UNIT I INTRODUCTION Definition of a Robot - Basic Concepts - Robot configurations - Types of Robot drives - Basic robot motions -Point to point control - Continuous path control.

Definition of a Robot A machine that looks and acts like a human being. An efficient but insensitive person An automatic apparatus. Something guided by automatic controls. E.g. remote control A computer whose main function is to produce motion.

Law’s of Robotics Asimov proposed three “Laws of Robotics” Law 1: A robot may not injure a human being or through inaction, allow a human being to come to harm Law 2: A robot must obey orders given to it by human beings, except where such orders would conflict with a higher order law Law 3: A robot must protect its own existence as long as such protection does not conflict with a higher order law

Robot anatomy Robot manipulator consists of two sections: Body-and-arm – for positioning of objects in the robot's work volume Wrist assembly – for orientation of objects

Wrist Wrist assembly is attached to end-of-arm End effector is attached to wrist assembly Function of wrist assembly is to orient end effector Body-and-arm determines global position of end effector Two or three degrees of freedom: Roll Pitch Yaw

Robot configurations Rectangular (or) Cartesian Cylindrical (or) Post-type Spherical (or) Polar SCARA (Selective Compliance Assembly Robot Arm)