Introduction to the Robotic

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Introduction to the Robotic
Name Núria Rosillo Guerrero Faculty Computer
Science Engineering Department Mathematics
Science and Computation
Universidad Cardenal Herrera CEU Halmstad,
29.10.09
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Introduction

• Definition
• A reprogrammable and multifunction machine
  designed to move materials, tools or specialized
  instruments, by programmed movements to carry out
  a variety of tasks.
• Characteristics
• Versatile
• Flexibility
• Environment adaptable

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Types of robots
Androids Mobiles
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Types of robots
Industrial Robots Medical
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Types of robots

• Tele operators
• Poliarticulated
• Mobiles
• Androids
• Zoomorphic
• Hybrids

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Historic Review
Greek mythology has featured many mechanical
beings. Machines designed for human comfort we
recurrent in Arab civilizations.
 
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Historic Review
 
First person who employed the word Robot was
Karel Capek
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Historic Review
 

• Isaac Asimov coined the term robotic and he
  published three famous robotic laws
• A robot can't damage a human being, nor allow
  this to be damaged.
• A robot must obey a human order, except when
  these orders clash with the first law.
• A robot must always protect themselves as long
  as this protection doesnt clash with the first
  and second laws.

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Historic Review
 
The first version were the programmable machines
in the XVIII and XIX century.
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Historic Review
 

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Historic Review
 

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Historic Review
 

• External sensors.
• Dynamic Control.
• Redundant robots.

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Historic Review
 

Waited increasing at the robotics industry
Table 1 Acquisition Robots Percentages according
to its function in U.S
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Historic Review
Current robotics limits

• Six precisions joints between the robots base
  and the manipulator extreme
• Simple and intuitive programming.
• Adaptation to the environment by sensorial
  stimulations.
• Movement margin in ranges of 0.3 mm.
• Capability to manipulate weights until 150 kg.
• Point to point movement control and trajectory
  follow-up.
• To synchronize with with mobiles targets.
• Compatibility with PCs.
• High reliability (during at least 400 work
  hours).
• Artificial vision that includes at least
  orientation and recognition capability.
• Tactile sensors.
• Coordination of the different parts of the unit.
• Capability of trajectory correction on-line.
• Mobility.
• Movement optimization.
• Energy conservation.
• General purposes appendices.
• Voice communication
• Security according the Asimov laws.

 
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Robots Components

• The manipulator.
• The sensors.
• The control unit.
• The power convert unit.

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Robots Components

• The manipulator
• It constitutes the mechanical structure of the
  robot.
• Classes of kinematic pairs
• Revolution pairs.
• Prismatic pairs.

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Robots Components
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Robots Components
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Robots Components

• The sensors
• Classification
• Internal sensors
• External sensors

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Robots Components

• The Unit Control
• Functions
• Beginning and end of the movement of the
  individual components of the manipulator in a
  sequence of specified points.
• Data is stored in its memory, about the position
  and sequence of movements.
• It permits the robot to interact with the
  environment by means of sensors.

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Robots Components
Power conversion Unit Its mission is to provide
the necessary energy to the engines. It can be a
power amplifier in the case of the systems moved
by servos, or it can be a compressor in the case
the robot uses pneumatic o hydraulic system
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Robots Specifications

• Main specifications
• Load capacity.
• Mobility.
• Work Space .
• Agility.
• Precision and repeatability.
• Work Environment.

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Robots Specifications
Load Capacity Its the maximum weight that it
can move under any configuration.
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Robots Specifications
Mobility The mobility is determined by the total
number of independent movements that the robot is
able to do. The movements can be displaced or
rotations.
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Robots Specifications
Work Space Its the space region composed by all
the points that can be reached by the end of the
arm o any point of the wrist, without taking the
tool into account. The volume and the shape of
the work space is very important for industrial
applications, because they determine the robots
capabilities.
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Robots Specifications
Work Space
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Robots Specifications
Agility Its measurement by two parameters
maximum velocity and maximum accelerations
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Robots Specifications
Precision and Repeatability Precision
Capability to position the terminal element at a
point in its work space. Repeatability it is the
measurement of the robots ability to situate its
terminal element in the same point several times.
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Robots Specifications
Work Environment Robots normally work in
contaminated environment or under extreme
temperatures, and it has to be designed to fit
this kind of atmosphere..
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Classification
Classification based on the mechanical
configuration of the robot
Classification based on the type of control.
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Classification based on a mechanical configuration
Robots with cylindrical coordinates
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Classification based on a mechanical configuration
Robots with spherical coordinates
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Classification based on a mechanical configuration
Robots with articulated arms

• Spherical.
• Parallelogram.
• Cylindrical.

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Classification based on a mechanical configuration
Spherical
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Classification based on a mechanical configuration
Spherical
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Classification based on a mechanical configuration
Parallelogram
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Classification based on a mechanical configuration
Parallelogram
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Classification based on a mechanical configuration
Cylindrical
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Classification based on a mechanical configuration
Cylindrical
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Classification based on a mechanical configuration
Robots with Cartesian coordinates

• Type Projection.
• Type Portico.

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Classification based on a mechanical configuration
Projection
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Classification based on a mechanical configuration
Portico type
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Classification based on a mechanical configuration
Portico type
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Classification based on type of control
Classification based on the kind of control

• Not servo controlled.
• Servo controlled.

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Classification based on type of control
Not servocontrolled

• Characteristics
• High velocity due to the small dimensions.
• Low cost, easy maintenance and operation.
  Extremely reliable .
• High precision and repeatability.
• Not flexible respect the applications.

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Classification based on type of control
Servocontrolled
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Classification based on type of control
Servocontrolled

• Characteristics
• High storage capacity.
• The terminal element can have one of two types
  of movement point to point and continuous
  trajectory.
• Inside the physical limits, the precision of the
  position can be modified fiddling with the
  amplifiers of the servo control system.
• The programming can be carried out by
  apprenticeship or by a programming language like
  VAL, ARLA
• Its possible to program the movement of each
  axis to situate the terminal element in any part
  of the work space.
• More expensive, low reliability, unlimited
  flexibility.

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Classification based on type of control
Point to point robots servo controlled
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Classification based on type of control
Robots servo controlled with continuous trajectory
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Applications
Smelting
Soldering
Materials Applications
Rectified
Maintenance
Assembly Operations
Inspection
Cut
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Applications
Smelting
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Applications
Soldering
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Applications
Materials Applications
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Applications
Rectified
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Applications
Maintenance
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Applications
Assembly Operations
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Applications
Inspection
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Applications
Cut