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ECE881 Robotics and automation

By: Raman Kumar

Dept of ECE

Ph 9988900339

Email:raman.kumar2@lpu.co.in

Web page:www.lpu.in/oe/ece881

www.lpurobotics.com

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ECE881 Robotics and automation

LTP:300

CA : ATT=05, ABT=20 MTE=25, ETE=50

Total assignments 2 out 3

Textbook: Robotics Technology & FlexibleAutomation Author : S R Deb

Publisher : Tata McGraw Hill

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contentSr.No. Description

1IntroductionLaws of Robotics, Robot definitions, Robotics and Human Systems, Robot Anatomy,

Specifications of Robots, Machine Intelligence.2

Basic Electronics and Computer Interfacing

Basic Electronic components, Digital circuits and devices, Computer and microprocessor,Hardware interfacing using serial and parallel ports.

3Robot Kinematics, Drives, Actuators and Controls

Forward and reverse kinematics, forward and reverse transformation, Functions of drive systems,

Introduction to pneumatic systems, Electrical drives, DC Motors, Stepper Motor and drive

mechanismMTE

4Sensors and Intelligent Robots

Artificial Intelligence and Automated manufacturing, AI and Robotics, Need for sensing systems,

Sensory devices and types of sensors, Robot Vision Systems5

Application of Robots

Capabilities of Robots, Robotic applications, Obstacle avoidance, Other usage of Robots, The

future of Robots

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Robot building blocks

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So Definition ?

8Raman

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What is a Robot? A remote-controlled machine is a robot:

True or False?

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What is a Robot?

A machine whose behavior can beprogrammed

Then, is a VCR a robot?

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Introducing Roomba!

Vacuum CleanerRobot

www.irobot.com

Affordable

Virtual Wall

http://www.roombavac.com/index.htmhttp://www.roombavac.com/index.htm

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Robota The term robot

originates fromthe Czech word,robota, meaningcompulsorylabor (or slave)

From the playR.U.R. (RossumsUniversal Robots)by Czech playwriter KarelCapek in 1921.

The play RUR featured robots that

nearly took over the world.

They stopped only when they could notanswer the question:

What do we do after we have

destroyed all of the humans?

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Three Laws of Robotics

In 1942, Issac Asimov, An Americanscience fiction writer, introduced theword robotics in his short story

Law 1: A robot may not injure a human being,or, through inaction, allow a human being tocome to harm

Law 2: A robot must obey the orders given it by

human beings except where such orders wouldconflict with the First Law

Law 3: A robot must protect its own existenceas long as such protection does not conflict with

the First or Second Law

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Definition:(Autonomous) Robot

A mobile computer situated in the realworld interacting with the environmentthrough sensors and actuators in order toperform various intelligent tasks withoutconstant attention

Real robots do not need joy stick remotecontrols!

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Definition: Robotics

The science of building andprogramming robots

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G. Walters Robot The first Robot

1948, 1953

A wheeled machine with motors

Photocells

Two vacuum tubes

Moved toward light if moderate intensity

Avoided bright light

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Lots of Robots after Walters Robot

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Lots of Robots after Walters Robot

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Lots of Robots after Walters Robot

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Lots of Robots after Walters Robot

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Lots of Robots after Walters Robot

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Lots of Robots after Walters Robot

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Lots of Edutainment Robots afterWalters Robot

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Humanoid Robots

Honda's "ASIMO" RingsOpening Bell at the NYSEFebruary 15, 2002

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Fundamental Components ofAutonomous Robots

A brain (or brains)

Body: physical chassis that holds other

piecesActuators: allows to move. Motors,

hydraulic pistons, lamps, etc

Sensors

Power source

Communication

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Body: Mechanical DesignProblems

Movement: Changing location

Steering: Changing direction

Navigation: Determining location (verydifficult task)

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L2

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3DOF

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joints

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Spherical joint

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Universal joint

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ARM GEOMETRY

ROBOT MUST BE ABLE TO REACH A POINT IN SPACE WITHINTHREE AXES BY MOVING FORWARD AND BACKWARD, TO THELEFT AND RIGHT, AND UP AND DOWN.

ROBOT MANIPULATOR MAY BE CLASSIFIED ACCORDING TO THETYPE OF MOVEMENT NEEDED TO COMPLETE THE TASK.

RECTANGULAR-COORDINATED:

- HAS THREE LINEAR AXES OF MOTION.

- X REPRESENTSD LEFT AND RIGHT MOTION

- Y DESCRIBES FORWARD AND BACKWARD MOTION.

- Z IS USED TO DEPICT UP-AND-DOWN MOTION.

THE WORK ENVELOPE OF A RECTANGULAR ROBOT IS A CUBE ORRECTANGLE, SO THAT ANY WORK PERFORMED BY ROBOT MUSTONLY INVOLVE MOTIONS INSIDE THE SPACE.

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RECTANGULAR COORDINATES

ADVANTAGES:

THEY CAN OBTAIN LARGE WORK ENVELOPE BECAUSE RAVELLING ALONGTHE X-AXIS, THE VOLUME REGION CAN BE INCREASED EASILY.

THEIR LINEAR MOVEMENT ALLOWS FOR SIMPLER CONTROLS.

THEY HAVE HIGH DEGREE OF MECHANICAL RIGIDITY, ACCURACY, ANDREPEATABILITY DUE O THEIR STRUCTURE.

THEY CAN CARRY HEAVY LOADS BECAUSE THE WEIGHT-LIFTING CAPACITYDOES NOT VARY AT DIFFERENT LOCATIONS WITHING THE WORKENVELOPE.

DISADVANTAGES:

THEY MAKES MAINTENANCE MORE DIFFICULT FOR SOME MODELS WITHOVERHEAD DRIVE MECHANISMS AND CONTROL EQUIPMENT.

ACCESS TO THE VOLUME REGION BY OVERHEAD CRANE OR OTHERMATERIAL-HANDLING EQUIPMENT MAY BE IMPAIRED BY THE ROBOT-SUPPORTING STRUCTURE.

THEIR MOVEMENT IS LIMITED TO ONE DIRECTION AT A TIME.

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APPLICATION:

PICK-AND-PLACE OPERATIONS.

ADHESIVE APPLICATIONS(MOSTLY LONG ANDSTRAIGHT).

ADVANCED MUNITION HANDLING.

ASSEMBLY AND SUBASSEMBLY(MOSTLY STRAINGHT).

AUTOMATED LOADING CNC LATHE AND MILLINGOPERATIONS.

NUCLEAR MATERIAL HANDLING.

WELDING.

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CYLINDRICAL-COORDINATED

HAS TWO LINEAR MOTIONS AND ONE ROTARY MOTION.

ROBOTS CAN ACHIEVE VARIABLE MOTION.

THE FIRST COORDINATE DESCRIBE THE ANGLE THETA OF BASEROTATION--- ABOUT THE UP-DOWN AXIS.

THE SECOND COORDINATE CORRESPOND TO A RADICAL OR Y--- INOUT MOTION AT WHATEVER ANGLE THE ROBOT IS POSITIONED.

THE FINAL COORDINATE AGAIN CORRESPONDS TO THE UP-DOWN ZPOSITION.

ROTATIONAL ABILITY GIVES THE ADVANTAGE OF MOVING RAPIDLYTO THE POINT IN Z PLANE OF ROTATION.

RESULTS IN A LARGER WORK ENVELOPE THAN A RECTANGULARROBOT MANIPULATOR.

SUITED FOR PICK-AND-PLACE OPERATIONS.

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ADVANTAGE:

THEIR VERTICAL STRUCTURE CONSERVES FLOOR SPACE.

THEIR DEEP HORIZONTAL REACH IS USEFUL FOR FAR-REACHINGOPERATIONS.

THEIR CAPACITY IS CAPABLE OF CARRYING LARGE PAYLOADS.

DISADVANTAGE:

THEIR OVERALL MECHANICAL RIGIDITY IS LOWER THAN THAT OFTHE RECTILINEAR ROBOTS BECAUSE THEIR ROTARY AXIS MUSTOVERCOME INERTIA.

THEIR REPEATABILITY AND ACCURACY ARE ALSO LOWER IN THE

DIRECTION OF ROTARY MOTION.

THEIR CONFIGURATION REQUIRES A MORE SOPHISTICATEDCONTROL SYSTEM THAN THE RECTANGULAR ROBOTS.

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APPLICATION:

ASSEMBLY COATING APPLICATIONS. CONVEYOR PALLET TRANSFER. DIE CASTING.

FOUNDARY AND FORGING APPLICATIONS.

INSPECTION MOULDING. INVESTMENT CASTING. MACHINE LOADING AND UNLOADING.

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SPHERICAL COORDINATED

HAS ONE LINEAR MOTION AND TWO ROTARY MOTIONS.

THE WORK VOLUME IS LIKE A SECTION OF SPHERE.

THE FIRST MOTION CORRESPONDS TO A BASE ROTATIONABOUT A VERTICAL AXIS.

THE SECOND MOTION CORRESPONDS TO AN ELBOWROTATION.

THE THIRD MOTION CORRESPONDS TO A RADIAL, OR IN-OUT, TRANSLATION.

A SPHERICAL-COORDINATED ROBOTS PROVIDES ALARGER WORK ENVELOPE THAN THE RECTILINEAR OR

CYLINDIRICAL ROBOT. DESIGN GIVES WEIGHT LIFTING CAPABILITIES.

ADVANTAGES AND DISADVANTAGES SAME ASCYLINDIRICAL-COORDINATED DESIGN.

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APPLICATIONS:

DIE CASTING DIP COATING FORGING GLASS HANDLING HEAT TREATING INJECTION MOLDING MACHINE TOOL HANDLING MATERIAL TRANSFER PARTS CLEANING

PRESS LOADING STACKING AND UNSTICKING.

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ANATOMY

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SCARA (selective Compliance Articulated Robot Arm

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Equivalance

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Human robot

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Motions

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Reach and work volume

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A Robot

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Robot specifications

LCC

PR

CR

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Spatial resolution

Smallest increment of movement intowhich robot can divide his work volume

Example?

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Accuracy vs. Resolution

True value

measurement

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Accuracy

Ability of robot to position its end affecterat a desired target point within workvolume

How near to control resolution it points

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Repeatability

At same point where it was previously

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Accuracy vs. Precision

Precision

withoutaccuracy

Accuracy

withoutprecision

Precision

andaccuracy

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definitions

Resolution

P.R. The programming resolution is the

smallest allowable position increment inrobot programs and is referred to as thebasic resolution unit (BRU).

C.R. The control resolution is the smallestchange in position that the feedback device

can sense.

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Accuracy refers to a robot's ability toposition its wrist end at a desired targetpoint within the work volume

Repeatability is a statistical termassociated with accuracy, it describes howa point is repeated. If a robot joint is

instructed to move by the same angle froma certain point a number of times,

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Compliance

What is effect on end affecter whenLoaded and when not loaded

Low compliance means that manipulatoris stiff did not get effected by loading/unloading

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What is Electricity

Everything is made of atoms

Atom consists of electrons, protons, and neutrons

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Electrons (- charge) are attracted to protons (+ charge), thisholds the atom together

Some materials have strong attraction and refuse to loss

electrons, these are called insulators (air, glass, rubber, mostplastics)

Some materials have weak attractions and allow electrons to belost, these are called conductors (copper, silver, gold,aluminum)

Electrons can bemade to move from one atom to another, thisis called a current of electricity.

Surplus of electrons is called a

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Surplus of electrons is called anegative charge (-). A shortageof electrons is called a positivecharge (+).

A battery provides a surplus ofelectrons by chemical reaction.

By connecting a conductorfrom the positive terminal to

negative terminal electronswill flow.

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Voltage A battery positive terminal (+) and a negative terminal (-). The

difference in charge between each terminal is the potentialenergy the battery can provide. This is labeled in units of volts.

Water Analogy

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Voltage Sources:

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Voltage is like differential pressure,

always measure between two points.

Measure voltage between two points

or across a component in a circuit.

When measuring DC voltage make

sure polarity of meter is correct,positive (+) red, negative (-) black.

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Ground

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Current

Uniform flow of electrons thru a circuit is called current.

WILL USE CONVENTIONAL FLOW NOTATION ON

ALL SCHEMATICS

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To measure current, must break circuit and install meter in line.

Measurement is imperfect because of voltage drop created by meter.

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Safe Levels

Voltage: 30 V

Voltages inside a computer do not exceed 12 V, exceptat the power supply and power switch, which are at220 V.Be careful in these areas!

Current: 5 mA (0.005 Amperes)

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Resistance

All materials have a resistance that is dependent on cross-sectional area, material type and temperature.

A resistor dissipates power in the form of heat

Various resistors types

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yp

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When measuring resistance, remove

component from the circuit.

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Resistor Color Code

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Ohms Law

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Prototyping Board

Example of how component

Inserted in the protoboard

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Capacitance

Battery

Capacitor

Unit = Farad

Pico Farad - pF = 10-12F

Micro Farad - uF = 10-6

F

A capacitor is used to store charge for a short amount of

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Capacitor Charging

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Capacitor Discharge

Analyzing a LED Circuit with KVL

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a y g a C cu t tand Ohms Law

9V VLED = 2V

LEDRT VVV

350

020.0

7

A

V

I

VR

R

R

mAII RLED 20

V

VVV LEDTR

7

29

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Inductance

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