INDUSTRIAL ROBOTS

INDUSTRIAL ROBOTICS

ASSIGNMENT-01

1) What is the meaning of a control system?

A control system manages, directs, commands, or regulates the behaviour of

other devices or systems using control loops.

2) Explain open and closed loop systems with suitable block diagrams?

OPEN LOOP SYSTEM

Then an Open-loop system, also referred to as non-feedback system, is a type

of continuous control system in which the output has no influence or effect on
the control action of the input signal.

INPUT CONTROLLER PLANT OUTPUT

EXAMPLE: WORD PROCESSOR

The word processor also an open loop control system. When we enter any
information though the keyboard then the other blocks of the control system,
like hardware components will process the user entered information and
displays it on LCD.

If the operator stops typing the peripheral, there will be no input provided to the
system and nothing is displayed on the display. So the word processor becomes
an example for the open loop control system.

Rajath Upadhya
1AY16MS010
INDUSTRIAL ROBOTS

CLOSE LOOP SYSTEM

 The control system which uses its feedback signal to generate output is called
closed loop control system.

INPUT CONTROLLER PLANT OUTPUT

FEEDBACK
LOOP

The temperature sensor will monitor the state of clothes, whether they are dry or
wet and compare it with the submitted input reference. If the clothes state and
the desired output are not matched then the system generates an error signal and
sends it back to the input.

The amplifier produces the amplified output of the signal to the controller, so
that, it can adjust the heating elements to the desired output level. So if the
clothes are about to dry, then the controller regulates and lowers the temperature
or stops the heating process of the heating elements to an extent that it doesn’t
burn the clothes in the machine.

3) Give various examples of:

a. Closed loop system

1. Automatic Electric Iron – Heating elements are controlled by output

temperature of the iron.
2. Servo Voltage Stabilizer – Voltage controller operates depending upon
output voltage of the system.

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1AY16MS010
INDUSTRIAL ROBOTS

3. Water Level Controller – Input water is controlled by water level of the

reservoir.
4. Missile Launched and Auto Tracked by Radar – The direction of missile
is controlled by comparing the target and position of the missile.
5. An Air Conditioner – An air conditioner functions depending upon the
temperature of the room.
6. Cooling System in Car – It operates depending upon the temperature
which it controls.

B. OLDEN ROBOTS

• Da Vinci's Knight. Life-sized recreation of Da Vinci's robot.

• The Mechanical Monk.
• Jaquet-Droz's Three Automatons.
• Vaucanson's Digesting Duck.
• Al-Jazari's Floating Orchestra.
• Archytas' Dove.
• The Silver Swan.

C. FUTURE ROBOTS

 Robotics for A Modern World

 humanoids
 Drones
 Aerospace Robots
 flying robots
 To visit the surface of Mars.
 Consumer Robots

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1AY16MS010
INDUSTRIAL ROBOTS

 Artificial intelligence-powered robot assistants.

 Medical Robots

4) Explain online programming with its types?

This involves stopping the robot from its productive work and switching it to
programming mode. Then, you create or update the program while the robot is
online.

TYPES

Lead through teaching.

 Lead the robot physically through the required sequence of motion.

 Trajectory and endpoints are recorded, using a sampling routine which

records points at 60-80 times a second.
 Large memory requirements.

Manual teaching.
 Using teach pendant/controller.

 Hand held device with switch is used to control the robot motions.

 Trajectory determined by robot controller.

 End points are recorded in controller memory.

 Sequential play back to execute robot actions.

5) What do you understand by programming with?

A programming language is a vocabulary and set of grammatical rules for
instructing a computer or computing device to perform specific tasks.
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1AY16MS010
INDUSTRIAL ROBOTS

Programming Languages are: Python, C++, MATLAB, and ROS.

b. Graphics
System that has graphical representation of robots and the workstations.
CAD/CAM used when operation is complex. Easy to find out the
coordinates of the CAD files and then fed to robot that can read the file.
Used to create various iteration of the CAD model. Programmed can be
easily modified and maintained. They can be easily documented and
commented.

6) Briefly explain the anatomy of an industrial robot?

 Base: Robot’s base is fixed and rigid part that holds components of the
robot.

 Robot joints: The joints are helpful to perform sliding and rotating
movements.

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1AY16MS010
INDUSTRIAL ROBOTS

 End Effectors: A hand of a robot is considered as end effectors. The

grippers and tools are the two significant types of end effectors. The
grippers are used to pick and place an object, while the tools are used to
carry out operations like spray painting, spot welding, etc. on a work
piece.

 Robot Joints: The joints in an industrial robot are helpful to perform

sliding and rotating movements of a component.

 Manipulator: The manipulators in a robot are developed by the

integration of links and joints. In the body and arm, it is applied for
moving the tools in the work volume. It is also used in the wrist to adjust
the tools.

7) Explain various drive systems used in robotics with their advantages

A) The drive system drives the robot from one position to another position.
They are actually like nervous system and muscles in human body.
Types of drive in robotics:
1. Hydraulic drive: A hydraulic drive system is a quasi-hydrostatic drive or
transmission system that uses pressurized hydraulic fluid to power
hydraulic machinery.
Advantage:
• Good speed
• Strength
• Large robots
• Power multiplication
Disadvantage:
• Leakage
• Explosive if not controlled
• Fire hazards
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1AY16MS010
INDUSTRIAL ROBOTS

• More space
2. Pneumatic drive: A pneumatic system is a system that uses compressed
air to transmit and control energy. Pneumatic systems are used
extensively in various industries.
Advantage:
• Small robots – portable enough
• Simple operation
• Short cycles
• Cheap in maintenance and build
Disadvantage:
• Small robots – not powerful enough
• Noisy operation
• Dust can ruin performance
• Jerky – not as smooth operation like hydraulics
3. Electric drive: An electrical drive is defined as a form of machine
equipment designed to convert electrical energy into mechanical energy
and provide electrical control of the processes.
Advantage:
• Small robot which is portable
• Accuracy is good– good torque
• Repeatability is good
• Cleaner
Disadvantage:
• Shock risk
• Initial cost is high
• Sound is high
• Cannot be used in interrupted power

Rajath Upadhya
1AY16MS010
INDUSTRIAL ROBOTS

8) Explain Accuracy, Resolution and Repeatability.

A) Accuracy: It is the distance between the specified position that a robot is

trying to achieve (programming point), and the actual X, Y and Z resultant
position of the robot end effector.

Resolution: It is the smallest increment of motion controlled by the robotic

control system.

Repeatability: It is the ability of a robotic system or mechanism to repeat the

same motion or achieve the same position. The large resolution defines
accuracy. It is given by 2^n where n is the number of bits. Example: A robot
with 16-bit control resolution can divide a motion range into 65536 discreet
position. It is also known as precision of a robot.

Rajath Upadhya
1AY16MS010