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Integrated Manufacturing
Systems
Repeatability
•The ability of a robot to repeatedly position itself when
asked to perform a task multiple times.
•Accuracy is an absolute concept, repeatability is relative.
•A robot that is repeatable may not be very accurate, visa
versa.
September 11, 2009 12
Robotics Terminology
322 B.C.
The Greek philosopher Aristotle writes;
“If every tool, when ordered, or even of its own accord,
could do the work that befits it... then there would be no
need either of apprentices for the master workers or of
slaves for the lords.”...
hinting how nice it would be to have a few robots around.
200 B.C.
The Greek inventor and physicist Ctesibus of Alexandria
designs11,water
September 2009 clocks that have movable figures on them. 14
Robotics History
1495
Leonardo Da Vinci designs a mechanical device that looks
like an armored knight. The mechanisms inside "Leonardo's
robot" are designed to make the knight move as if there was
a real person inside.
Leonardo’s Robot
1738
Jacques de Vaucanson begins building automata. The
first one was the flute player that could play twelve songs.
1770
Swiss clock maker and inventor of the modern wristwatch
Pierre Jaquet-Droz start making automata for European
royalty. He create three doll, one can write, another plays
music, and the third draws pictures.
1801
Joseph Jacquard builds an automated loom that is
controlled
September 11, 2009with punched cards. 17
Robotics History
1898
Nikola Tesla builds and demonstrates a remote controlled
robot boat.
1940
Issac Asimov produces a series of short stories about robots
starting with "A Strange Playfellow" (later renamed "Robbie")
for Super Science Stories magazine. The story is about a
robot and its affection for a child that it is bound to protect.
Over the next 10 years he produces more stories about robots
that are eventually recompiled into the volume "I, Robot" in
1950. Issac Asimov's most important contribution to the
history of the robot is the creation of his “Three Laws of
September 11, 2009 20
Robotics”.
Robotics History
Three Laws of Robotics:
1. A robot may not injure a human being, or, through
inaction, allow a human being to come to harm.
2. A robot must obey the orders given it by human beings
except where such orders would conflict with the First
Law.
3. A robot must protect its own existence as long as such
protection does not conflict with the First or Second
Law.
Asimov later adds a "zeroth law" to the list:
Zeroth law: A robot may not injure humanity, or, through
inaction, allow humanity to come to harm.
September 11, 2009 21
Robotics History
1946
George Devol patents a playback device for controlling
machines.
1961
Heinrich Ernst develops the MH-1, a computer operated
mechanical hand at MIT.
1961
Unimate, the company of Joseph Engleberger and George
Devoe, built the first industrial robot, the PUMA
(Programmable Universal Manipulator Arm).
1966
The Stanford Research Institute creates Shakey the first
mobile robot to know and react to its own actions.
September 11, 2009 22
Robotics History
Unimate PUMA SRI Shakey
1994
Dante II, a more robust version of Dante I, descends into
the crater of Alaskan volcano Mt. Spurr. The mission is
considered a success.
1999
September 11, 2009 SONY releases the AIBO robotic pet.
28
Robotics History
2000
Honda debuts new humanoid robot ASIMO.
x xx x x
x xx x
xxx
xx
x xx x x x x x
x x
– 1. Cartesian configuration
– 2. Cylindrical configuration
– 3. Polar configuration
– 4. Joint-arm configuration
Disadvantages:
• requires large operating volume.
• exposed guiding surfaces require covering in corrosive
or dusty environments.
• can only reach front of itself
• axes hard to seal
Disadvantages:
• can't reach above itself
• linear axes is hard to seal
• won’t reach around obstacles
• exposed drives are difficult to cover from dust and liquids
September 11, 2009 69
ROBOT CLASSIFICATION
Polar Configuration:
• Polar robots have a
work space of
spherical shape.
Generally, the arm is
connected to the
base with a twisting
(T) joint and rotatory
(R) and linear (L)
joints follow.
Disadvantages:
• extremely difficult to visualize, control, and program.
• restricted volume coverage.
• low accuracy
Disadvantages:
• limited applications.
• 2 ways to reach point
• difficult to program off-line
• highly
September 11, complex
2009 arm 77
Spherical/Polar Robots
A robot with 1 prismatic joint
and 2 rotary joints – the axes
consistent with a polar
coordinate system.
Disadvantages:
• complex coordinates more difficult to visualize, control,
and program.
• exposed linear drive.
• low accuracy.
• Only the start and finish points and the path definition
function must be stored in the robot's control memory. It
is important to mention that all controlled-path robots
have a servo capability to correct their path.
V = (x, y)
(x, y)
L1 x2=x1+L2 y2 = y1
x
September 11, 2009 95
Forward KinematicTransformation
These relations can be represented in homogeneous matrix
form:
x2 1 0 L2 x1
y2 = 0 1 0 ⋅ y1
1 0 0 1 1
or X2=T1 X1
x2 1 0 L2 x1
X2 = y2 T1 = 0 1 0 X1y1
1 0 0 1 1
If the end-effector point is denoted by (x, y), then:
x = x2
y = y2 - L 3
X = T2 X2
or TLL = T2 T1
and 1 0 L2
TLL = 0 1 −L
September 11, 2009
0 0 1 98
Forward KinematicTransformation
RR Robot:
Let θ and α be the rotations at joints J1 and J2
respectively. Let J1 and J2 have the coordinates of (x1, y1)
and (x2, y2), respectively.
J
2
y (x 2 y2 )
One can write the following
L -
2
L3
from the geometry:
J1 (x y )
(x 1 y1)
L1
x2 = x1+L2 cos(θ)
y2 = y1 +L2 sin(θ)
x
September 11, 2009 99
Forward KinematicTransformation
In matrix form:
x2 1 0 L2 cos(θ) x1
y2 = 0 1 L2 sin(θ) ⋅ y1
1 0 0 1 1
or
X2 = T1 X 1
On the other end:
x = x2 +L3 cos(α-θ)
y = y2 - L3 sin(α-θ)
September 11, 2009 100
Forward KinematicTransformation
In matrix form: x 1 0 L2 cos(α − θ) x2
y = 0 1 −L2 sin(α − θ) ⋅ y2
1 0 0 1 1
or
X = T2 X 2
z
J2 ( x 2 y 2 ) y One can write that:
(x y )
L 2
x = x2 + L2 cos(α)
J1 (x1 y 1)
y = y2 + L2 sin(α)
x
September 11, 2009 103
Forward KinematicTransformation
In matrix form:
x 1 0 L2 cos(α) x2
y = 0 1 L2 sin(α) ⋅ y2
1 0 0 1 1
or
X = TTL X2
x = x1 + L2
y = y1 - L3
y1 = y2
L2 = x - x1
September 11, 2009 L3 = -y +y2 105
Backward Kinematic Transformation
RR Robot:
x = x1 + L2 cos(θ) + L3 cos(α-θ)
y = y1 + L2 sin(θ) - L3 sin(α-θ)
cos (α ) =
[ ( x-x )1
2
+ y − y1 − L22 − L23 ]
( ) 2
2 L 2 L3
and
tan(θ ) =
( y - y1 )( L2 + L3 cos(α ) ) + ( x − x1 ) L3 sin(α )
( x - x1 )( L2 + L3 cos(α ) ) − ( y − y1 ) L3 sin(α )
TL Robot:
x = x2 + L cos(α)
y = y2 +L sin(α)
One can easily get the equations for length and angle:
L= ( x - x2 ) + ( y − y2)
2 2
and
y - y2
sin(α) =
L
September 11, 2009 108
EXAMPLE
An LL robot has two links of variable length.
Assuming that the origin of the global coordinate
system is defined at joint J1, determine the
following:
J 1 (0 , 0 ) L 2= 3 m
x
J 2 (x 2, y 2 )
L 3= 5 m
(x, y)
L1
L 3
J o
2 =30
y (x 2 y2 )
L 2=1 m -
L 3=1 m
J1 o
= 30 (x y )
(0, 0)
L1
x
September 11, 2009 113
EXAMPLE
It is given that (x1, y1) = (0, 0)
1 0 3 +1
2
TRR = 0 1 1 + 0
2
0 0 1
1 0 L2 cos(θ) + L2 cos(α − θ)
TRR = 0 1 L2 sin(θ) − L2 sin(α − θ) x x1
0 0 1 y = TRR y1
1 1
x 1 0 18667
. 0
Therefore the end-effector point y = 0 1 0.5 0
is given by (1.8667, 0.5) 1 0 0 1 1
x 18667
.
y = 0.5
1 0.51
J
2
y (x 2 y2 )
L 2= 1 m -
L 3 =1 m
J1 (1, 0)
(0, 0)
L1
x 2 + y 2 − L22 − L23
cos(α ) =
2 L3 L2
12 + 0 2 − 12 − 12
cos(α ) = = −0.5
2 x1x1
α = 120o
tan(θ ) =
( 0 - 0 )(1 + 1x cos(120) ) + (1 − 0 ) 1 sin(120)
(1 - 0)(1 + 1cos(120) ) − ( 0 − 0) 1 sin(120)
3
tan(θ) = 2 = 3
0.5
θ = 60o
September 11, 2009 117
EXAMPLE
In a TL robot, assume that the coordinate system is
defined at joints J2.
z
J2 ( 0 0 ) y
(x y )
L 2 =1 m
J1 (x1 y 1)
x
September 11, 2009 119
EXAMPLE
a) It is given that (x2, y2) = (0, 0); L = 1m and α = 30o
1 0 1 cos(30 o )
1 0 L2 cos(α ) TTL = 0 1 1sin(30 o )
TTL = 0 1 L2 sin(α ) 0 0 1
0 0 1
1 0 0.866
TTL = 0 1 0.5
0 0 1
x 0.866
y = 0.5
1 1
L = (x - x1 ) 2 + ( y − y1 ) 2
L = (0.7071 - 0) 2 + (0.7071 − 0) 2
L =1m
Spray painting:
Provides a consistency in paint quality. Widely used in automobile
industry.
Assembly:
Electronic component assemblies and machine assemblies are two
areas of application.
Inspection
= 140,000 [$]
• Total 12 s
September 11, 2009 134
ECONOMIC JUSTIFICATION OF ROBOTS
Solution:
• The total cycle time: 30 + 12 = 42 s
Production rate:
• (1/42) part/s 3600 s/hr 8 hr/shift 0.90 (uptime)
• = 617 parts/shift
Machine utilization:
• Machine cycle time/total cycle time = 30/42
• = 71.4%
Robot utilization:
• robot cycle time/total cycle time : 12/42
• = 28.6%
Size of class
Degrees of freedom
Velocity
Drive type
Control mode
Repeatability
Lift capacity
Right-left traverse
Up-down traverse
In-out traverse
Yaw
Pitch
Roll
Weight of the robot
Micro (x < 1 m)
Small (1 m < x < 2 m)
Medium (2 < x < 5 m)
Large (x > 5 m)
Rectangular
Cylindrical
Spherical
Articulated
4. Drive type:
Hydraulic
Electric
Pneumatic
September 11, 2009 142
ROBOT SELECTION
5. Control mode:
Point-to-point control(PTP)
Continuous path control(CP)
Controlled path control
6. Lift capacity:
0-5 kg
5-20 kg
20-40 kg and so forth