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Lecture Week2 2021 Cobot Basic Concepts
Lecture Week2 2021 Cobot Basic Concepts
• Universal robot
• First Cobot sold to a company in 2008:
• Did not need a cage
• Controlled collision
• Software based solutions
• Rethink robotics
• Developing the same applications
• Hardware based
• 2012
• Universal and Rethink sharing the market for Cobots in
the US.
• 2020
• More than 20 companies developing Cobots
Collaborative Robots - Cobots
• The Robot Revolution: The New Age of Manufacturing (with sound)
• https://www.youtube.com/watch?v=HX6M4QunVmA
• Universal robot - cobot - applications - case studies
• https://www.youtube.com/watch?v=BE6lbnfDdrU
• ABB Robotics – YuMi (with sound)
• https://www.youtube.com/watch?v=i9Vbh2mPG6M
• Rod Brookes
• https://www.youtube.com/watch?v=T8Rs6CCBIZU
Industrial Robot Applications
https://onrobot.com/sites/default/files/2020-06/OnRobot_Classification_of_Applications_v1.8.mp4
Industrial Robot Applications
https://onrobot.com/sites/default/files/2020-06/OnRobot_Classification_of_Applications_v1.8.mp4
Robot work envelop
• shape created when a
manipulator reaches forward,
backward, up and down
• Choose an envelop according to
the application
https://www.robots.com/faq/what-is-a-work-envelope
Work envelop
http://www.osha.gov/dts/osta/otm/otm_iv/otm_iv_4.html
Degrees of freedom
• Total number of single-axis joints in the robot
• E.g. A 6DOF PUMA robot
Control Resolution
• The minimum displacement that the robot can make:
• Determined by the robot's position control system and its feedback measurement
system;
• ability to divide the total range of movement for a particular joint into individual
increments that can be addressed in the controller.
Accuracy
• How close a measured value is to the true or desired quantity of what has been
measured;
• Robot’s ability to achieve a specific exact position in space.
Accuracy and resolution
Repeatability
• Robot’s ability to return to a previous position in space
• How close a group of measurements are to each other
• How well a device can reproduce an outcome in unchanged
conditions
https://www.crossco.com/resources/articles/accuracy-repeatability-and-resolution-in-automation-applications/
https://www.heidenhain.us/resources-and-news/accuracy-repeatability-and-resolution-whats-
the-difference/
Robot arm program
• In the most basic terms:
• a sequence of waypoints
• Robot moves from waypoint to
waypoint;
• Home pose:
• safe position where the robot can go to
at the start and end of a program
Waypoints
• A point in 3D space
• In Cartesian space
• Points are represented with 3 coordinates (𝑥𝑥, 𝑦𝑦, 𝑧𝑧)
Cartesian Coordinates - Retrieved from RB
Whitaker's Wiki
https://gramaziokohler.github.io/compas_fab/latest/examples/01_fundamentals/02_coordinate_frames.html
Tool Centre Point (TCP)
• It is the TCP itself that the robot uses to
move from point to point
• The TCP : different for each tool
• the user needs to specify the current TCP
• unless the tool informs the controller
automatically TCP drawing of
The TCP this particular
welding tool
Robot tools: just for material handling
https://onrobot.com/en/applications/material-handling
Motion types
• How the robot moves from point to point
• Defines the method for path interpolation
• i.e. how the robot is going to move from one waypoint to another
• Basic motion types:
• Joint
• Linear
• Circular motion
Joint motion
• Keeps the joints configuration
• The path is non linear
Linear Moves
• Reconfigures the joints
• Defines a linear path
Circular Moves
• Reconfigures the joints
• Defines a circular path
Point A Point B