1. Robotics and Automation Control
Er.Rashmi
Assistant Professor
GNA University

2. ROBOTICS
It is ability to perform on its own, going to the extent of unmanning several operations.
To relieve man from tedious and mindless, repetitive and hazardous jobs.
Robotics in Inter dispilnary field of study

3. Important areas of robotics
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4. Prothesis

5. Exoskeltons

6. cs

7. Locomotive device
Locomotive
Robot series

8. Laws of Robotics

10. Functions of ROBOT
SENSING
Decision Making
Performing

11. Difference between ROBOT and Automated Machine
Automation: the machine produces a job following a set of operational jobs at different times. Different sequence can be addressed by programming.

13. Automation

15. Robot- is programmable, sensing and perception, function automatically
Carry out different tasks

16. Study about Numerically controlled technology

18. Advantages and disadvantage
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19. Types of Robots General Purpose Special purpose welding,spray painting
Telerobot
Mobile robot
Autonomous robot
Androids

21. Basic Components of Robots
BASE
MANIPULATOR ARM
END EFFECTORS
ACTUATORS AND TRANSMISSION
CONTROLLER
SENSORS

22. MANIPULATOR ARM Revolute pair (R)-1 DOF Prismatic pair (P)-1 DOF
Cylindrical Pair (C)- 2DOF

26. Universal hook’s Joint

28. End effector Gripping methods Mechanical clamping Magnetic gripping
Vacuum gripping

29. Actuators and Transmission
Pneumatic drives
Hydraulic drives
Electrical drives

30. Pneumatic drives

31. Hydraulic drives

32. Piezoelectric Actuators

33. Electrical Drives

34. Transmission

35. Controller

36. Sensors
Tactile sensors- (contact sensor) must be brought in contact with the object to obtain signals to measure the necessary qualities.
Force sensor, Torque sensors, Touch sensors, Position sensor

37. Torque sensors
Touch sensors Position sensors

38. Position sensors

39. Non tactile sensors Contactless sensors Proximity sensors
Electro-optical sensors
Range imaging sensors

40. Basic Motions 6 motions Vertical motion Radial motion
Rotational motion
Pitch motion
Roll motion
yaw

41. DOF Horizontal travel Rotary movement Radial arm movement
Vertical arm movement
Rotary wrist movement
Wrist bend
Wrist sweep

42. Basic components of Microprocessor based robotic system

43. Six axes

44. Robot Classification Standard classification Broad classification
General classification

45. Standard Classification
Mechanical configuration based
It considers various joints, links, physical structure of robot and relation to each other.
Cartesian coordinate configuration
Cylindrical configuration
Spherical configuration
Jointed-arm configuration (Revolute)

46. Control method based
it considers the type of techniques implement to control the robot. i.e;
1.Non Servo controlled ,
2. Servo controlled

47. Cartesian coordinate config.
Cartesian or rectilinear robot also called as gantry robot, has three mutually perpendicular axes which defines a rectangular work volume.
Links of manipulator are constrained to move in linear motion. (Prismatic)
Cartesian coordinates may be of two types.
Cantilevered Cartesian
Gantry-style Cartesian

48. Cylindrical Config. Arm move up and down Arm move radially w.r.t
The column. Θ=360 not permitted
Due to h,e,p connections or lines.

49. Spherical (polar)configuration
It has telescopic arm, which pivots about a horizontal axis and also rotates about a vertical axis.
Work envelope of such robot is a portion of sphere due to mechanical and actuators connections.

50. Range of spherical coordinate robot

51. Jointed-arm configuration (Revolute)
Most resembles a human arm.
Consists series of links connected by rotary joints which are referred as
Shoulder, arm, wrist joints.
Pure spherical, parallelogram sph, cylinderical

52. SCARA

53. Control Classification
Non servo controlled (limited sequence robots, end point robots, pick and place or bang bang robots)
Controlled by setting mechanical stops or limit switches to establish end points to travel of each joints
Servo controlled robots
Subdivided-
continues path (CP)
point to point (PTP)
Info abt position and velocity monitored and fed back to control system.
Control system control the movements.

54. Mechanical Inaccuracies
Results from the various errors that can occur in a robot construction. These includes gear, backlash, stretching of pulley cords, leakage of fluids or material and structural imperfections.
Such errors degrade the overall accuracy of the robot. And are magnified when the arm is fully extended.

55. Broad Classification
Programmable/Reprogrammable general purpose robots
Tele-operated, Man controlled robots or man-in-the-loop manipulator
Intelligent Robot

56. General Classification
Special purpose robots
General Purpose robot
They can be
Non-servo controlled
Servo controlled
Sensory robots