Computer Numerical 18

Control and Robotics

LEARNING OBJECTIVES
Studly of mechatronics makes students understand to understand the following:
its application in the field of computer aided manu-
facturing (CAM), computer numerical control (CNC) .Functions of CNC and its operations
machines, robotics, and industrial automation. It is be- .
Components of CNC machining
cause of the fact that they are capable of performing .Functions of robots and their operations
a job intelligently. With knowledge of all components .Standard laws and terminology of robots
of mechatronics, students can easily understand the
.Classification ofrobots
function and operation of CNC machines and robot-
ics. The concept of CNC and robotics discussed in this .Components ofrobotic systems
chapter will help students design an automated ro . Robotic arm positioning concepts
botic and CNC system for a three-dimensional oper Robotic arm path planning
ation. After reading this chapter, students will be able Computer control ofrobot paths

INTRODUCTION
A numerical control (NC) machine is a semi-automated or fully automated robotic system with limited
features of structure and intelligence. Numerical control is an automated process of cutting. drilling. milling.
etc. using various types of machine tools that are operated with precise control of programmed commands
encoded on a storage medium. Conventional manual control systems use handheld tools such as wheels or
levers, or mechanically automated vice cams alone. However, with the advances in semiconductor controllers
such as computers, operations of NC mills (machines) are controlled through a computer, and henee these
are named as CNC systems. CNC systems are now Uscd for the purposes of face milling. shoulder milling
tapping, drilling, and turning along three axes (x, Y, and 2) along with one or more rotational axes. Many
companies such as GE, Fanuc, Allen-Bradley, Okuma, and Bendix are producing such CNC controllers
Robotic svstems, which can think, act, and behave like human beings, were developed to help and
at level to enhance the effectiveness of the system or process
cooperate with human manpower every
With further advances, the interference of human operators was eliminated by the use of robotic sysiems
apartfrom CNC activities in variousindustries. Robots were supposed to replace someofthe human activities,
such as walking, talking, transporting, guarding, teucnng nd many more. A robotie system is featured
to hehave like human beings;, however, its intellgence ievel is deternined by the ability of the integrated
to execute a decision accordingly.
software and hardware robot are given in Table I8
differences bet ween a CNC and
Some ofthe basic discussecu along with CNC, which is als0
fundamentals o1 rObotics are a robotie
In this chanter,
with limited features.
678 MECHATRONICS

robots
Table 18.1 Difference between CNC and

CNC Robot
four DOFs. However, most
A CNC machine offers a fewer number of degrees A robotic system offers minimum
more than six DOFs.
of freedom (DOFs) as compared with robots. It of the robots are designed to exhibit
generally provides three or four DOFs
A CNC machine, in order to impart motion in The programming language of robots has an entirely different
on the involvement of vectors.
different directions, uses the most common language structure depending
languages known as G and M codes.
Generally. CNC machine program codes are Old robots have been programmed manually for movement
robots are
entered through a keyboard. in steps per requirement, but new-generation
or as

capable of training themselves like human beings as they

learn new activity with trial and error
grow with age. They can
to help the robot in
process. However, a trainer is required
learning to correct errors.
The inherent structure of a CNC machine is quite Structures of robots are better in assembling parts and related
functions.
good for fabrication, cutting, milling etc. of a
Workpiece due to its robustness to withstand a large
amount force
With the improved version of CNC machine tool The limitation of handling large amount of force by a robot is
a

technologies, it is possible to perform tasks likeea improved through stronger and more rigid structures, in order
robot to produce complicated parts.
A CNC machine tool is considered as a factotum A robot offers less precision as compared to a CNC machine
of precision in the area of manufacturing and while handling a large amount of loads. However, the use of
ndustrial applications. robots in CNC machining is economical also.

ACNC 5ystem with robots can operate in diverse Robots are featured to provide faster, fexible, robust, and
manufacturing and production processes. reliable operations as compared to industrial CNC machines

18.1 CONVENTIONAL MILLING MACHINES

Architectures of conventional vertical and horizontal milling machine are shown in Figs 18.1 and 18.2,
respectively. These methods are used manually through electrical motor drives.
Conventional NC machines also operate through manual switching to carry out a particular job such as
cutting, drilling, and so on. A switch-based manually operated NC machine is shown in Fig. 18.3.

Cutter
Job

Worktable
Cutting Spindle
tool
Job

Workiable Base
Bae

Fig. 18.1 Conventional Fig.18.2 Horizontal Fig. 18.3 Switch-controlled

vertical mifling milling manual NC machine
 COMPUTER NUMERICAL CONTROL AND ROBOTICS
679

18.2 NUMERICAL CONTROL MACHINES

CNC method
NC method is
is automated system that
an
operates machine tools as per the code of letters
s . numbers, and specifi
numbers, specnc cnaracters to
(e.g., G and M
codes), produce a desired piece of work using the
numerical inputdata are fed into a machine in program input. The
the form
tis called a CNC part program. Later, this program isoftranslated
a program produce
to a part of the work. This data
into the
nnropriate electrical signal output to run the servo or stepper motor used machine code program, followed
in the CNC system at the desired
esired direction to achieve the
ed and in the desi desired
P e e d

product.
183 FEATURES OF CNC MACHINERY
ACNC machine is capable of moVing a tool as well as
Amachine tool can operate along one to five axes
worktable/workpiece as per the design of the machine.
as per the code entered. A
with a machine control unit (MCU) whose complex CNC machine is featured
purpose is to manage all operations entered in the
However, movement of a tool program.
or
workpiece is
controlled by a servo or stepper (based on
selection) motor
that acts as an actuator. Any change from the desired value
of output results in an error with
measured feedback value provided by the sensor/transducer. The selection or respect to the
through tool magazines automatically. changing of a tool is performed

18.4 COMPONENTS OF CNC MACHINESs

A CNC machining system is composed of six major components:
Input devices These include keyboard, mouse, RS-232, Ethernet, etc.
Machine tools Generally, CNC machines are used for cutting, surface
smoothing, and other lathe operations
and hence require cutting. milling, and plotting motion tools.
Driving system to impart motion in order to impart motion, non-servo, DC/AC servo, linear, and stepper
motors are used.
Feedback transducers In order to control a machine continuously, feedback on its velocity and
position
is required. For position feedback, potentiometers, strain gauges, and angular encoder transducers are
For velocity, tachogenerators are used.
used
Controller as MCU A microcontroller of PLC-based controller can be used.

Display unit It can be an LCD, a printer, etc. Moreover, an advanced display system is featured with
a graphic display of simulation of the tool patn as per the part program input, which helps in confirming
in advance. before actual machining is impiementea, to output a desired workpiece. It also helos in the

maintenance and installation work of a CNC system in terms of machine parameters, logic diagram of the
error massages, diagnostic data,
programmer controller,
Display unit
etc.
the brain of a CNC
unit It is basically
Machine control data processing unit MCU Head
units, namely,
It consists of two DPU CLU Work picce
system.
loop unit (CLU).
and control
(DPU) as hardware parts
components
are
treated
Working table-
These 18.4.
shown in Fig.
as
CNC system, with three-axis servo drive Base
CNC system
A typical 18.5,
is
shown in Fig. Fig. 18.4 Typical CNC system
control
680 MECHATRONICS

Y-axis control
Servo/StepperDisplay
motor
Circuit

Spindle hecad
My

Servo/stepper
Working table motor

M,
Servo/Stepper X-axis control
motor
Z-axis control

Z-axis Intelligent X-axis

control controller control
circuit (computer) circuit

Spindle X
speed control
circuit
Z

Fig.18.5 Three-axis CNC control system

CNC tool movement control Generally, two types of motion or position control system are available to
direct the tool in a predefined motion or path. They are known as point-to-point and continuous path control
systems for tool movement, as shown in Figs 18.6 and 18.7, respectively. An advance CNC machine is
equipped with 100 or more tools for milling, drilling., tapping, boring, face milling, cutting, etc. These tools
are selected automatically by this automated machine.

Wire
M

Tool PO
Workpiece P I
Tool
P5
P4 P3 P2
Workpiece
Working table
Working table

Fig. 18.6 Point-to-point Fig. 18.7 Continuous path tool

movement control system movement control system

18.5 WORKING OF CNC MACHINES

A CNC machine is controlled by G and M codes (instructions with numbers). The number values and

coordinates are entered within a specified format. Each number ofa code represents a particular type o
 COMPUTER NUMERICAL CONTROL AND ROBOTICS 681

ration on a given piece of work. These codes

operath

ed to write a CAD program by the user.

are

he G and M codes, once entered, automatically

The

erate the
g e n e r
respective machine codes for
cution. A typical automated CNC machine is

shown in Fig. 18.8.

18.6 AXIS OF MOTION IN CNC

A CNC machine can offer three linear, such as
X.Y. and Z, and three rotational axes of motion.
These together form the degree-of-freedom
(DOF) coordinate system. In CNC, operations
are performed in various dimensional systems, as Fig. 18.8 Automated CNC machine
discussed in the following subsections:
Incremental systems n this method of control, a reference of measurement is taken from the preceding
point, as shown in Fig. 18.9. Therefore, an error at any stage results in a cumulative error.
Absolute systems In this method of control, a reference of measurement is taken from the origin of the
coordinate, as shown in Fig. 18.10. Therefore, all control commands are written with the reference to the
origin.

18 mm
20 mm 77 mm

59 mm
39 mm- 39 mmH

-XTTTITTT TTT X -XTTT

18
38 mm|
mm mm
36 mm'

56 mm

92 mm

Incremental coordinate Fig. 18.10 Absolute coordinate

Fig. 18.9

18.7 APPLICATIONS OF CNC MACHINES

CNC machines are used mostly for metal shaping by cuting. drilling, urning. grndng, centring. pressine
ng.
punching, surface machining, etc. Most industries use automated C'NC nachines tor assembling tiny ssmall
also used for desi
repeated operations. It
is
tools, by
and large components through sophisticated where a possibilty ot error
exists. Other
applicati
complicated contours, jigs and fixtures, and costly parts
(E:DM), laser cutting, waler-jet cutting. and indiscs
involve wire cutting, electrical-discharge machining
robots.
682 MECHATRONICS

18.8 ROBOTICS
A robot is mechatronic sysiem that is capable of performing the assigned work in the same manner
a
as
human beings. A robot is also known as an industrial robot, a robotic man1pulator, or a robotic arm
depending
upon applications.

18.8.1 Evolution of Robots

The term 'robot' was first time used by the Czech playwTight Karel Capek from the Czech word in place of
forced labour called serf.
He defined robot as 'a
reprogrammable. multifunctional manipulator designed to move material.
tools, or specialized devices through various programmed motions for the parts
tasks performance of variety of a

18.8.2 Definitions
With the evolution of robotics, the
definition of robot has changed from time to time. Depending on the
advances in technoiogies, and the
sensory capabilities and intelligence level of robots. robotics has been
defined in several ways, some of which are
as follows:
1. Robotics is an
interdisciplinary
area of
engineering
engineering; computer science; and several other comprising
mechanical, electrical. and electronic
2. It is the science of disciplines.
designing and developing robots that are useful for real-life
manufacturing and non-manufacturing sectors in an automated manner. applications of
3. It is a
knowledge-based art that presents the knowhow of designing.
in human endeavours. developing, and applying robots
International Standards Organization or /S0 definitions
These definitions were
adopted by the ISO and have been agreed upon by
An industrial robot is an
automatic, servo-controlled, freely
mostof the users and manufactures:
with several areas for the programmable,
handling of workpieces, tools or special devices. Variablymultipurpose manipulator.
make the execution of a
multiplicity
of tasks programmed operations
possible'.
Robotic Industries Association
These definitions
(Formerly, Robot Institute of America) Definitions
were adopted by the Robotic
Industries Association
1. An industrial robot is (RIA)
reprogrammable multifunctional manipulator designed to move material,
a

tools specialized devices

or
through
various parts
programmed motions for the pertormanee of a variety
tasks. of
2. It is automatic machine that
an
performs functions ascribed to humans or a machine in the form of a
human being.
3. It is asoftware-controllable machine that uses sensors and transducers to
effectors with the gude one or more end
help of programmed motions in a workpiece for manipulating physical
4. It is a number of objects.
rigid links connected through different types of joints that are controlled and
by a computer to perform the assigned task. monitored

18.8.3 Types of Motions of Robots

A robot acquire
can
any combination of six basic motions DOFs.
or
They are
explained as follows:
 COMPUTER NUMERICAL CONTROL AND ROBOTICcs 683
errical motion An arm of a robotic manipulator is capable of moving up and down in the vertical
direction
ith
with the help of a shoulder swivel. It is
possible either by turning towards the horizontal axis or by
vertically.
sliding
Radial motion This type of motion is achieved due to in and out movements of the
enerally occurs in case of elbow or manipulating arm. It
gene
leg extension or drawing back activities.
Rotational motion The angular movement is either clockwise or anticlockwise about an axis. It is generally
about the axis
ab that is vertical to the
manipulator
arm with the help of an arm sweep.
Pitch motion This motion
enables up and down movement of the wrist. It
motion and it is known as wrist bend, involves angular or rotational
Roll motion This is
rotational motion that enables
a
movement of the wrist, known as wrist swivel.
Yaw This enables the wrist to move in the
Thus, a robot can offer motions right or left direction, which is known as wrist
(DOFs) in terms of horizontal movement, yaw.
movement, vertical arm movement, rotary wrist rotary movement, radial arm
movement, wrist bend, and wrist sweep.
18.9 FUNCTIONS OF ROBOTS
A robotic system performs its task in three
Fig 18.11, where the robotic functions are stages,
as shown in
Fig. 18.11. This can be understood from
classified into three areas.
Sound Vision Stages of functions of robot

Proximity Environment Sending environment Controller decision

Performing task
through sensors and making based on
transducers input from sensors through end
and transducers effectors
(actuators)
Color Touch Stage 1
Stage 2
Obstacle Stage 3

Fig. 18.11 Function of robot

Stage 1 The task of this
stage is to sense the outside world environment
as vision, obstacles, sound, colours, touch, using sensors and transducers
and proximity to feedback such
motion or path. information in order to modify the
Stage 2 Controller decision is taken based the information obtained from
on
the sensors and
via interfacing outside world devices and control schemes transducer
ers,
to send usea w n or without a
servo
mechanism, in onder
signals to the actuator or the final control element sucn as
based on information received from the outside world
tor
arives, or
storage of program(s) and data
patn pianning along with speed,
time, ete. accurateh
Stage 3 This stage involves performance of the assigned task as per the command
given by the
controller
Suitable manipulating arm with a specified coordinate system, so as to reach all definodpO ihlrllet A
and a suitable gripper that can fit to the workpiece geomery
tot d g . 8 used to tinally implement tho
decision of the controller.

18.10 GOVERNING LAWS OF ROBOTICS

tatd
Sir Issac Asimo gave three 'laws of robotics for its development, eroth law' was
added h him
eroth law A robot must not injure humanity or, through inaclion, allow
humanity to cama ...
am.
684 MECHATRONICS

First law Arobot must not harm a human being or, through inaction, allow one to come to harm unlessthis
would violate a higher-order law
Second law A robot must always obey human beings unless it is in conflict with a higher-order law
Third law A robot
must protect its own existence unless that is in confict with a higher-orderlaw
18.11 ROBOTIC TERMINOLOGIES
Some important terms frequently used in the study of robotic systems are discussed in the following sections:
Links A link is basically a solid structure of an arm used in the robotic
system.
Joints A joint is a moving coupling between links. It
may be one of the following types:
Rotary Such joints are moving under the control of electric motors with a chain/belt'gear
system.
transmission
Linear Such joints have linear movement
provided by hydraulic cylinders and levers. In a prismatíc system.
slider joints with links supported by a linear slider
bearing are used to achieve a linear motion. This type of
motion can be actuated by ball screws and motors or
cylinders.
Degrees of freedom In a robotic system, every joint of the robot requires a certain DOF in terms of
rotary, or other types of actuators. A robotic system may have five or six DOFs.
slider,
six DOFs has the capability to reach
However, a robot with
every position and orientation in a three-dimensional
space. Typical
three, four, and six DOFs in translational and rotational motions for a three-dimensional space are shown in
Figs 18.12(a)Hc).
Z-axis Z-axis Z-axis
Rotational/Angular
Linear/Traslational Linear/Traslational
motion motion Linear/Traslational
6-degree freedommotion
Translation 3-degree freedom

Y-axis Translato
4-degree freedom

Y-axis
ranslation Y-axis
Linear/Translational Linear/Translational Linear/Translational
motion motion motion

X-axis
Rotational/Angular
X-axis X-axis

Fig.18.12 Degrees of freedom (a) Three DOFs (b) Four DOFs (c) Six DOFs degree

Orientation axes A robotic system describes its orientation axes in terms of rolls, pitches, and yaws. as
shown in Fig. 18.13.

Top or left Top or left

Pitch
Yaw Yaw
LRoll Forward
Clockwise right Right
movement
Roll
Bottom or left Bottom or nght
(a) (b) (c)

Fig.18.13 Three-dimensional movement/orientation (a) Pitch (b) Yaw (c) Yaw and Pitch
 COMPUTER NUMERICAL CONTROL AND R0BOTICS 685
Dasition axes 1hese describe the various positions
TCP (tooi center point
ofthe
tool in a
three-dimensional space, regardless of
orientation.

Link

Tool centre point or TCP It is used to hold something

Joints
ilable on the robot or on the tool,
and is availal
as shown in
Fig. 18.14.

Work envelope (workspace) It is the

geometrical
houndary of positions in space that a robot can reach, as Fixed

shown in Fig. 18.15. It can be fixed or variable,

depending on the design. Fig.18.14 Tool centre point

Speed It represents the maximum speed of TCP or

joint(s) that can be achieved. Workspace
Joint
Payload It represents the maximum mass that a Object
robot can handle without failure; else, there is a loss of L i n k job)
accuracy, leading to an error. Gripper

Settling time It is the time required by a robot to move

away from the final destination. This arises because of Working envelope
the fact that a robot moves faster while at start and as Fixed
it approaches the target destination, its speed becomes
slow so as to reach the target smoothly without
jerk.

18.12 CLASSIFICATION OF ROBOTS Fig. 18.15 Workspace/Work envelope

Robotic systems are discussed based on four types of classifications, namely, basic, standard, broad, and
general classifications, as shown in Fig. 18.16.

Robot
classification

Basic General Broad Standard

classification classification classification
classification

Stationary Movable
robot robot
General Special Programmablel Intelligent Tcle-operated Mechanical Control
purpose Reprogrammable robot robot
purpose configuration applieation
robot robot
robot

Servo Non-servo-
controlled
Servo- Non-serv0- Sensory Cartesian Cylindrical Spherical Jointed an controlled
robot conliguration contiguration
controlled controlled coordinate
Revolute
robot robot configuration contiguration
18.16 Classification of robots
Fig.
 686 MECHATRONICS

18.12.1 Basic Classification

Robots are classified into the following two categories:
Mobile robots This type of robot is featured with the
capacity to move within a specified workspace. They
are suitable for cleaning nuclear waste, accident areas, manufacturing industry, etc.

Stationary robots These are featured with robotic arms to perform the tasks while robot remains fixed at
one place.

18.12.2 General Classifncation

Under this category, robots are either general-purpose- or special-purpose-type robots.
General-purpose Robots
These robots
produced in mass because they are designed and developed to perform common tasks
are
such spraying, painting, picking, placing, welding, and a variety of jobs. Such robots
as
end effectors or fingers to be attached require suitable
according to the requirement or task to be handled. They are easily
available and cheaper.
General-purpose robots, based on their complexity and sophistication, are further classified as non-servo-
controlled, servo-controlled, and sensory types.
Non-servo-controlled robots These robots are designed for
simple and limited sequence control operations.
The movement of arms are controlled by an open-loop system on each axis from one end
point to another, as
shown in Fig. 18.17. That means points between two ends are not defined; only
point-to-point control for end
points are defined. However, how an arm reaches these end points is not of concern.

Controller
command signal

Robot Solenoid To arm/Wrist

controller valve Actuator
positioning
Non-servo-controlled
arm/wrist manipulator
Sensor
feedback End position
sensing by
limit switch

Fig.18.17 Non-servo-controlled robotic system

However, in case of control along a trajectory such as a circle, a spiral, an arbitrary curve, or a combined
trajectory, all points falling between the start and end points must be defined in advance, that is, should be
predetermined.
Servo-controlled robotsThese types of robots use various types of sensors and transducers to estimate
the internal manipulator state by measuring physical parameter(s) values such as state, acceleration., force,
location, position, velocity, and torque, as per the requirements. Suitable corections are applied to states that
deviate from the predetemined operational parameters set by the control program, to reduce the deviation to
zero from the order of 0.1 to I mm. Figure 18.18 shows a servo-controlled robotic system.
 COMPUTER NUMERICAL CONTROL AND ROBOTICS 687

Input signal
fnom contmller

Servo-controlled To arm/Wrist
Actuator
valve positioning
Servo signal Servo-controlled
amplitier am/wrist manipulator

Sensor
feedback Sensor for
detecting
position

Fig. 18.18 Servo-controlled robotic system

These robots are capable of liting high-capacity variable spccd loads like the human arms. It can
calculations
also find the shortest path between two points with prescribed constraints
by performing
automatically.
These robots use two types of sensorS; one type is used for internal position or location
Sensory robots
via external The other type
of components based on information gathered from the outside world
sensors.

inductive magnetic sensors, force

incudes various external sensors such as CCTV cameras. pressure sensors,
finders that are used for gathering information from
and torque sensors, and laser and IR sensors for range
the internal control of sensors by establishing
the environment: and it plays an important role in determining
environmental information to determine the location of the parts. Sensory
a relationship with the gathered
tasks:
robots are capable of performing the following
and situations of
their computer programs as per the changing requirements
They can change or modity as small as eight DOFs, which
sensors. Such robots with arms can otfer
the environment through information
object(s) individually or from a cluster objects comfortably.
of
help in identifying. picking. placing the language of human voice. The robotic vision is
suitable for
These robots are capable of understanding
at a high speed. The concept of pattern recognition
identifying, sorting, and collecting objects automatically and adapting to the suitable operating
for selecting different ypes of object(s)
also implemented functions of sensors, such as proximity sensing
and tactile sensing.
action. The
software algorithms for
of a robot is controlled by electrie and hydraulie
help
of
identify certain type objects.
Movement
ofjoints
drives. DC servo motors or DC stepper motors. However
of robotic manipulators uses
Motion manipulation robots.
motor drives in these
with high loads requires
high-speed manipulation

Special-purpose Robots i sa
and develope
to neet the requirenment ofa specitie nanure. Being designed
These robots are designed or development. Robots are neither produced in
robot takes a lot
ol time manutacturing
tor
its

shecific task, a market. Hence, their cost is

high.
available in the
m a s s nor easily
produced
for aa specifie purpose with a limited range of DOFs of manipulators,
designed and The sotware program of robot
They are or
pneumatically. a or
controlled hydraulically
are
arns
to pertorm the assigned task, is copied in its memory. These tves af
ucatial movements
carrying ou a n d l i n e of small.
smal and large objects, weldng. pnting, material casting. components
handling of
used in
robots are

assembling, etc.
 688 MECHATRONICS

18.12.3 Broad Classification

Robots are also broadly classificd in the following three classes:
Programmable/reprogrammable robots These robots are programmed and controlled by a computer for
iheir control. Such robots are first traincd belore perfoming a task. They arc capable of performing a task, in
the field of assembling of components. welding. painting. loading and unloading of objects, machine tools,
and all structured operations. by exccuting the operation repeatedly.
Tele-operated (man-in-the-loop) robots These arc is basically human-controlled robots. They are different
from fully machine-controlled robots. Here, a human operator is taken into the loop depending upon situations
where it is difficult to predict the motion and handling neds. Accordingly, the detailed information gathered
on the situation helps the operator to program or train the robot for its control action. They are generally used
in hazardous situations. The control action is featured with a servo-driven master slave feedback manipulator
system. Moreover. sometimes, a vehicle-mounted, heavy-duty. multi-axis power manipulator is used for
performing tasks in a hazardous zone according per the control commands of the human operator. It is capable
of controlling the manipulation of slave arms at a hazardous place safcly, through viewing the situation in a
closed-circuit camera or a television as per the decision of the master controller.
Intelligent robots These robots are similar to sensory robots featured with advance state-of-the-art and
artificial machine intelligence. Moreover, they can perceive neuro-muscular communication and coordination.
similar to human beings. They are used for exploring environmental conditions and their evaluation in
real time for decision making regarding the movement of a manipulator, depending on the sensor input
information.
Such robots are capable of taking decisions and implementation for movement on floors, climbing slopes,
and removing obstacles. They are available with high power-to-weight ratios in a compact assembly featured
with sophisticated sensor instrumentation and power supplies.

18.12.4 Standard Classification

This classification is based on physical as well as mental approach for the implementation of robotie funetions.
Eagleburger classified standard robots into two eategories: one based on mechanical econfiguration and other
based on the control method applied.
1. Under the classification based on mechanical configuration, various types of joints and links that
constitute the physical structure of a robot affecting their input-output relationship are considered.
2. Most robots available in the market can be grouped into four basic configurations, namely. Cartesian
coordinate, cylindrical, spherical, and jointed-arm (revolute/articulated) configurations.

Mechanical Configuration
Various types of mechanical configuration robots are discussed in the following sections:
Cartesian (rectilinear/gantry) coordinate configuration A Cartesian (rectilinear) robot has the
simplest configuration; it is also known as a gantry robot. This configuration of robots offers three mutually
perpendicular axes (X, Y, and Z) for lincar movements and is described by either a rectangular or a cubical
workspace volume, as shown in Fig. 18.19. It has no angular mover ent of links.
Cartesian robols are of two types: First, a cantilevered C'artesian configuration offers a limited range of
movement for its extension from the
support lrame. Itis less rigid in nature and works in a smallerrestricted
workspace as compared to thers. It has better repeatability and accuracy as comparcd to others like SCARA.
It can casily be programmed due to its inherent
natural coordinale systems.
 COMPUTER NUMERICAL CONTROL AND ROBOTICS 689
Sccond. gantry style Cartestan
which is used for precise movement of
contiguration, 17axis
heavy loads, Linear
more rigid in nature and mstalled on
the ceiling. motion
and thus covers less weorkspace volume.

Clindrical configuration Cylindrical configura-

ton robots otler two linear and one
angular move-
ments in such fashion that its workspace is
a
described Grnper
hy a Cvlindrical coordinate. It has one Iinear Linear
vertieal column
for movement of a robot arni on one side of the ro-
bot, which is capable of moving down the
eolumn, as Rectangular/Cuhical
shown in Fig. 18.20. Other two linear workspace
are also capable of angular movement
moving arms
simultaneous- -axis
Y-axis
. The angular rotation by 360° 18 not possible due to Linear
motion
Linear
hydraulic. electrical, or pneumatic connections. How- motuon

ever, it detines the minimum and maximum

move
ments of mechanical links in the overall Fig.18.19 Cartesian coordinate robots
cylindrical
volume or work envelope.
Spherical (polar) contiguration This configuration offers two angular and one linear
in a spherical workspace volume, as shown in movement of links
Fig. 18.21. It has a telescopie arm about a pivoted horizontal
axis and another that rotates about a vertical axis. It offers less
arm
workspace for movement of mechanical
andor actuator connections than the
cylindrical configuration.
Z-axis Linear

Z-axis: angular
TLinea
motion
Spheneal
i ylindrical wrna
Linear Angular workspace
motion motion Y-ANIS
Cylindrical
workspace Lincar -a Lanear

Lad Angular
Anpular
XaNiN

robots
18.20 Cylindrical contiguration Fig. 18.21 Spherical conhguration robots
Fig.
aute/articulate)
ar
connguraon A JoInted armm pe obot
capable of nork ina
Is
Adone linear movements through jonnts ant ams, as
Ls and rotatory joints, Can be
uNC as shoulder, am, and show
n in Fig
wrist ivints. These 18.22
OCS
types of jointed arm con
three diflerent
of joimted am
configuTtons, naneiy. paure
ah.
available in pthetical,
cal, and cylindrical. parallelogram spheri-
spher
690 MECHATRONICS

axis
SCARA lt is an abbreviated form ofselective
Angular
compliance assenmbly robot arm (SCARA) motion

It is a special class of jointed cylindrical

manipuiators. It be used like shoulder

can

and elbow with vertical rotational axes for

rapidand smooth movement. It is suitable for
o Y-axis
Angular
motion

aranging component assemblies for inserting axis

objects into holes. SCARA ofiers highly stif Angular
movement vertically and laterally, which helps motion

in inserting a component into a process or

system
Fig. 18.22 Articulated configuration robot

Control Classification Robotic arm

Based on the control configuration, a robot per-

Fecdback
forms its control either in an open-loop orin mechanism Output
a closed-loop scheme. Further, implementation
Sensor angle
of a robotic system can be described by control Closed loop
configurations, such as servo-controlled and robotic system

non-servo-controlled configurations, as shown Processor

Robot
(robot controller) Input angle
in Fig. 18.23. Linear as well as angular move-
ments are controlled using these techniques si-
multaneously. Fig. 18.23 Simple closed-loop-controlled robot
Servo-controlled robots Robots using servo control nmechanism may either follow a continuous path or
perform a point-to-point movement.
Point-to-point or PTP robots In this type of robotic system, software programs, for controlling the
movement of each arm and joint from a reference starting point to an end or final point, are stored in the
memory. These robots are used for repeated works such as welding of a job piece, pick-and-place work, and
So on

Continuous Path or CP robots This type of a robot has the capability to cover a continuous path consisting
of various path nodes. Information on each node, in terms of its position and velocity, is stored in the memory
and is continuously monitored through a feedback mechanism to control related links and joints of the
robot. The program requires inputs for the nodes on the continuous path of the robot. The motion cyeles are
continuously and closely monitored for a smooth motion of the robot on the path. These types of robots are
used in contour tracing. path finding, spray painting, are welding, etc.
Non-servo-controlled (limited sequence) robots They are controlled by setting the limit switches(s) for
the movement of each joint that mechanically stops at the point of target, rather than using sottware control.
Software programs are written for the mechanical set-up involving proper positioning of the moving armms
and joints along with the sequence of events; however, the endstop is implenented mechanieally. Theretore,
they are known as limited-sequence robots. They are used as end-point robots,. pick-and-place robots, or
bang-bang robots.

18.13 FEATURES OF ROBOTS

Some advantages and disadvantages of using a robotie system are explained in the following subsections:
 COMPUTER NUMERICAL CONTROL AND ROBOTICS 691

A robot cannot take jobs other

Limitations
than when programmed in danger or emergencies. It is a costly
air to install a robotic system for production. Replacement of human workers develops resentment in them.
Segtures
Features
Arobot, as an intelligent machine, has been proved to be highly beneficial to industrial and other

cations, such as for

performing repetitive tasks precisely and accurately to deliver quality products,
arying out monotonous Jobs, increasing eficiency leading to in enhanced production, reducing faults and
accidents, reducing wastage of raw materials and thefts, reducing labour deployment and related problems,
and performing economic and safe operations even in hazardous areas.

Head
18.14 COMPONENTS OF ROBOTIC SYSTEMS
Neck
0 Eye ball

The major components of a robotic system that help Shoulder

in generating various types of motions are structures, Chest
volume
sensors and transducers, controllers, actuators and Upper armm
Spinal
transmitters, manipulator arms, and end-of-arm column

tooling (EOAT)/end effectors. The details of these -Chest wall mass

components are explained in the following sections. Lower arm
Hand

18.14.1 Structures Abdominal mass

The structure of a human robotic system in the form

of a mechanical model is shown in Fig. 18.24, where M-D-S
each MDS block represents mass (M), damper (D), M: Mass. D: Damper. S: Spring
and spring (S) systems and joints with rectangles
and diamonds, respectively. However, the electro-
Legs Joint (S)
mechanical model of the system is added
with
clectrical motors and electronic components along
Fig. 18.24 Mechanical robotic model
With a controller such as a computer.
An electro-nmechanical model of a robotic arm may consist ofsix Steppers operating under the master and

slave mechanism with PID controllers, as shown m Fig I8. Waist, shoulder, elbow, wrist roll axis, wrist
controlled by Mj, M2, M3, M,, Ms, and M.. resnbcti sl
molors
Pitch axis, and wrist yaw axis are

Slaves

Driver (DCDAStepper
Master circuit notor 1 0Joint
DC2
M- )Joint 2
Robot
controller
-DCa M Joint
(compuler)
DC4 M Joint4
M )Joint 5
Driver Stepper
circut Joint 6
PID
ontrollers/

Electro-mechanical motion control of rotbatic

18.25 arm
Fig.
692 MECHATRONICS

18.14.2 Sensors and Transducers

Their purpose is to collect information from outside world environment and provide feedback to the controller
devices so that the manipulating robotic armm and end effectors such as grippers can take further actions or
revise them. Sensors and transducers are broadly classified into contact and non-contact types.

Contact-type Sensors
These sensors and transducers collect information from the environment, when it comes into contact with the
discussed as follows:
parameter measureand(s). Some of them are
Tactile sensors When a tactile sensor comes in contact with an object, it generates an electrical analog or a

digital signal, and sends it to the microcontroller/microprocessor controller.

Microswitches Electrical signals can also be generated with the help of microswitches.
Strain gauges Mechanical pressure applied to a strain gauge causes a change in resistances, which is
detected with the help of a bridge circuit as a proportional change in the bridge output voltage.
Piezoelectric transducers An electrical potential is created when a piezoelectric crystal material is subjected

to pressure.
Other contact-type robotic transducer sensors are force sensors, temperature sensors, torque sensors,
touch sensors, and position sensors.

Non-contact-type Sensors
These sensors are limited by their range; however, these are capable of sensing the physical parameter(s)
remotely and producing an electrical signal.
In order to detect various physical parameter(s) such as proximity of an object, displacement, speed,
distance, image, etc., transducers are available. These transducers work on one of the principles such as

change in magnetic fields, infrared and ultraviolet light, X-rays, electrical fields, ultrasonic sound waves, or

electromagnetic waves.
Various types ofsensors and transducers are discussed in detail in Chapter2.

18.14.3 Controllers
The role of a controller in a robotic system is to receive the sensor and transducer input signals for the purpose
of determining the values of parameter(s) under measurement, such as distance, image, speed, and light,
followed by the desired control action. This measured value is compared with a set or desired values, in order
to make a decision. Thus, a decision(s) is implemented through actuators in terms of action to minimize the
error or act as directed by the controller. A controller may be a microprocessor, microcontroller, or PLC-based
system. The details of various types of controllers are discussed in Chapters 7, 8, and 9 (microprocessors,
microcontrollers, and PLCs, respectively).

18.14.4 Actuators and Transmission

Movement in a robotic system can be induced using various types of actuators depending upon the problem
to be handled and robot design. Gienerally, a robotic arm can provide the desired type of motion with its
payload. Accordingly, a suitable drive system is selected, which is capable of providing power to drive tne
systems under control. Robots generally use one of the following three different types of power drives:
Pneumatie drives Generally, compressed air pressure is used as the
moving agent in a pneumatic a
system for robotic arm movement. A pneumatic drive acts like a linear actuator with either single- or doudie
 cOMPUTER NUMERICAL CONTROL AND ROBOTICS 693
d y i e r s lt can also be used
for rotary actuators through vane
n S I . tast, and eliable. but it can motors. A pneumatic actuator
Y only handle less payloads and it offers a delayed
ATt t iS Suitable response
tor non-serno robots. Pneumatic actuators have been discussed in detail in

Hvdraui drives ln this

dive system, the
hydraulic (uid oi)
NVnE Agent that causs the robotie arm to move with thepressure ereated by an electric motor pump
nar S roay
aiator assemblies. A help of a double-acting piston cylinder for
hydraulie drive system is capable
of oftering higher payloads
N paeumane dnve systems. but it is not as accurate
S Dave been iisussad in detail
in Chapter 13.
as
pneumatic and electric drives. Hydraulic
Electrical drives ln comparison with
array and reliability with a wide pneumatic and hydraulic drives. electrical drives offer high degree
range of payload capacities at a
iei mOTUT dnves used in robots are DC servo motors. brushless DC
competitive cost. Some important
electrical drive actuators have been discussed in [Link] servo motors.
segper motOrS. ete. Details of motors,

Chapter
Tramsmission
order toransmit power berween
actuators and robotic
mechanical) ransmission joints of mechanical
linkages, a suitable power
arrangement is required. This is because of the
1. The acTuator ourput power is not suitable to
drive the robotic
following
facts:
Exmple: The spead of an electrical DC motor drive linkage directly.
is. say, 2000
at a slower
spead. say 40 rpm. That means 200 rpm is rpm, which is used to drive the robot
of a suitable eficient required to be converted to 40 rpm with the
gear system. which can reduce the help
The output of the actuator is speed by 1 5.
different from the required motion of robotic joints.
Example: The output of an electrical drive
is rotary motion. but
linear motion: in this case. the the robotic
rotary motion has to be converted to a joint may require a
mechanism. Similarly, in case the output of a linear motion
hydraulie drive is linear. but the robotic using a suitable
rotary motion. then the joint requires a
3. The size and load of
linear-to-rotary-motion
conversion mechanism is
used.
actuators. being large, cause
problems in
Erample: order to impart motion from an actuator, whichlocating
In
is
the actuator at the
joint
distances. suitable linkage or gear train is heavy and large in size, to
required. large

18.14.5 End-of-arm Tooling/End Effectors

The final end of a robotic arm is called a robot end
etteetor. it nay be
am tool, which is fitted on the
robotic wrist of the basically a gripper or ths ond af a
adaptable to operations; however, the role of end cttectors is quitemanipulating
àm.. A robotie
manipulator is tlevible and
speciie in nature. A
to Derform
Various types of activities; therefore, the design ot an end ettector robot is dasi
determined by the activities to be performed. tooling and or erinner i
is
Example: A gripper designed to put a bolt cannot be
used as simple pickine tost.C
a

welding of

Classification of E0AT
EOAT is classified as grippers and tools.
Grippers A gripper is available in multiple, single, internal, or external type. Vari
used for designing a gripper; however, seven important gripping methods ofmethods.
are
widely used for the
purpose
694 MECHATRONICS

of gripping a body. They are grasping hooking, scooping, infiating around, magnetic attraction, vacuum
attraction, and sticking.
Tools Atool can be of compliant, contact, or non-contact type.
Manipulator arm This component is the most important part of a robot, which requires certain moving
mechanical structure in order to facilitate am movement within the work cnvelope. It is designed to take
maximum possible load while maintaining the precision of speed for repeated applications. A robotic arm can
have independent movements in two to three axes, called two or three DOFs.
A robotic manipulator arm is designed and developed with several separate links to form a chain. One end
of a robotic am is mounted on a fixed or movable base. The free end is fitted with an end effector, a gripper,
or a tool holder to hold a drill bit, welding torch, welding or hammering tool, etc.
A six-DOF robot uses the first three links of the manipulator that form the architecture, which helps to
desired position by the end effector within the working environment (volume). The remaining t
links form the wrist of the manipulator, which helps to determine the orientation of the manipulator end point
function.
Most robotic joints use a pair of one-DOF revolute pair (R) and one-DOF prismatic pair (P) for robotic
arm manipulators.

18.15 ROBOTIC ARM POSITIONING CONCEPTS

Accurate positioning of a robotic arm is subject to many factors related to sensors, actuators, control circuits
for measurement, and feedback control mechanis1ns used in the system. Some of the important points include
resolution, spatial resolution, electromechanical control resolution, control resolution, repeatability, accuracy
etc.

18.16 SOURCES OF ERRORS

In order to have a high-precision control of a robotic system, accuracy in calibration, kinematics, and
repeatability must be ensured. Other related parameters such as resolution, kinematic modelling errors, and
random errors must also be taken care of.

18.17 ROBOTIC ARM PATH PLANNING

In order to plan the path of a robot, the related parameters such as slew motion. joint interpolated motion,
and straight-line motion should be calculated and modelled to a defined
implement usinglike technique PlD
18.18 METHODS FOR JOINT-SPACE TRAJECTORY GENERATION
Accurate placement of a robotic arm is also important. It considers joint velocity and jerk calculation using
important analysis tools for controlling joint angles. There are two methods forjoint-space trajectory generation,
namely, third-order polynomial and fifth-order polynomial, which are expressed mathematically as follows:
1 ) = at + br + c; ) = ar t bf + cr' +d

They can be simulated using MATLAB.

*students can refer to the online resources on the companion website for more details
 COMPUTER NUMERICAL CONTRoL AND ROBOTICS 695

18.19 COMPUTER CONTROL OF ROBOT PATHS

It uses ineremental interpolation in path planning. It look-up table that has already been described
uses a
before the movement of the robot takes place. The real-time look-up table helps in path
ISe of all values available in the planning through the
However, an advanced, online
trajectory table.
path planner controller gets look-up values in the
trajectory table at a
predetermined time. These values are set at an appropriate time by the controller for
This technique is used to update the implementation.
current values based on the errors
produced by the planned and actual paths.
18.20 ADVANTAGES AND DISADVANTAGES OF ROBOTS
There number of
are a
advantages
of using robots. Some of them
1. A robot is suitable for
are as follows:
2. It does not get
performing
repetitive work.
exhausted, and so can work round the clock to increase productivity, thus offering
higher eficiency.
3. It has predefined area of
a
work; thus, there are fewer chances of accidents.
4. It measures and controls its
work accurately; thus, raw material
5. It is less dependent on workers wastage and thefts are minimized.
and hence reduces
6. It offers
worker-related problems.
long-term economic benefits.
7. It is capable of
performing in places where a human operator cannot, such as in
8. The operating functions are hazardous areas.
The
implemented more precisely and
accurately than by a human operator.
disadvantages of a robot are as follows:
1. In order to operate a
robot, people should be trained.
2. A large amount of
money requires to be invested for operating a robotic
3. It is dangerous to function.
operate a robot beyond the workspace. There may be conflicts
and robots regarding taking decisions. between human beings

PROJECT DEVELOPMENT HELP

In order to design and develop a CNC and robotic also need to be
system, calculation for various types of load(s) must
determined. The calculation for
the signal
conditioning
be done as per the requirement and environmental need to be made to drivecomponents and devices
the transducer
condition. the controller as well as signal to
the controller to the
Based on the calculated data, suitable specifications drive. motor
for motor drive need be determined, which can meet A suitable software
program needs to be written
the above requirement. as per interface circuit for
measurement and control
Similarly, suitable transducers with specifications applications as per the processor used.

SUMMARY

machines A CNC system is a

CNC system controls the operation of
A
and tools by direct insertion
of numerical data that operates on computer-controlled
a
stored
NC
system
device such as a
The
keyboard. the NC function.
Thus,
program to
perform
input it
through an
order to produce a part,
are
microcomputer that acts as
requires a mini- or
numerical data, in
system.
a
controller in the a
entered in the part program. CNC
696 MECHATRONICS

A CNC system is a reprogrammable system that which function in the closed-loop feedback
offers higher degree of flexibility and computational control mode, which makes it intelligent through
capability as compared to an NC system for cutting, measurement, comparison, and control.
milling, surface finishing, grinding, etc. .A robot can be classifhed based on the types of
A CNC system operates a number of machines by a geometries, end effectors, or grippers, and the
common computer through a direct connection in types of control used in the robot.
real time. Robots are availablein four possible geometric
.CNC offers precise positioning and repeatability of configurations. These are Cartesian, cylindrical,
machine tools; however, errors are introduced due spherical, and articulated configurations.
to friction, known as the stick-slip phenomenon. The flexibility of a robot is determined by the
A robot is a reprogrammable machine that offers number of axes and DOFs of a robot. The axes of
higher degrees of freedom (DOFs) than a CNC motion also play an important role in the position
system. Thus, a robot has several independent DOFs and orientation of the grippers.
in order to communicate with other devices in its A robot works on a workpiece through an end
environment. effector(s), which is attached to the wrist of the robot.
The main components of a robotic system are Robots have a large number of applicatiorns in
transducers, actuators (which may be mechanical, the area of processing, material handling, parts
electrical, pneumatic, or hydraulic) and controllers assembly, parts inspection, safety, etc.

KEY FORMULAE

P
1. Deflection due to payload =
ôp =3EI arm due to gravity is given as: 8, = PPw
3EI' 8Er
2
G
3.
8EI
The deflection produced due to the combined effect
4.
K
of the payload and robotic link mass on the robotic 5 Angular movement= 6=(0 +6,+ 0,)

GLOSSARY

Cartesian (rectilinear/gantry) coordinate configura- Machine control unit (MCU) It is basically the brain
tion A Cartesian (rectilinear) robot has the simplest ofa CNC system and controls the CNC with the helpof
configuration; it is also known as a gantry robot. a data processing unit (DPU) and a control loop unit
Cylindrical configuration Cylindrical configuration (CLU).
robots offer two linear and one angular movements in Mobile robot This type of robot is featured with the
such a fashion that their workspace is described by a capacity to move within a specifhed workspace.
cylindrical coordinate. Numerical control machine A computer numerical
Degrees of freedom Ina robotic system, every joint control (CNC) machine is an automated system that
of the robot requiresa certain degree of freedom in operates machine tools as per the code of letters, such
terms of slider, rotary, or other type of actuator. as G and M codes.
Instruction block (code sequence format) An in- Sensory robot This robot uses two types of sensors;
struction block or a code sequence format is com- one of them is for internal position or location of
posed of various codes in order to implement by the components based on information gathered from
MCU as per the code entered in the instruction
block. outside world via external sensors.
 COMPUTER NUMERICAL CONTROL AND
ROBOTIcS 697

tionary robot It is featured with robotic arms to

omthe
perforn the tasks while the robot remains fully machine-controlled robots.
fixed at one
Tool centre
centre point (TCP) It isis used to
place to hold
and is available something
Tele-oper. erated (man-in-the-loop) robot It is basi-
on the robot or on the tool.
cally human-controlled robot. It is different Work envelope (workspace) Itit is the the
boundary of positions in space that a robotgeometrical
from
can reach.

EXERCISES
Multiple-choice Questions
18.1 Which information signal is received
controller from robot sensors? by a robot (d) All of these.
(a) Pressure 18.7 Which of the
(b) Feedback
(c) Signal following pointsis correct with
(d) Output respect to absolute tool
positioning of a CNC
18.2 Which robot with its own system?
independently on other robots'computer
computer?
works
(a) Dimensioning mistake of an individual
(a) Android
point does not affect the remaining
(b) Insect robot
dimensions.
(c) Automated guided vehicle (b) Movement of each tool is
(d) Autonomous robot measured with
18.3 Which respect to a fixed point or
origin.
of the following dimensions is (c) Errors
with spherical coordinates, in
associated
order to
are
(d) All of these.
checked easily.
the define
position of a point? 18.8 Which of the
(a) One dimension following points is correct for a
(6) Two dimensions point-to-point NC movement system?
(c) Three dimensions (a) It allows controlled
tool movement
an axis at a
time. along
(d) Four dimensions
18.4 What is the (b) This operation is
name of the region over which a
implemented
location for a two-axis
at a fixed
robot arm coordinate
accomplishes its tasks? (c) This enables machine and tool position.
(a) Coordinate geometry (c) Reference movement
frame control in all
(6) Reference axis (d) Work envelope planes regularly.
18.5 What is the name of the (d) None of these.
coordinate in which a 18.9 Which of the
robot arnm is able to move
along three straight following points is corect for a
contour or continuous
independent perpendicular axes? path system?
(a) Revolute geometry (a) It allows tool movement control
axis at a time. along one
(b) Spherical coordinate geometry
(c) Cartesian coordinate geometry (b) It allows machine and tool
control in all planes movement
(d) Cylindrical coordinate geometry regularly.
8.6 Which of the (c) It does not require a
specitie path
following points is correct with movement from one
tor tasl
respect to incremental tool positioning of a point to the nert
(d) None of these
CNC system?
18,10 In which mode, coordnates
(a) Each tool movement is
performed with enterng into a

respect to the last tool position. program are speciied relattne to the
zero point? program
(b) Each tool movement is measured from a
(a) C'anned eyele mnode
fixed point (origin).
(b) lneremental mode
(c) Each tool movement is measures from a
(c) Absolute mode
Tero point.
(d) Rapid mode
 698 MECHATRONICS

Review Questions
18.1 What are the advantages of NCmilling machines 18.17 Classify robots based on their working volurme
over conventional miling machines? 18.18 Write down the general classification of robots.
18.2 Why are numerical control machincs so popular? 18.19 Explain the broad classification of robotic
18.3 What are the features of CNC machinery? systems
18.4 What are the components of a CNC machine? 18.20 What arethe components of a robotic system?
Explain in brief. Explain each in brief.
18.5 What are the roles of machine control unit 18.21 Write the types of sensors that are used in a
(MCU)? Explain. robotic system. Explain them
18.6 What are the types of CNC tool movement 18.22 State the types of actuators that are used in a
control systems? Explain. robotic system. Explain them.
18.7 Draw and explain the process of a point-to-point 18.23 What is the role of end of arm tooling (EOATy
movement control system. end effectors? Explain.
18.8 Draw and explain the process of a continuous 18.24 Write the factors involved in the design of a
path tool movement control system. robotic arm. Explain them their effects.
18.9 What are the types of CNC axis of motion? 18.25 Explain the forward transformation method for
Explain in brief. gripper position determination.
18.10 What are the methods of CNC machine 18.26 Explain the backward (inverse) transformation
programming? method.
18.11 What are advantages of computer-aided part 18.27 Write the concepts involved in robotic am
programming using a CAD database over "M' positioning. Brief them.
and 'G'codes based the part programming method? 18.28 Write the factors involved in robotic arm path
18.12 What are the applications of a CNC machine? planning. Explain them.
18.13 Define a robotic system and explain the functions 18.29 Write the methods for joint-space trajectory
of a robot. generation.
18.14 What are the types
ofmotions
associated with a 18.30 Explain the computer control of robotpaths
robot? Explain in brief. 18.31 What are the possible sources of errors
18.15 What are the governing laws ofrobots?
Explain introduced in a robotic system?
in brief. 18.32 What are the advantages and disadvantages of
18.16 Write important robotic terminologies. robots?

Answers to Multiple-choice Questions

18.1 (b) 18.2 (d) 18.3 (c) 18.4 d) 18.5 (c) 18.6 (a) 18.7 (d) 18.8 (b) 18.9 (b) 18.10 (c)