cartesian al
Articulated /
Anthropomorphic

Polar / SCARA
 Robot
Specification
1.
Repeatability

• Ability of a manipulator to return to a position in space where it had

been previously.

• It is measured by going to that position in exactly the same way (over

the same path, speed, payload, acceleration) no. of times.

2. Accuracy

• The difference between the point a robot tries to achieve and the actual
resultant position.
• The repeatability is the cycle-to-cycle variation of the manipulator’s arm
when aimed at the same point.
 Robot
Specification
3. DOF (Degrees of
Freedom)
• A body in 3D space can have 6 DOF (3 are Rotary & 3 are translatory).

• 6 DOF are positive & 6 DOF are negative.

• 3 DOF are translatory along +ve axis & 3

DOF are along –ve axis.

• The number of independent motions in which the

end effector can move is defined by the number
of axes of motion of the manipulator.
 Robot
Specification
4.
Payload

Rated load carrying capacity:

• Weight of the object or the tool held by the gripper, without affecting

other functional characteristics.

• Overload leads to malfunctioning of the robot systems

5.
Resolution

• The smallest increment of motion can be detected or controlled by the

robotic control system.
• it depends on the distance between the tool centre point (TCP) and the
joint axis.
 Robot
6. Work Specification
Envelope

• A three-dimensional shape that defines the boundaries the robot

manipulator can reach; also known as reach envelope.

7.
Reach

• The maximum horizontal distance between the centre of the robot base
to the end of its wrist.
 Robot
Specification
Payload

Rated load carrying capacity: weight of the object or the tool

held by the gripper, without affecting other functional
characteristics.
Overload leads to malfunctioning of the robot systems
 Social
Impact
1. Impact of Robotics on Direct
Labour
• A robot performs multiple tasks, can be substituted for more than one human worker.

• Leading to the shift of direct labour to indirect labour activities

• Change in appointment strategy of new workers

• Set up of the work-space & operating robots needs education and training

• New workers need to have knowledge in installing, programming, inspecting,

troubleshooting and maintenance.

• Skill and education standard of the operator has to be improvised

• Labor unions have to be taken into confidence through sufficient prior notice.

• Minimum careful displacement of workers, new technological adaption, training and

guidance.
 Social
Impact
2. Professional Adjustment Impact

• With the advancement in automation, professional & semi-professional employees have to

be familiar with & expertise in computer programming, robot maintenance optimization of

processes etc.,

• Engineers from specialization in machine design, machine tool technology, control

engineering, electronics & computer science can fulfil the needs of professionals in the robot

industries.
 Social
Impact
3. Need for Education &
Training

Present educational standards has to be revised to take care of

a) Highly educated force

b) Shortage of robot technicians

c) Deficiency in programmers

d) Well equipped laboratory facilities & instructors

e) Short fall in training institutes

f) Consultants to re-train the existing employees

 THE ROBOTICS MARKET AND THE FUTURE
PROSPECTS

• Annual sales of robots have been growing worldwide

• Traditionally, it was the automotive industries that led the drive to robotize

• In the last decade, the growth of non-automotive robots has been higher than automotive

robots.

• Surge in robotics investments: fall of robot prices, increased labour cost, increased accuracy,

speed, versatility, shrinking workforce in several developed countries and ageing population
THE ROBOTICS MARKET AND THE FUTURE
PROSPECTS
THE ROBOTICS MARKET AND THE FUTURE
PROSPECTS
THE ROBOTICS MARKET AND THE FUTURE
PROSPECTS

[Link]
THE ROBOTICS MARKET AND THE FUTURE
PROSPECTS

[Link]
 Robot: Advantages &
Disadvantages
Advantages of
Robots
• Increased productivity, efficiency, quality, and consistency.
• Robots can’t get bored with their job, they can repeat the same task
continuously.
• More accurate than humans.
• Robots can work in unsafe environments (chemical factories, radiation
zone, etc.)
Disadvantages of
• They don’t have physical or environmental requirements like human
Robots

• needs.
Potential Job Losses
• Investment Costs
• Hiring Skilled Staff
• No analytical ability: Don’t have the power to think, analyze & create by taking information
from surroundings
• Over-dependence on technology
 Classification of
Robots

Robots by Locomotion Robots by Applications

Fixed / Stationary Robots Cartesian / Gantry Robots Industrial Robots

Wheeled Robots Cylindrical Robots Domestic Robots

Legged Robots Spherical Robots Medical Robots

SwimmingRobots SCARA Robots Military Robots

Modular Robots Articulated Robots

Space Robots
Micro Robots Parallel Robots Hobby & Competition
Robots
Snake Robots