Module 4 Robotics - 10 Marks Exam Notes
Point-to-Point Control System
Definition: Point-to-Point (PTP) control system is a robot control system in which only the starting
and ending positions are controlled while the path followed is not important. Introduction: PTP
control is one of the most commonly used robot control methods in industrial automation. The robot
moves from one programmed location to another and performs a specific operation at the
destination point. Working: 1. Coordinates of target point are stored. 2. Controller calculates motion.
3. Robot moves to the desired point. 4. Required operation is performed. 5. Robot moves to next
programmed point. Advantages: • Simple programming • High operating speed • Economical •
Suitable for repetitive operations Disadvantages: • Path cannot be controlled • Not suitable for
contour operations Applications: • Spot welding • Pick and place • Machine loading and unloading •
Assembly operations Conclusion: PTP control is suitable where only the final position is important
and path accuracy is not required.
Continuous Path Control System
Definition: Continuous Path (CP) control system controls the entire path followed by the robot
during movement. Working Principle: The controller continuously monitors position, speed and
direction and ensures smooth motion along the programmed trajectory. Advantages: • High path
accuracy • Smooth movement • Better surface finish • Suitable for complex operations
Disadvantages: • Complex programming • Higher cost Applications: • Arc welding • Spray painting •
Cutting operations • Surface finishing Conclusion: CP control is used whenever exact path control is
essential.
Components of Robotic System
A robotic system consists of Manipulator, End Effector, Controller, Sensors, Drive System, Power
Supply and Teaching Device. Manipulator: Mechanical arm made of links and joints. End Effector:
Device attached to wrist used for gripping or processing. Controller: Brain of robot responsible for
decision making and motion control. Sensors: Provide feedback about position, force and
environment. Drive System: Provides motion using electric, hydraulic or pneumatic power. Power
Supply: Provides energy for operation. Teaching Device: Used for robot programming and path
teaching. Advantages: • High productivity • High accuracy • Improved quality • Increased safety
Applications: Automobile industry, assembly lines, packaging and welding.
Degrees of Freedom, Pitch, Yaw and Roll
Degree of Freedom (DOF) is the number of independent motions required to position and orient a
robot end effector. Translational DOF: • Motion along X-axis • Motion along Y-axis • Motion along
Z-axis Rotational DOF: • Roll – rotation about X-axis • Pitch – rotation about Y-axis • Yaw – rotation
about Z-axis Importance: • Determines robot flexibility • Increases workspace • Improves
accessibility Example: Most industrial robots possess six degrees of freedom. Conclusion: Higher
DOF allows a robot to perform more complex tasks.
Drives Used in Robots
Robot drives provide power and motion to robot joints. 1. Electric Drives Advantages: • High
accuracy • High efficiency • Clean operation • Easy control Disadvantages: • Limited force output
Applications: Industrial robots, CNC systems. 2. Hydraulic Drives Advantages: • High power •
Suitable for heavy loads Disadvantages: • Leakage problem • High maintenance Applications:
Heavy duty robots. 3. Pneumatic Drives Advantages: • Fast operation • Simple design • Low cost
Disadvantages: • Lower accuracy Applications: Pick and place robots. Conclusion: Selection
depends on load, speed and accuracy requirements.
Mechanical, Magnetic and Vacuum Grippers
Mechanical Grippers: Use fingers or jaws to hold objects. Advantages: • Strong grip • Reliable •
Suitable for different shapes Applications: Assembly and material handling. Magnetic Grippers: Use
permanent magnets or electromagnets. Advantages: • Fast gripping • Simple construction
Applications: Steel sheets and ferromagnetic parts. Vacuum Grippers: Use suction cups and
vacuum pressure. Advantages: • Suitable for fragile objects • Simple construction Applications:
Glass sheets, packaging and sheet metal handling. Conclusion: Selection depends on workpiece
shape, material and application.
Types of Drives and Transmission Systems
Transmission systems transfer power from actuators to robot joints. 1. Gear Drive • High torque •
Accurate motion 2. Belt Drive • Smooth operation • Low noise 3. Chain Drive • High load capacity 4.
Lead Screw Drive • Rotary to linear motion conversion 5. Rack and Pinion • Linear movement
generation Advantages: • Efficient power transfer • Improved motion control • Better positioning
accuracy Applications: Industrial robots, machine tools and automation systems. Conclusion:
Transmission systems improve efficiency and accuracy of robotic motion.