Lesson 12.

Industrial robot

Lesson
Learning contents and learning goals
Learning
Contents
1. Introduction

2. Classification

3. Application

Learning Goals
Upon completion of this lesson, students will be able to:
1. Recall the concepts of industrial robot and its applications
2. Identify the different components of industrial robot
3. To understand the technical specifications of industrial robot
1. Introduction

1.1. Robot and robotic

1.2. The parts of a robot
1.3. Robots degrees of freedom
1.4. Robot Joints
1.5. Robot Coordinates
1.6. Robot Reference Frames
1.7. Robot Workspace
1.8. Robot Characteristics
1.9. Robot Languages
1. Introduction
❑ 1.1 Robot and Robotic

1921

The term "robot" was first used in a play (Rossum's

Universal Robots) published by the Czech Karel Čapek in
1921. According to Čapek, the word was created by his
brother Josef from the Czech robota, meaning servitude.

https://en.wikipedia.org/wiki/History_of_robots
1. Introduction
❑ 1.1 Robot and Robotic

1921 1939

In 1939, the humanoid robot known as Elektro appeared at

the World's Fair.

https://en.wikipedia.org/wiki/History_of_robots
1. Introduction
❑ 1.1 Robot and Robotic

1921 1939 1948 1949

The first electronic autonomous robots with complex

behavior were created by William Grey Walter of the Burden
Neurological Institute at Bristol, England in 1948 and 1949.

https://en.wikipedia.org/wiki/History_of_robots
1. Introduction
❑ 1.1 Robot and Robotic

1921 1939 1948 1949 1954

The first digitally operated and programmable robot was

invented by George Devol in 1954 and was called the
Unimate.

https://en.wikipedia.org/wiki/History_of_robots
1. Introduction
❑ 1.1 Robot and Robotic

1921 1939 1948 1949 1954 1967

In 1967 the first industrial robot was put to productive use

in Japan. The Versatran robot had been developed by
American Machine and Foundry.

https://en.wikipedia.org/wiki/History_of_robots
1. Introduction
❑ 1.1 Robot and Robotic

1921 1939 1948 1949 1954 1967 1970s

The development of humanoid robots was advanced

considerably by Japanese robotics scientists in the
1970s.

https://en.wikipedia.org/wiki/History_of_robots
1. Introduction
❑ 1.1 Robot and Robotic

1921 1939 19481949 1954 1967 1970s 1981

Takeo Kanade created the first "direct drive arm" in 1981.

https://en.wikipedia.org/wiki/History_of_robots
1. Introduction
❑ 1.1 Robot and Robotic

1921 1939 19481949 1954 1967 1970s 19811994

In 1994 one of the most successful robot-assisted surgery

appliances was cleared by the FDA.
The popular Roomba, a robotic vacuum cleaner, was first
released in 2002 by the company iRobot.

https://en.wikipedia.org/wiki/History_of_robots
1. Introduction
❑ 1.1 Robot and Robotic

1921 1939 19481949 1954 1967 1970s 19811994 2005

In 2005, Cornell University revealed a robot capable of self-

replication; a set of cubes capable of attaching and
detaching, the first robot capable of building copies of itself.

https://en.wikipedia.org/wiki/History_of_robots
1. Introduction
❑ 1.1 Robot and Robotic

1921 1939 19481949 1954 1967 1970s 19811994 2005 2017

On 25 October 2017 at the Future Investment Summit in

Riyadh, a robot called Sophia and referred to with female
pronouns was granted Saudi Arabian citizenship,
becoming the first robot ever to have a nationality.

https://en.wikipedia.org/wiki/History_of_robots
 1. Introduction
❑ 1.1 Robot and Robotic

1921 1939 1948 1949 1954 1967 1970s 1981 1994 2005 2017 2019

In 2019, engineers at the University of Pennsylvania created

millions of nanorobots. These microscopic robots could one
day deliver medications and perform surgeries, revolutionizing
medicine and health.

https://en.wikipedia.org/wiki/History_of_robots
1. Introduction
❑ 1.1 Robot and Robotic
What is a Robot?

The difference between a robot and a manipulator

▪ Run by a computer or microprocessor not a human
▪ Controlled by feedback devices
▪ Mostly autonomous

Ref: EENG428-Introduction to Robotics (Oussama Khatib - Stanford)

1. Introduction
❑ 1.1 Robot and Robotic
What is a Robot?

▪ Random House Dictionary A machine that resembles a

human being and does mechanical routine tasks on
command.
▪ Robotics Association of America An industrial robot is
a re-programmable, multifunctional manipulator designed
to move materials, parts, tools, or specialized devices
through variable programmed motions for the
performance of a variety of tasks.
Ref: EENG428-Introduction to Robotics (Oussama Khatib - Stanford)
1. Introduction
❑ 1.1 Robot and Robotic
What is a Robot?

Ref: EENG428-Introduction to Robotics (Oussama Khatib - Stanford)

1. Introduction
❑ 1.1 Robot and Robotic
What is a Robot?

▪ A manipulator (or an industrial robot) is composed of

a series of links connected to each other via joints. Each
joint usually has an actuator (a motor for eg.)
connected to it.
▪ These actuators are used to cause relative motion
between successive links. One end of the manipulator is
usually connected to a stable base and the other end is
used to deploy a tool.
Ref: EENG428-Introduction to Robotics (Oussama Khatib - Stanford)
1. Introduction
❑ 1.1 Robot and Robotic
What is a Robot?

▪ Robotics is the art, knowledge base, and the know-how

of designing, applying, and using robots in human
endeavors.
▪ Robotics is an interdisciplinary subject that benefits
from mechanical engineering, electrical and electronic
engineering, computer science, biology, and many other
disciplines.

Ref: EENG428-Introduction to Robotics (Oussama Khatib - Stanford)

1. Introduction
❑ 1.2 The parts of a Robot
▪ Manipulator
▪ Pedestal
▪ Controller
▪ End Effectors
▪ Power Source

Ref: EENG428-Introduction to Robotics (Oussama Khatib - Stanford)

1. Introduction
❑ 1.2 The parts of a Robot
Manipulator

▪ Base
▪ Appendages
➢ Shoulder
➢ Arm
➢ Grippers

Ref: EENG428-Introduction to Robotics (Oussama Khatib - Stanford)

1. Introduction
❑ 1.2 The parts of a Robot
Pedestal

(Human waist)
▪ Supports the manipulator.
▪ Acts as a counterbalance.

Ref: EENG428-Introduction to Robotics (Oussama Khatib - Stanford)

1. Introduction
❑ 1.2 The parts of a Robot
Controller

(The brain)
▪ Issues instructions to the robot.
▪ Controls peripheral devices.
▪ Interfaces with robot.
▪ Interfaces with humans.

Ref: EENG428-Introduction to Robotics (Oussama Khatib - Stanford)

1. Introduction
❑ 1.2 The parts of a Robot
End Effectors

(The hand)
▪ Spray paint attachments
▪ Welding attachments
▪ Vacuum heads
▪ Hands
▪ Grippers

Ref: EENG428-Introduction to Robotics (Oussama Khatib - Stanford)

1. Introduction
❑ 1.2 The parts of a Robot
Power Source

(The food)
▪ Electric
▪ Pneumatic
▪ Hydraulic

Ref: EENG428-Introduction to Robotics (Oussama Khatib - Stanford)

1. Introduction
❑ 1.3 Robots degrees of freedom

▪ Degrees of Freedom: Number of independent position

variables which would has to be specified to locate all parts
of a mechanism.
▪ In most manipulators this is usually the number of joints.

Ref: EENG428-Introduction to Robotics (Oussama Khatib - Stanford)

1. Introduction
❑ 1.3 Robots degrees of freedom

Consider what is the degree of this robot

1 D.O.F. 2 D.O.F. 3 D.O.F.

A Fanuc P-15 robot.

Ref: EENG428-Introduction to Robotics (Oussama Khatib - Stanford)

1. Introduction
❑ 1.3 Robots degrees of freedom
The number of degrees of freedom
𝐽

𝐷𝑂𝐹 = 𝑚 𝑁 − 1 − 𝐽 + ෍ 𝑓𝑖
𝑖=1

N = # of bodies including ground

J = # of joints
m = 6 for spatial bodies, 3 for planar
f = joint’s freedom

Ref: EENG428-Introduction to Robotics (Oussama Khatib - Stanford)

1. Introduction
❑ 1.4 Robots joints

Prismatic Joint Revolute Joint

Linear, No rotation involved Rotary (electrically

(Hydraulic or pneumatic cylinder) driven with stepper motor,

servo motor)

Ref: EENG428-Introduction to Robotics (Oussama Khatib - Stanford)

1. Introduction
❑ 1.5 Robots coordinates

▪ Cartesian/rectangular/gantry (3P) : 3 Prismatic joints

Ref: EENG428-Introduction to Robotics (Oussama Khatib - Stanford)

1. Introduction
❑ 1.5 Robots coordinates

▪ Cylindrical (R2P) : 2 Prismatic joint and 1 revolute joint

Ref: EENG428-Introduction to Robotics (Oussama Khatib - Stanford)

1. Introduction
❑ 1.5 Robots coordinates

▪ Spherical (2RP) : 1 Prismatic joint and 2 revolute joint

Ref: EENG428-Introduction to Robotics (Oussama Khatib - Stanford)

1. Introduction
❑ 1.5 Robots coordinates

▪ Articulated/anthropomorphic (3R) : All revolute (Human arm)

Ref: EENG428-Introduction to Robotics (Oussama Khatib - Stanford)

1. Introduction
❑ 1.5 Robots coordinates

▪ Selective Compliance Assembly Robot Arm (SCARA):

2 paralleled revolute joint and 1 additional prismatic joint

Ref: EENG428-Introduction to Robotics (Oussama Khatib - Stanford)

1. Introduction
❑ 1.6 Robots reference frames
▪ A robot’s World, Joint, and Tool reference frames. Most robots may
be programmed to move relative to either of these reference
frames.

Ref: EENG428-Introduction to Robotics (Oussama Khatib - Stanford)

1. Introduction
❑ 1.7 Robot workspace
Typical workspaces for common robot configurations

Ref: EENG428-Introduction to Robotics (Oussama Khatib - Stanford)

1. Introduction
❑ 1.8 Robot characteristics

▪ Payload: is the weight a robot can carry

▪ Reach: is the maximum distance a robot can reach within
its work envelope.
▪ Precision: is defined as how accurately a specifies point
can be reached
▪ Repeatability: is how accurately the same position can be
reached if the motion is repeated many times.

Ref: EENG428-Introduction to Robotics (Oussama Khatib - Stanford)

1. Introduction
❑ 1.8 Robot characteristics
Type: SCARA
Domain: industrial
Repeatability: 0.01mm
Ref: EENG428-Introduction to Robotics (Oussama Khatib - Stanford)
Other characteristics:
Number of axes: 4-axis
compact, high-precision
Payload: 1kg (2.2lb)
Reach:
Min: 120mm
Max: 220mm
1. Introduction
❑ 1.9 Robot languages
▪ Microcomputer Machine Language Level: the most basic &
very efficient but difficult to understand to follow.
▪ Point-to-Point Level: Funky Cincinnati Milacron’s T3©.
It lacks branching, sensory information.
▪ Primitive Motion Level: VAL by Unimation™. Interpreter
based language.
▪ Structured Programming Level: This is a compiler based
but more difficult to learn.
▪ Task-Oriented Level: Not exist yet and proposed IBM in
the 1980s.
Ref: EENG428-Introduction to Robotics (Oussama Khatib - Stanford)
2. Classification

2.1. JIRA (Japanese Industrial Robot Association)

2.2. RIA (Robotics Institute of America)
2.3. AFR (Association FranÇaise de Robotique)
2.4. The other classifications
2. Classification
❑ 2.1 JIRA (Japanese Industrial Robot Association)

▪ Class 1: Manual-Handling Device

▪ Class 2: Fixed Sequence Robot
▪ Class 3: Variable Sequence Robot
▪ Class 4: Playback Robot
▪ Class 5: Numerical Control Robot
▪ Class 6: Intelligent Robot

Ref: EENG428-Introduction to Robotics (Oussama Khatib - Stanford)

2. Classification
❑ 2.2 RIA (Robotics Institute of America)

▪ Variable Sequence Robot (Class 3)

▪ Playback Robot (Class 4)
▪ Numerical Control Robot (Class 5)
▪ Intelligent Robot (Class 6)

Ref: EENG428-Introduction to Robotics (Oussama Khatib - Stanford)

2. Classification
❑ 2.3 RFR (Association FranÇaise de Robotique )

▪ Type A: Manual Handling Devices/ telerobotics

▪ Type B: Automatic Handling Devices/ predetermined cycles
▪ Type C: Programmable, Servo controlled robot, continuous
point-to-point trajectories
▪ Type D: Same type with C, but it can acquire information.

Ref: EENG428-Introduction to Robotics (Oussama Khatib - Stanford)

2. Classification
❑ 2.4 The other classifications
Robot workspace
▪ Cartesian robot
2. Classification
❑ 2.4 The other classifications
Robot workspace
▪ Cartesian robot
2. Classification
❑ 2.4 The other classifications
Robot workspace
▪ Cartesian robot
2. Classification
❑ 2.4 The other classifications
Robot workspace
▪ Cylindrical robot
2. Classification
❑ 2.4 The other classifications
Robot workspace
▪ Cylindrical robot
2. Classification
❑ 2.4 The other classifications
Robot workspace
▪ Cylindrical robot
2. Classification
❑ 2.4 The other classifications
Robot workspace
▪ Spherical robot
2. Classification
❑ 2.4 The other classifications
Robot workspace
▪ Spherical robot
2. Classification
❑ 2.4 The other classifications
Robot workspace
▪ Articulated robot
2. Classification
❑ 2.4 The other classifications
Robot workspace
▪ Articulated robot
2. Classification
❑ 2.4 The other classifications
Robot workspace

▪ Scara robot
2. Classification
❑ 2.4 The other classifications
Robot workspace

▪ Parallel robot
2. Classification
❑ 2.4 The other classifications
Power Source

▪ Electric
▪ Pneumatic
▪ Hydraulic
3. Applications

▪ Machine loading
▪ Pick and place operations
▪ Welding
▪ Painting
▪ Sampling
▪ Assembly operation

Ref: EENG428-Introduction to Robotics (Oussama Khatib - Stanford)

3. Applications

▪ Manufacturing
▪ Surveillance
▪ Medical applications
▪ Assisting disabled individuals
▪ Hazardous environments
▪ Underwater, space, and remote locations

Ref: EENG428-Introduction to Robotics (Oussama Khatib - Stanford)

3. Applications

Staubli robot placing dishwasher tubs

A Staubli robot loading and unloading

A P200 Fanuc painting automobile bodies

An AM120 Fanuc robot
Ref: EENG428-Introduction to Robotics (Oussama Khatib - Stanford)
3. Applications

Staubli RX FRAMS robot in a BMW A Fanuc LR Mate 200i robot

removal operation

The Arm, a 6 DOF bilateral

Medical Robot of German
force-feedback manipulator

Ref: EENG428-Introduction to Robotics (Oussama Khatib - Stanford)

3. Applications
❑ Advantages VS. Disadvantages of Robots
▪ Robots increase productivity, safety, efficiency, quality &
consistency of products.
▪ Robots can work in hazardous environments without the need.
▪ Robots need no environmental comfort.
▪ Robots work continuously without experiencing fatigue of problem.
▪ Robots have repeatable precision at all times.
▪ Robots can be much more accurate than human.
▪ Robots replace human workers creating economic problems.
▪ Robots can process multiple stimuli or tasks simultaneously.

Ref: EENG428-Introduction to Robotics (Oussama Khatib - Stanford)

3. Applications
❑ Advantages VS. Disadvantages of Robots
▪ Robots lack capability to respond in emergencies.
▪ Robots, although superior in certain senses, have limited
capabilities in Degree of freedom, Dexterity, Sensors, Vision
system, real time response.
▪ Robots are costly, due to Initial cost of equipment, Installation
costs, Need for Peripherals, Need for training, Need for
programming.

Ref: EENG428-Introduction to Robotics (Oussama Khatib - Stanford)

Quiz 1
OX Example Select
Quiz Number 2 Quiz Type

Industrial Robots are generally designed to carry which of the

Question
following coordinate system(s)
A. Cartesian coordinate systems
B. Polar coordinate systems
Example
C. Cylindrical coordinate system
D. All of the above
Answer D

Cartesian (3P): 3 Prismatic joint

Feedback Cylindrical (R2P): 2 Prismatic joint and 1 revolute joint
Spherical (Polar) (2RP): 1 Prismatic joint and 2 revolute joint
Quiz 2
OX Example Select
Quiz Number 2 Quiz Type

Question Robotics is the:

A. Use of automated systems B. Use and study of robots

Example
C. Laws of robots D. history of robots

Answer B

Robotics is the art, knowledge base, and the know-how of

Feedback
designing, applying, and using robots in human endeavors.
Summary

1. Introduction
An industrial robot is a re-programmable, multifunctional
manipulator designed to move materials, parts, tools, or
specialized devices through variable programmed
motions for the performance of a variety of tasks.

2. Classification
Cartesian robot, Cylindrical robot, Spherical robot, Articul
ated robot, Scara robot, Parallel robot,…
Summary

3. Applications
Machine loading, Pick and place operations, Welding,
Painting, Sampling, Assembly operation, Manufacturing,
Surveillance, Medical applications, Hazardous
environments, Underwater, space, and remote locations
Next time guide

Next time Lesson 13

Software for Mechatronics engineer

References
https://en.wikipedia.org/wiki